Mitsubishi Electric MELSECQ Series User Manual page 22

1 PRODUCT OUTLINE
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In the system shown in Fig. 1.4, the movement amount per pulse,
command pulse frequency, and the deviation counter droop pulser amount
are determined as follows:
1) Movement amount per pulse
The movement amount per pulse is determined by the worm gear lead,
deceleration ratio, and the pulse encoder resolution.
The movement amount, therefore, is given as follows: (Number of
pulses output) × (Movement amount per pulse).
A =
2) Command pulse frequency
The command pulse frequency is determined by the speed of the
moving part and movement amount per pulse.
Vs =
3) Deviation counter droop pulser amount.
The deviation counter droop pulser amount is determined by the
command pulse frequency and position loop gain.
ε
=
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L
[mm/pulse]
R × n
V
[pulse/s]
A
Vs
[pulse]
K
MELSEC-Q
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