Omron M1 Series User Manual page 445

when system rigidity is weak and gain is increased, set a large value in Position Control Feed Forward
Gain (d201).
Parameter
No.
Position Control Feed Forward
d201
Gain
Position Control Feed Forward
d202
Filter
Position Loop Gain 1 (low speed
d203
side)
Position Loop Gain 2 (high speed
d204
side)
Position Loop Gain Switch Fre-
d205
quency
6-7-3
Electronic Gear
With position control, the moving amount is basically managed by the number of pulses of the PG.
However, it is more convenient to manage moving amounts referenced to physical numeric values
(user values). The conversion ratio of user values to number of PG pulses can be set as an electronic
gear.
Parame-
ter No.
d206 Electronic Gear Denominator
d207 Electronic Gear Numerator
 How to calculate the electronic gear
Electronic gear numerator/electronic gear denominator ratio can be calculated based on the mov-
ing amount per user values unit (position resolution) [mm/user preference], moving amount per sin-
gle rotation of the motor [mm/rev] and number of PG pulses per single rotation of the motor [pulse/
rev].
Electronic gear numerator
Electronic gear denominator
Set the electronic gear reduced so that each of the electronic gear numerator/electronic gear de-
nominator reduced become integers of 65535 or less.
Ex- When the moving amount per user values unit is 0.1 [mm/user preference], machine speed at motor
am- speed of 1,800 [r/min] is 150 [m/min] and the number of PG pulses is 1,000 [pulse/rev]
ple)
Electronic gear numerator
Electronic gear denominator
M1 Series Standard Type User's Manual (I669)
Function name
Function name
1 to 65535
1 to 65535
Moving amount per user value [mm/user value]
=
Moving amount per 1 PG pulse [mm/pulse]
Moving amount per user value [mm/user value]
Moving amount per motor rotation [mm/rev]
=
Number of pulses per motor rotation [pulse/rev]
0.1 [mm/user value]
150 × 1000 / 1800 [mm/rev]
=
1000[pulse/rev]
6 Vector Control and Applied Functions
Data
0.00: Cancel
0.01 to 1.50
0.000 to 5.000
0.1 to 300.0
0.1 to 300.0
0.0 to 590.0
Data
180 12
= =
150 10
Default da-
Unit
ta
0.00 -
0.500 s
1.0 -
1.0 -
0.0 Hz
Default data Unit
1 -
1 -
6-39
6