4-8
4-3 Pulse Train Position Control Mode
4
Func
tions
Electronic Gear Function
This function allows you to set a gain relative to position command or position feedback and to
change the main/sub motor rotation ratio, particularly for synchronous operation.
Note: Below are the block diagrams of the electronic gear function.
*1.
It is recommended that position control feedfoward gain adjustment should be started with P022 = 2.00. To
reduce the position deviation between the main and sub motors, increase the position control feedforward gain.
If motor hunting occurs, reduce the position control feedforward gain.
*2.
It is recommended that position loop gain adjustment should be started with P023 = 2.00. To increase positioning
accuracy and holding power, increase the position loop gain. If an increased position loop gain causes hunting,
reduce the position loop gain.
*3.
Make sure that the N/D setting is within the range of 1/50
≤
N/D
≤
20.
(N: Electronic gear ratio numerator [P020], D: Electronic gear ratio denominator [P021])
Parameter No.
Function name
Data
Default setting
Unit
P019
Electronic gear setting
position selection
00: Position feedback side (FB)
01: Position command side (REF)
00
−
P020
Electronic gear ratio
numerator *
3
1 to 9999
1.
−
P021
Electronic gear ratio
denominator *
3
1 to 9999
1.
−
P022
Position control
feedforward gain *
1
0.00 to 655.3
0.00
−
P023
Position loop gain *
2
0.00 to 99.99/100.0
0.50
rad/s
P019=00 (FB)
P019=01 (REF)
Position
command
N
D
1
1+sT
Position feedback
Electronic gear
Position control
feedforward gain
First-order lag filter
P022
P023
Speed
command
Position loop gain
Position
command
N
D
Position feedback
Electronic gear
Position control
feedforward gain
P022
P023
Speed
command
Position loop gain
1
1+sT
First-order lag filter
Summary of Contents for 3G3AX-PG
Page 1: ...Cat No I564 E1 01 USER S MANUAL 3G3AX PG Encorder Feedback Board ...
Page 2: ......
Page 14: ...12 Contents ...
Page 15: ...Chapter 1 Overview 1 1 Overview 1 1 ...
Page 27: ...Chapter 3 Operation 3 1 Related Parameters 3 1 3 2 Precautions for Operation 3 8 ...
Page 65: ...Chapter 6 Specifications 6 1 Product Specifications 6 1 ...
Page 67: ......