Mitsubishi Electric MELSEC iQ-R Series User Manual page 232

■When "mm" is set as the control unit for conveyor drive (calculation including )
When the belt conveyor drive is used, the conveyor diameter is 135 mm, the pulley ratio is 1/3, the motor is the HK-KT
(67108864 pulses/rev), and the reduction ratio of the reduction gear is 7/53
M
Reduction ratio 7/53
As the travel value of the conveyor is used to exercise control, set "mm" as the control unit.
First, find how many millimeters 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)
= 135000.0 [m]    Reduction ratio
= 135000.0 [m]    7/53  1/3
Substitute this for the above expression (1).
At this time, make calculation with the reduction ratio 7/53  1/3 remaining as a fraction.
AP AP
=
S
AL × AM
Here, make calculation on the assumption that  is equal to 3.141592654.
AP AP
=
S
AL × AM
AL has a significant number to first decimal place, round down numbers to two decimal places.
AP AP
=
S
AL × AM
Thus, AP, AL, and AM to be set are as follows.
Setting value
AP = 166723584
AL = 742201.2
AM = 1
This setting will produce an error for the true machine value, but it cannot be helped.
This error is as follows.
7422012/166723584
2362500π/166723584
AP (Number of pulses per rotation) = 4194304 [pulse]
S (Movement amount per rotation)
= 135000.0 [m]    Reduction ratio
= 135000.0 [m]    7/53  1/3
It is equivalent to an about 86.9 [m] error in continuous 1 km feed.
8 CONTROL SUB FUNCTIONS
230
8.2 Functions for Compensating the Control
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Belt conveyor
Pulley ratio 1/3
4194304 [pulse]
=
135000.0 [μm] ×  × 7/53 × 1/3
4194304 × 53 × 3
=
135000.0 ×  × 7
166723584
=
236250 × 
166723584
=
742201.2645075
166723584 166723584 (AP)
= =
742201.2 742201.2 (AL) × 1 (AM)
Setting item
[Pr.2]
[Pr.3]
[Pr.4]
- 1 × 100 = -8.69 × 10
search engine
135 mm
-6 [%]