Chapter 4 Explanation of Functions
4-101
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.
Electronic gear set position
selection
Position feedback (FB) side
Position command (REF) side
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)
0.00 to 99.99 or 100.0 (rad/s)
Note 1: Block diagrams for the electronic gear function are shown below.
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)
Position-control feedback
Position-control feedback
P019: Electronic gear set position selection
P020: Electronic gear ratio numerator setting
P021: Electronic gear ratio denominator setting
P022: Feed-forward gain setting
P023: Position loop gain setting
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