Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

Page: 399 / 610

7. PARAMETERS
7 - 94
Servo motor encoder resolution Pt = 4194304 [pulse/rev]
CMX
CDV
P
t
=
Δ
S
P
t
=
n Pb
α
(Note)
4194304
=
1/2 10 1000
4194304
=
5000
524288
=
625
Note. Because the command unit is "mm",
α
= 1000 is set. When the unit is "inch", convert the setting into
α
= 10000. When the
unit is "pulse", convert the setting into
α
= 1.
Therefore, set CMX = 524288 and CDV = 625.
(b) Setting example of a conveyor
Machine specifications
Pulley diameter: r = 160 [mm]
Reduction ratio: 1/n = Z
1
/Z
2
= 1/3
Z
1
: Number of gear teeth on servo motor side
Z
2
: Number of gear teeth on load gear
Servo motor encoder resolution
4194304 [pulse/rev]
Z
1
Z
2
1/n = Z
1
/Z
2
= 1/3
1/n
r = 160 [mm]
Servo motor encoder resolution Pt = 4194304 [pulse/rev]
CMX
CDV
P
t
=
Δ
S
P
t
=
n r
π α
(Note)
4194304
=
1/3 160
π
1000
4194304
=
167551.61
524288
20944
Note. Because the command unit is "mm",
α
= 1000 is set. When the unit is "inch", convert the setting into
α
= 10000. When the
unit is "pulse", convert the setting into
α
= 1.
Reduce CMX and CDV to within the setting range or lower and round off each value to the closest
whole number.
Therefore, set CMX = 524288 and CDV = 20944.
(2) Setting [degree] with "Position data unit" of [Pr. PT01].
Set the number of gear teeth on machine side to [Pr. PA06] and number of gear teeth on servo motor side
to [Pr. PA07].
CDV
Travel distance
"0" (initial value) CMX
CDV
CMX
Deviation counter
+
-
Electronic gear
([Pr. PA06]/[Pr. PA07])
Servo motor
Encoder
M
X32
X16
"2"
CDV
CMX "3"
Electronic gear selection
(x _ _ _ ) ([Pr. PA21]) (Note)
360000
P
t
Note. For MR-J4-03A6-RJ servo amplifiers, "2 _ _ _" or "3 _ _ _" cannot be set to [Pr. PA21].
P
t
: Servo motor encoder resolution: 4194304 [pulse/rev]
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