Electronic Gear Ratio (E-Gear Ratio) - Delta ASDA-A3 Series User Manual

Operation Mode
6.2.5
The resolution of ASDA-A3 is 24 bits, which means that it generates16777216 pulses per motor
6 rotation. Regardless of the encoder resolution (17-bit, 20-bit, or 22-bit), the E-Gear ratio is set
according to 24-bit resolution of ASDA-A3 servo drive.
The Electronic gear ratio changes the resolution. When E-Gear ratio is 1, it generates 16777216
pulses per motor rotation; when you set the ratio to 0.5, then every two pulses from the
command (controller) corresponds to one pulse for the motor. However, larger E-Gear ratio might
create a sharp corner in the profile and lead to a high jerk. To solve this problem, you can apply
an S-curve acceleration / deceleration filter, or a low-pass filter to reduce the jerk. For example, if
you set the E-Gear ratio so that the workpiece is moved at the speed of 1 μm/pulse, then it
means the workpiece moves 1 μm per pulse
Electronic
gear is not
applied
Electronic
gear is
applied
Relevant parameters: please refer to Chapter 8 for detailed descriptions.
Parameters
P1.044
P1.045
6-8

Electronic gear ratio (E-Gear ratio)

(1) Motor (2) Ball screw pitch: 3 mm (equals 3000 μm)
WL: Workpiece; WT: platform
Gear Ratio
1
1
=
16777216
3000
=
.
Moving distance per 1 pulse command
μm
3000
1
rev
= × =
Pulse
1 16777216
16777216
rev
μm
3000
16777216
rev
= ×
Pulse
3000
16777216
rev
Function
E-Gear ratio (Numerator) (N1)
E-Gear ratio (Denominator) (M)
3000 μm
(Unit : )
Pulse
μm
1 (Unit : )
=
Pulse
Revision December, 2017
ASDA-A3