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42 Position control program features
Feedback
Load encoder scale
*Modulo operation is typically used for repeating rotary movement (eg. rotary table). The
modulo settings here provide the feed constant as a repeated position range (eg. actual
position in the range of 0...360, when Feed constant = 360).
Note: The combination (product) of Load gear and Feed constant can be set in either one
of these to reduce the number of required parameter settings.
￭
Example 1 – Pulley transmission with position feedback from motor
encoder
Load gear = 86.14/86.15 = Load revs/Load encoder revs = 1/Gear ratio = 200/500 (or 1/1,
see note)
Feed constant = 86.16/86.17 = Load units/Load revs = 360/1 (or 360/1 × 200/500, see note)
Modulo range = 86.18/86.19 = Gear ratio = 500/200
Load encoder scale = 86.21/86.22 = Motor revs/Load encoder revs = 1/1
Note: The figure in brackets is an alternative factor that combines the effects of Feed
constant and Load gear.
Motor shaft (A)
Rotary encoder
1
ACS880
FEN-xx
ENC
M
1
Load shaft (B)
Rotary encoder
Gear ratio
• Drive-side pulley diameter: 200 mm
• Load-side pulley diameter: 500 mm
• Load units:
• 1 unit = 1.000 degree / 360 degrees as
modulo (1 turn of load-side pulley)
• Position feedback: Motor encoder
• Speed feedback: Motor encoder
Load (C)
Linear (rotary) en-
coder
Gear ratio× Load
revs/ Load encoder
revs
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