Mitsubishi Electric AJ65BT-D75P2-S3 User Manual page 35

1 PRODUCT OUTLINE
Pulse encoder
(PLG)
Servomotor
Speed V
Accel-
eration
Pulse train Rough
Fig. 1.3 D75P2 output pulses
V
Table
R
P0
Fig. 1.4 System using worm gears
(1)
Movement amount per pulse
L
A =
R  n
(2) Command pulse frequency
V
Vs = [pulse/s]
A
(3) Deviation counter droop pulse amount
Vs

[pulse]
=
K
The movement amount per pulse is indicated with (1), and the [No. of output pulses] 
[
movement amount per pulse]
calculated with (2) using the movable section speed and
The relation of the command pulse frequency and deviation counter droop pulses is
shown in (3).
As the positioning command
independently for the 1 to 2 axes of the D75P2.
Thus, if the data such as the movement amount per pulse, acceleration/deceleration
time, positioning speed, and positioning address are set to match the positioning
command unit, the operation will be carried out within the D75P2 for the target
positioning address. The pulse train will be output, and positioning will be executed.
Pulse droop
Pulse
amount
distribution
Dense
A : Movement amount per pulse (mm/pulse)
Vs : Command pulse frequency (pulse/s)
n : Pulse encoder resolution (pulse/rev)
Workpiece
L : Worm gear lead (mm/rev)
Worm gear
R : Deceleration ratio
V : Movable section speed (mm/s)
L
N : Motor speed (r/min)
K : Position loop gain (1/s)
P

: Deviation counter droop pulse amount
P0 : Zero point (pulse)
P : Address (pulse)
[mm/pulse]
is the movement amount. The command pulse frequency is
, (mm), (inch), (degree) or (pulse) can be selected
unit
1 - 9
Servomotor
speed
Decel-
Time t
eration
Stop
settling time
Rough
movement amount per pulse
MELSEC-A
.