Panasonic MINAS A6 Series, Technical Reference

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Basic Functions
4-4
4.2.2 Electronic gear function
The electronic gear is a function which makes the value which multiplies by the electronic gear ratio
defined by the object to the position command from host controller as the position command to a position
control section. By using this function, the number of revolutions and travel of the motor per command can
be set to the desired value.
In MINAS A6 Multi series, a setup of an electronic gear ratio with a parameter Pr0.08(Number of
command pulses per motor revolution), Pr0.09(Numerator of electronic gear) and Pr0.10(Denominator of
electronic gear) has not supported, an electronic gear ratio is set up by the object 608Fh/688Fh(Position
encoder resolution [Axis A]), 6091h/6891h(Gear ratio [Axis A]) and 6092h/6892h(Feed constant [Axis A])
specified to CoE(CiA402).
The equation below calculates the relationship between the unit (command) defined by the user and
internal unit (pulse):
Electronic gear
ratio =
Position encoder resolution × Gear
ratio
Position demand value x Electronic gear ratio = Position demand internal value

Electronic gear ratio is valid only within the range of 8000 times to 1/1000 times.When the
range is exceeded, the value is saturated in the range, and Err88.3 (Improper operation
error protection) occurs.

When the denominator or numerator exceeds the unsigned 64-bit size in the calculation
process of electronic gear ratio, Err88.3 (Improper operation error protection) occurs.

When the denominator or numerator exceeds the unsigned 32-bit size in the final
calculation result of electronic gear ratio, Err88.3 (Improper operation error protection)
occurs.

Set the electronic gear ratio with several objects. An error may become large depending on
the combination of settings.

608Fh/688Fh-01h (Encoder increments) is automatically set according to encoder
resolution.Under full-closed control, it is also automatically set according to encoder
resolution. The default value of 6092h/6892h-01h (Feed) is set so that the electronic gear
ratio is 1:1 when a 23-bit/r encoder is used.
When using other encoders than a 23-bit/r encoder, pay attention to the electronic gear
ratio settings.

The electronic gear ratio setting is reflected at the following timing. Pay attention that the
setting is not reflected to behavior just by only changing setting value of related objects.
-
At the time of the control power supply ON
-
When establishing communication (when changing ESM state from Init to PreOP)
-
When returning to origin is completed
-
When clearing absolute multi-turn from PANATERM for Multi or EtherCAT
communication
-
When PANATERM for Multi operation(test run function, frequency response analyzing
function, Z phase search, fit gain) is completed.
-
When execute pin assign by PANATERM for Multi.
-
When Err27.4 (Command error protection) occurs

In the position information initialization when Init to PreOp in the absolute mode, make a
setting so that the value of "Absolute encoder position [pulse/unit]/Electronic gear ratio" is
in the range from -2
31
(-2147483648) to +2
31
-1 (2147483647). Operation outside this range is
not guaranteed. Check the operation range of the absolute encoder position and the
electronic gear ratio.
Feed
constant