Panasonic MINAS A6 Series, Technical Reference

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Basic Functions
4-6
Electronic gear setting example

Under semi-closed control, When setting the electronic gear ratio of axis A by setting the number
of command pulses per motor revolution
608Fh-01h (Encoder increments) is set automatically from the connected encoder resolution.
By setting 608Fh-02h (Motor revolutions), 6091h-01h (Motor shaft revolutions), 6091h-02h (Driving shaft
revolutions) and 6092h-02h (Driving shaft revolutions) to 1 (shipment condition), it is possible to set
6092h-01h (Feed) as the "number of command pulses per motor revolution".

Under semi-closed control or full-closed control, When setting the electronic gear ratio of axis A by
setting the electronic gear numerator/denominator
608Fh-01h (Encoder increments) is set automatically from the connected encoder resolution.
By setting 6092h-01h (Feed) to the encoder resolution (the same value as 608F-01h (Encoder increments),
and in the case of the 23bit/r encoder, the shipment condition) and setting 608Fh-02h (Motor revolutions) and
6092h-02h (Driving shaft revolutions) to 1 (shipment condition), it is possible to set 6091h-01h (Motor shaft
revolutions) to the "electronic gear numerator" and 6091h-02h (Driving shaft revolutions) to the "electronic
gear denominator".
Backup of electronic gear set value
The electronic-gear-related objects (6091h/6891h-01h, 6091h/6891h-02h, 6092h/6892h-01h and
6092h/6892h-02h) are backup target objects.
It is recommended to execute a backup (writing into EEPROM) after a change.
By executing a backup, it will be unnecessary to change setting each time when the control power is turned
on.
As for the backup method, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification
(SX-DSV03456)".