Summa Series Servodrive Product Manual
CiA402 Drive Profile
Document Version: V1.01
(Dec, 2019)
© 2019 ESTUN Automation Co., Ltd. All right reserved.
6-1
Chapter 6
CiA402 Drive Profile
6.1
Conversion Factor Setting
Gear Ratio (6093h)
The gear ratio indicates the Motor displacement (in encoder unit) corresponding to the driving shaft
displacement of one reference unit.
The gear ratio is defined by the numerator (6091-01h) and denominator (6091-02h). It determines the
relationship between the driving shaft displacement (in reference unit) and the Motor displacement (in
encoder unit):
Motor displacement = Driving shaft displacement × Gear ratio
The Motor is connected with the load through the reduction wheel and other mechanical transmission
mechanism. The gear ratio is calculated based on parameters such as the mechanical reduction ratio,
mechanical size and Motor resolutions:
Gear Ratio =
Motor resolution
Driving shaft resolution
IMPORTANT
This section uses the Motor encoder as an example.
The setting of the external encoder is the same as that of the Motor encoder.
Index Name
Data Type
Access
PDO Mapping
Related Mode
6093
Gear Radio
UINT32
RW
No
PP, HM, IP, CSP
It sets the relationship between number of Motor shaft revolutions and number of driving
shaft revolutions.
For Motor encoders with different bit, the setting ranges of the gear ratio are as following:
Bit of Motor encoder <
20, the setting range is 0.001 to 4000
Bit of Motor encoder = 21, the setting range is 0.001 to 8000
Bit of Motor encoder = 22, the setting range is 0.001 to 16000
Bit of Motor encoder = 23, the setting range is 0.001 to 32000
Bit of Motor encoder = 24, the setting range is 0.001 to 64000
If the setting exceeds the above range, A07 (Electronic Gear Error) alarm will occur.
The Motor position feedback (encoder unit) and driving shaft position feedback (reference
unit) is in the following relationship:
Motor position feedback = Driving shaft position feedback × Gear ratio
Subindex Name
Data Type
Access
PDO Mapping
Related Mode
00
Highest subindex
supported
UINT32
RW
No
PP, HM, IP, CSP
