Electronic Gear Ratio (E-Gear Ratio) - Delta ASDA-A3 Series User Manual

Operation Mode

6.2.5 Electronic gear ratio (E-Gear ratio)

The electronic gear provides easy settings for the resolution. The resolution of the servo drive is
24-bit, which means the motor generates 16,777,216 pulses per revolution. Regardless of the
6
encoder resolution (17-bit, 20-bit, or 22-bit), the E-Gear ratio is set according to the 24-bit
resolution of the servo drive.
When the E-Gear ratio is 1, it generates 16,777,216 pulses per motor revolution; when you set
the ratio to 0.5, then every two pulses from the command (controller) corresponds to one pulse
for the motor. However, greater 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.
For example, when you set the E-Gear ratio, the workpiece is moved at the speed of 1 μm/pulse,
meaning the workpiece moves 1 μm per pulse.
E-Gear is
not applied
E-Gear is
applied
Refer to Chapter 8 for detailed descriptions of the relevant parameters.
Parameter
P1.044
P1.045
6-10
(1) Motor; (2) Ball screw pitch: 3 mm (equals 3000 μm); WL: workpiece; WT: platform
Gear ratio
1
=
1
16777216
=
3000
Moving distance per 1 pulse command
μm
3000
1
rev
= × =
pulse
1 16777216
16777216
rev
μm
3000
16777216
rev
= ×
pulse
3000
16777216
rev
Function
E-Gear ratio - numerator N1
E-Gear ratio - denominator M
3000 μm
( )
Unit:
pulse
μm
=1 ( )
Unit:
pulse
ASDA-A3