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4. PARAMETERS FOR POSITIONING CONTROL
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(e) The number of pulses per revolution, travel value per revolution, and unit
magnification for the example configuration shown here are calculated
below.
Servo motor
1) Travel value per feedback pulse
∆S = 10 [mm] ×
∆l =
2) Unit magnification (A
Since ∆l is 0.0001[mm], the unit magnification (A
3) Travel distance per revolution (A
A
=
L
4) Number of pulses per revolution (A
A
= 8192 [PLS/rev] ... fixed according to the encoder model.
P
(2) Setting method 2
If A
cannot be set by using setting method 1, calculate the numerator and
L
denominator of the electronic gear, and set A
as the denominator.
Servo system CPU
Command
The electronic gear is represented by the following relational expression.
Electronic gear =
Example: With the example configuration shown above, and under the following
conditions;
Gear ratio = Z
Ball screw pitch = 25.4 [mm] =25.4×1000=25400.0 [ µ m]
A
and A
Electronic gear
=
∆S
search engine
Gear ratio = Z
: Z
1
Number of feedback pulses=8192[PLS/rev]
Ball screw pitch=10[mm]
1
10[mm]
25
Z
1
= 10 [mm] ×
Z
2
∆S
10 [mm]
=0.000049[mm] .... →∆l = 0.0001[mm]
=
25 × 8192
P
f
)
M
10 [mm]×1
= 0.4 [mm] = 400.0 [ µ m]
25
Electronic gear
A
P
× A
A
L
Number of feedback pulses (Pf)
Travel value per revolution (∆S)
Number of pulses per revolution (A
=
Travel value per motor revolution (A
: Z
= 1 : 39
1
2
25.4 [mm]
=
= 0.65128205 [mm]
L
29
= 651.28205 [ µ m]
cannot be set, calculate as follows....
L
P
8192 [PLS]
f
×
25400.0 [ µ m] ×
4 − 4
= 1 : 25
2
1
25
) is "1".
M
)
L
)
P
as the numerator and A
P
Amplifier
Motor
M
M
)
P
) ×unit magnification (A
L
319448 ..........A
P
=
1
25400 ..........A
L
39
× A
L
M
)
M
× A
M
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