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Chapter 4
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
Electronic gear set position
selection
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)
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)
Function code
Data or range of data
P019
P020
P021
P022
P023
0.00 to 99.99 or 100.0 (rad/s)
First order lag filter
Position
command
Position-control feedback
First order lag filter
Electronic
gear
Position
N
command
D
Position-control feedback
4-101
Explanation of Functions
Related code
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
00
01
1 to 9999
1 to 9999
0.00 to 655.3
Feed-forward gain
1
P022
1+ST
Position loop gain
P023
Electronic gear
N
D
Feed-forward gain
1
P022
1+ST
Position loop gain
P023
Description
Position feedback (FB) side
Position command (REF) side
Speed
command
Speed
command
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