Mitsubishi Electric MELSEC iQ-R Series User Manual page 231

■When "degree" is set as the control unit for a rotary axis
When the rotary axis is used, the motor is HK-KT (67108864 pulses/rev), and the reduction ratio of the reduction gear is 3/11
Reduction ratio 3/11
M
First, find how many degrees the load (machine) will travel (S) when the motor turns one revolution (AP).
AP (Number of pulses per rotation) = 67108864 [pulse]  1/16 = 4194304 [pulse]
• To control the motor HK-KT, set the servo parameters of MR-J5(W)-G as follows.
Electrical gear numerator (PA06): 16
Electrical gear denominator (PA07): 1
S (Movement amount per rotation)
= 360.00000 [degree]  Reduction ratio
= 360.00000  3/11
Substitute this for the above expression (1).
At this time, make calculation with the reduction ratio 3/11 remaining as a fraction.
AP 4194304 [pulse]
=
S
360.00000 [degree] × 3/11
4194304 [pulse] × 11
=
360.00000 [degree] × 3
46137344
=
1080.00000
2883584
=
67.50000
2883584 (AP)
=
0.06750 (AL) × 1000 (AM)
Thus, AP, AL, and AM to be set are as follows. These two examples of settings are only examples. There are settings other
than these examples.
Setting value
AP = 2883584
AL = 67.50000
AM = 1
or
Setting value
AP = 2883584
AL = 0.06750
AM = 1000
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2883584 (AP)
=
67.50000 (AL) × 1 (AM)
Setting item
[Pr.2]
[Pr.3]
[Pr.4]
Setting item
[Pr.2]
[Pr.3]
[Pr.4]
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8 CONTROL SUB FUNCTIONS
8.2 Functions for Compensating the Control
8
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