AZ3s USER MANUAL
ST.TEC.054
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Use Gear ratio motor revolution and Gear ratio shaft revolutions in order to calculate the gear
ratio.
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑓𝑎𝑐𝑡𝑜𝑟 =
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑚𝑜𝑡𝑜𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛
𝑔𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑠ℎ𝑎𝑓𝑡 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠
EXAMPLE: with a gearbox with reduced ratio of 30, for every gearbox revolution the motor does
30 revolutions.
In this case:
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑚𝑜𝑡𝑜𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛 = 30,
𝑔𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑠ℎ𝑎𝑓𝑡 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 = 1
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑓𝑎𝑐𝑡𝑜𝑟 =
30
1
Use Feed constant feed and Feed constant shaft revolutions in order to calculate the
measurement distance per one revolution of the output shaft of the gearbox.
𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 =
𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑓𝑒𝑒𝑑
𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑠ℎ𝑎𝑓𝑡 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠
EXAMPLE: if every revolutions of the shaft of the gearbox (or of the motor if there are not
gearboxes) correspond in a linear movement of 11.5 user unit:
𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑓𝑒𝑒𝑑 = 23,
𝐹𝑒𝑒𝑑 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑠ℎ𝑎𝑓𝑡 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 = 2
𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 𝑓𝑎𝑐𝑡𝑜𝑟 =
23
2
It is not possible to write directly 11.5 in Feed constant feed because the type of this parameter
is unsigned.
Use Velocity encoder resolution motor revolutions and Velocity encoder resolution increments
per second in order to calculate the velocity encoder resolutions.
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑟𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 =
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑟𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑖𝑛𝑐𝑟𝑒𝑚𝑒𝑛𝑡𝑠 𝑝𝑒𝑟 𝑠𝑒𝑐𝑜𝑛𝑑𝑠
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑒𝑛𝑐𝑜𝑑𝑒𝑟 𝑟𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 𝑚𝑜𝑡𝑜𝑟 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠
Velocity encoder resolution is different from Position encoder resolution only if two different
encoder are used for position feedback and for velocity feedback. In all the others cases those
two values must be equal.
As described for Position encoder resolution the drive counts every edge of the two encoder
channel, so take care about factor 4. With Hall encoder this value is automatically set in function
of the motor poles, but however is recommended to set it in the appropriate way.
