Setup Of Command Division And Multiplication Ratio (Electronic Gear Ratio); Relation Between Electronic Gear And Position Resolution Or Traveling Speed - Panasonic MINAS A6 Series Operating Instructions Manual

2
Preparation
[
Travel distance : P1 [P]
Traveling speed : F [PPS]
Here we take a ball screw drive as an example of machine.
A travel distance of a ball screw M [mm] corresponding to travel command P1 [P], can be
described by the following formula (1) by making the lead of ball screw as L [mm]
M = P1 x (D/E) x (1/R) x L .................. (1)
therefore, position resolution (travel distance ∆M per one command pulse) will be de-
scribed by the formula (2)
∆M = (D/E) x (1/R) x L ........................ (2)
modifying the above formula (2), electronic gear ratio can be found in the formula (3).
D = (∆M x E x R) x L ........................... (3)
Actual traveling velocity of ball screw, V[mm/s] can be described by the formula (4) and
the motor rotational speed, N at that time can be described by the formula (5).
V = F x (D/E) x (1/R) x L ..................... (4)
N = F x (D/E) x 60 ............................... (5)
modifying the above formula (5), electronic gear ratio can be found in the formula (6).
D = (N x E)/ (F x 60) ........................... (6)
Note 1) Make a position resolution, ∆ M as approx. 1/5 to 1/10 of the machine positioning ac-
curacy, ∆ ε , considering a mechanical error.
2) Set up Pr0.09 and Pr0.10 to any values between 1 to 2
3) The desired setting can be determined by selecting value of numerator and denomina-
tor of electronic gear. However, an excessively high division or multiplication ratio can-
not guarantee the operation. The ratio should be in a range between 1/1000 and 1000.
Excessively high multiplication ratio will cause Err27.2 (command pulse multiplication
error protection) due to varying command pulse input or noises, even if the other set-
tings are within the specified range.
4)
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13.
Setup of command division and
multiplication ratio (electronic gear ratio)

Relation between Electronic Gear and Position Resolution or Traveling Speed

Electronic gear ratio
Pulse train position
command
D=
]
Example of ball screw drive by servo motor
2 Decimal
n
2 1
0
2 1 2
2 4
2
2 8
3
2 4 16
2 32
5
2 64
6
2 7 128
2 256
8
2 512
9
2 10 1024
2 2048
11
Driver
+
Pr0.09
Pr0.10
–
2 Decimal
n
2 4096
12
2 13 8192
2 16384
14
2 32768
15
2 16 65536
2 131072
17
2 262144
18
2 19 524288
2 1048576
20
2 2097152
21
2 22 4194304
2 8388608
23
Rotational speed : N[r/min]
Motor Gear
Machine
Reduction ratio : R
Encoder
Encoder pulse counts : E [P/r]
* 8388608(＝23-bit)
30 .