4-3 Functions When Multi-function Feedback Option Board (3G3AX-PG01) Is Used Electronic Gear Function •This function allows you to set a gain relative to position command or position feedback and to change the main/sub motor rotation ratio, particularly for synchronous operation. 4 Functions Note: Below are the block diagrams of the electronic gear function. *1. It is recommended that feedfoward gain adjustment should be started with P022 = 2.00. To reduce the position deviation between the main and sub motors, increase the feedforward gain. If motor hunting occurs, reduce the feedforward gain. *2. It is recommended that position loop gain adjustment should be started with P023 = 2.00.
To increase positioning accuracy and holding power, increase the position loop gain. If an increased position loop gain causes hunting, reduce the position loop gain. *3. Make sure that the N/D setting is within the range of 1/50 ≤ N/D ≤ 20. (N: Electronic gear ratio numerator [P020], D: Electronic gear ratio denominator [P021]) 4-122 Parameter No. Function name Data Default setting Unit P019 Electronic gear setting position selection 00: Position feedback side (FB) 01: Position command side (REF) 00 P020 Electronic gear ratio numerator *3 1 to 9999 1. P021 Electronic gear ratio denominator *3 1 to 9999 1.
P022 Position control feedforward gain *1 0.00 to 655.3 0.00 P023 Position loop gain *2 0.00 to 99.99/100.0 0.50 rad/s P019 = 00 (FB) First-order lag filter Feedforward gain 1 P022 1+sT Position loop gain Position P023 Speed command command N Electronic gear D Position feedback P019 = 01 (REF) First-order lag filter Feedforward gain 1 P022 1+sT Electronic gear Position loop gain Position N Speed P023 command D command Position feedback