No. SX-DSV02472 -
31-
4-2-2 Electronic gear function
The electronic gear is a function which makes the value which multiplies by the electronic gear ratio defined by the
object to the position command from host controller as the position command to a position control section.
By using this function, the number of revolutions and travel of the motor per command can be set to the desired value.
In MINAS-A5B series, a setup of an electronic gear ratio with a parameter Pr0.08(Number of command pulses per
motor revolution), Pr0.09(Numerator of electronic gear) and Pr0.10(Denominator of electronic gear) has not
corresponded, an electronic gear ratio is set up by the object 608Fh(Position encoder resolution), 6091h(Gear ratio)
and 6092h(Feed constant) specified to CoE(CiA402).
The equation below calculates the relationship between the unit (command) defined by the user and internal unit (pulse):
(Note) - Electronic gear ratio is valid only within the range of 1000 times to 1/1000 times.
When the range is exceeded, the value is saturated in the range, and Err88.3 (Improper operation error
protection) occurs.
- When the denominator or numerator exceeds the unsigned 64-bit size in the calculation process of
electronic gear ratio, Err88.3 (Improper operation error protection) occurs.
- When the denominator or numerator exceeds the unsigned 32-bit size in the final calculation result of
electronic gear ratio, Err88.3 (Improper operation error protection) occurs.
- Set the electronic gear ratio with several objects.
An error may become large depending on the combination of settings.
- 608Fh-01h (Encoder increments) is automatically set according to encoder resolution.
The default value of 6092h-01h (Feed) is set so that the electronic gear ratio is 1:1 when a 20-bit/r
encoder is used.
When using other encoders than a 20-bit/r encoder, pay attention to the electronic gear ratio settings.
- In the position information initialization when Init changes to PreOp in the absolute mode, make a
setting so that the value of "Absolute encoder position [pulse/unit]/Electronic gear ratio" is in the
range from -2
31
(-2147483648) to +2
31
-1 (2147483647).
Operations out of this range are not guaranteed.
Check the operation range of the absolute encoder position and the electronic gear ratio.
- The unit of the movement amount setting of the test run function by the setup support tool
PANATERM is [pulse], not [command unit], so care should be taken.
For details, refer to Technical Reference, SX-DSV02473”Section 6-9-5”, EtherCAT communication specification.
Position demand value × Electronic gear ratio
＝
Position demand internal value
Feed constant
Position encoder resolution × Gear ratio
Electronic gear ratio =
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
