Delta ASDA-A3 Series, Руководство пользователя

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ASDA-A3 Operation Mode
6-9
6
6.2.5 Electronic gear ratio (E-Gear ratio)
The resolution of ASDA-A3 is 24 bits, which means that it generates 16777216 pulses per motor
rotation. Regardless of the encoder resolution (17-bit, 20-bit, or 22-bit), the E-Gear ratio is set
according to the 24-bit resolution of ASDA-A3 servo drive.
When E-Gear ratio is 1, it generates 16777216 pulses per motor rotation; when you set the ratio
to 0.5, then every two pulses from the command (controller) corresponds to one pulse for the
motor. However, larger E-Gear ratio might create a sharp corner in the profile and lead to a high
jerk. To solve this problem, you can apply an S-curve acceleration / deceleration filter or a
low-pass filter to reduce the jerk.
For example, if you set the E-Gear ratio so that the workpiece is moved at the speed of
1 μm/pulse, then it means the workpiece moves 1 μm per pulse.
(1) Motor (2) Ball screw pitch: 3 mm (equals 3000
m

)
WL: workpiece; WT: platform
Gear ratio Moving distance per 1 pulse command
E-Gear is not
applied
=
)
Pulse
μm
: (Unit
16777216
3000
1
1
rev
Pulse
16777216
rev
μm
3000
  
E-Gear is
applied
=
)
Pulse
μm
: (Unit 1
3000
16777216
rev
Pulse
16777216
rev
μm
3000
  
Refer to Chapter 8 for detailed descriptions of the relevant parameters.
Parameter Function
P1.044 E-Gear ratio (numerator) (N1)
P1.045 E-Gear ratio (denominator) (M)