Electronic Gear Function - Hitachi SJ700-2 Instruction Manual

4.3.7 Electronic gear function

The electronic gear function allows you to set a gain on the
position command or position feedback data to adjust the ratio
between the main motor and sub-motor speeds during the
synchronous operation of the motors.
Item
Electronic gear set position
selection
Electronic gear ratio numerator
setting (Note 4)
Electronic gear ratio
denominator setting (Note 4)
Feed-forward gain setting
(Note 2)
Position loop gain setting (Note
3)
Note 1: Block diagrams for the electronic gear function are shown below.
P019 = 00 (FB)
P019 = 01 (REF)
Note 2: You are recommended to set the feed-forward gain setting (P022) to 2.00 first when adjusting the
feed-forward gain. To reduce the position deviation between the main motor and sub-motor,
increase the feed-forward gain. If the motor operation is unstable, reduce the feed-forward gain.
Note 3: You are recommended to set the position loop gain (P023) to 2.00 first when adjusting the loop
gain. To increase the positioning accuracy and position-holding force, increase the loop gain. If a
high loop gain results in unstable motor operation, reduce the loop gain.
Note 4: The electronic gear ratio (N/D) must be within the following range:
1/50 ≤ N/D ≤ 20
N: Electronic gear ratio numerator (P020)
D: Electronic gear ratio denominator (P021)
Function code Data or range of data
P019
P020
P021
P022
0.00 to 99.99 or 100.0
P023
First order lag filter
Position
command
Position-control feedback
First order lag filter
Electronic
gear
Ｎ
Position
command
Ｄ
Position-control feedback
4 - 103
Chapter 4 Explanation of Functions
Related code
P019: Electronic gear set position selection
P020: Electronic gear ratio numerator s
P021: E lectronic gear ratio denominator
setting
P022: F eed-forward gain setting
P023: Position loop gain setting
00
01
1 to 9999
1 to 9999
0.00 to 655.3
(rad/s)
Feed-forward gain
1
P022
1+ST
Position loop
gain
P023
Ｎ Electronic
gear
Ｄ
Feed-forward gain
1
P022
1+ST
Position loop
gain
P023
Description
Position feedback (FB) side
Position command (REF) side
Speed
command
Speed
command
etting