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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.
Item Function code Data or range of data Description
00 Position feedback (FB) side Electronic gear set position
selection
P019
01 Position command (REF) side
Electronic gear ratio numerator
setting (Note 4)
P020 1 to 9999
Electronic gear ratio
denominator setting (Note 4)
P021 1 to 9999
Feed-forward gain setting
(Note 2)
P022 0.00 to 655.3
Position loop gain setting (Note
3)
P023 0.00 to 99.99 or 100.0 (rad/s)
Note 1: Block diagrams for the electronic gear function are shown below.
P019 = 00 (FB)
P019 = 01 (REF)
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)
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
Related code
Position-control feedback
Ｄ
Ｎ
P023
P022
Feed-forward gain
Position loop
gain
Position
command
Speed
command
Electronic
gear
1
1+ST
First order lag filter
P023
P022
Ｎ
Ｄ
Position
command
Speed
command
Feed-forward gain
Position loop
gain
Position-control feedback
Electronic
gear
1
1+ST
First order lag filter