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17. FULLY CLOSED LOOP SYSTEM
17 - 13
(5) Setting of feedback pulse electronic gear
POINT
If an incorrect value is set in the feedback pulse electronic gear ([Pr. PE04], [Pr.
PE05], [Pr. PE34], and [Pr. PE35]), [AL. 37 Parameter error] and an abnormal
operation may occur. Also, it may cause [AL. 42.8 Fully closed loop control error
by position deviation] during the positioning operation.
The numerator ([Pr. PE04] and [Pr. PE34]) and denominator ([Pr. PE05] and [Pr. PE35]) of the electronic
gear are set to the servo motor-side encoder pulse. Set the electronic gear so that the number of servo
motor encoder pulses per servo motor revolution is converted to the number of load-side encoder
pulses. The relational expression is shown below.
[Pr. PE04] × [Pr. PE34]
[Pr. PE05] × [Pr. PE35]
Number of motor encoder pulses per servo motor revolution
Number of load-side encoder pulses per servo motor revolution
=
Select the load-side encoder so that the number of load-side encoder pulses per servo motor revolution
is within the following range.
4096 (2
12
)
≤
Number of load-side encoder pulses per servo motor revolution
≤
67108864 (2
26
)
(a) When the servo motor is directly coupled with a ball screw and the linear encoder resolution is 0.05
μ
m
Conditions
Servo motor resolution: 4194304 pulses/rev
Servo motor reduction ratio: 1/11
Ball screw lead: 20 mm
Linear encoder resolution: 0.05 µm
Geared servo motor
Table
Linear encoder
Linear encoder head
Calculate the number of linear encoder pulses per ball screw revolution.
Number of linear encoder pulses per ball screw revolution
= Ball screw lead/linear encoder resolution
= 20 mm/0.05 µm = 400000 pulses
[Pr. PE04] × [Pr. PE34]
[Pr. PE05] × [Pr. PE35]
400000
4194304
3125
32768
1
11
=
1
11
=
×
×
Содержание MR-J4-100A(-RJ)
Страница 19: ...10 MEMO ...
Страница 75: ...1 FUNCTIONS AND CONFIGURATION 1 56 MEMO ...
Страница 83: ...2 INSTALLATION 2 8 MEMO ...
Страница 159: ...3 SIGNALS AND WIRING 3 76 MEMO ...
Страница 203: ...4 STARTUP 4 44 MEMO ...
Страница 351: ...7 SPECIAL ADJUSTMENT FUNCTIONS 7 40 MEMO ...
Страница 365: ...8 TROUBLESHOOTING 8 14 MEMO ...
Страница 387: ...9 DIMENSIONS 9 22 MEMO ...
Страница 403: ...10 CHARACTERISTICS 10 16 MEMO ...
Страница 553: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 30 MEMO ...
Страница 567: ...13 USING STO FUNCTION 13 14 MEMO ...
Страница 607: ...14 COMMUNICATION FUNCTION MITSUBISHI ELECTRIC GENERAL PURPOSE AC SERVO PROTOCOL 14 40 MEMO ...
Страница 639: ...15 USING A LINEAR SERVO MOTOR 15 32 MEMO ...
Страница 767: ...18 MR J4 03A6 RJ SERVO AMPLIFIER 18 84 MEMO ...
Страница 856: ...APPENDIX App 41 ...
Страница 905: ...MEMO ...