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Load feedback displacement (user) =
Motor feedback displacement
Position factor
[Example]
For the ball screw:
Each feed of load: 40 mm
Lead pB=10 mm/r
Motor encoder PPR 2500, actual resolution: P=10000 (p/r)
Thus, the calculation formula of position factor is below:
Each feed of load shaft:
Each feed of load shaft =
Feed of load
Lead pB
=
40 mm
10 mm/r
=4
(r)
Position factor:
Position factor =
Each feed of load shaft × Motor resolution
Each feed of load
=
4 r × 10000 p/r
40
= 1000
It indicates that 1 mm of load displacement corresponds to 1000 pulses of motor displacement.
Thus, the numerator 6093-1h can be set to 1000, and the denominator 6093-2h can be set to 1.
(2) Velocity factor 1 (6095h)
Velocity factor 1 refers to the motor speed (unit: rpm) corresponding to the load speed of one user unit.
Velocity factor 1 consists of the numerator 6095-1h and the denominator 6095-2h, through which a relation between
the load speed (user unit) and the motor speed (motor unit) can be formulated as below:
Velocity factor 1 (6095h) =
Numerator of velocity factor 1 (6095 −1h)
Denominator of velocity factor 1 (6095 −2h)
Load speed (user) = Motor speed
×
Velocity factor 1
Motor feedback speed =
Load feedback speed (user)
Velocity factor 1
[Example]
For the ball screw:
Load speed unit: mm/s
Motor speed: 1200 rpm
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