Mitsubishi Electric MELSEC iQ-R Series User Manual page 419

[Pr.2] to [Pr.4] Electronic gear (Movement amount per pulse)
The mechanical system value used when the Motion module performs positioning control.
The settings are made using [Pr.2] to [Pr.4].
The electronic gear is expressed by the following equation.
Electronic gear =
When positioning has been performed, an error (mechanical system error) may be produced between the specified
movement amount and the actual movement amount.
The error can be compensated by adjusting the value set in electronic gear.
Page 226 Electronic gear function
[Pr.2]Number of pulses per rotation (AP) / ([Pr.3] Movement amount per rotation (AL)  [Pr.4] Unit
magnification (AM)) [pulse]
Refer to the following for the follow up processing.
Page 309 Follow-up function
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 397 Positioning parameters: Basic parameters 1
[Pr.2] Number of pulses per rotation (AP)
Set the number of pulses required for a complete rotation of the motor shaft.
If you are using the Mitsubishi servo amplifier MR-J5(W)-G/MR-JET-G, set the value considering the electronic gear of the
servo amplifier.
Number of pulses per rotation (AP) = Resolution per servo motor rotation  Electronic gear denominator (PA07) / Electronic
gear numerator (PA06)
If you are using the MR-J5(W)-G rotary servo motor, the servo motor resolution per rotation is 26 bits
(67108864). However, set the number of pulses per rotation (AP) to 22 bits (4194304) since "Electronic gear
numerator (PA06) / Electronic gear denominator (PA07)" of the servo amplifier is overwritten with 1/16 from
the controller.
■Buffer memory address
Refer to the following for the buffer memory address in this area.
Page 397 Positioning parameters: Basic parameters 1
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[Pr.2] Number of pulses per rotation (AP)
[Pr.3] Movement amount per rotation (AL) × [Pr.4] Unit magnification (AM)
• The result of below calculation (round up after decimal point) is a minimum pulse when the feed current
value is updated at follow up processing. (The movement amount for droop pulse is reflected as the feed
current value when the droop pulse becomes more than above calculated value in pulse unit of motor end.)
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12 DATA USED FOR POSITIONING CONTROL
12.3 Basic Setting
12
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