Mitsubishi Electric MELSEC iQ-R Series User Manual page 194

When controlling motor HK-KT (67108864 pulse/rev), set the servo parameters of the MR-J5(W)-G as follows.
PA06 (Electronic gear numerator): 16
PA07 (Electronic gear denominator): 1
PT01.1 (Speed/acceleration/deceleration unit selection): 0 (r/min, mm/s)
In speed control, torque control, and continuous operation to torque control mode, the Motion module
multiplies the electronic gear ratio of the servo amplifier at the command speed set in the control data and
sends the result to the servo amplifier.
Command
speed
(speed unit)
Operation example for speed control mode
[Pr.1] Unit setting: 0 [mm]
[Pr.2] Number of pulses per rotation: 67108864 [pulse] × 1/16 = 4194304 [pulse]
[Pr.3] Movement amount per rotation: 20000.0 [m]
[Pr.4] Unit magnification: 1 (x 1)
[Cd.140] Command speed at speed control mode: 4000000 [× 10
[Md.103] Motor rotation speed: 200000 [0.01 r/min]
Servo motor speed: 2000 [r/min]
7 EXPANSION CONTROL
192
7.1 Speed-torque Control
Downloaded from ManualsNet.com
Motion module
speed
AP
Encoder
unit pulse
resolution
AL × AM
Motor speed (feedback speed)
• Condition
• Control details
search engine
× 16
Servo amplifier
r/min
Electronic gear numerator (PA06): 16
Electronic gear denominator (PA07): 1
Feedback pulse
Reduction gear
pulse
M
ENC
pulse
-2
mm/min]
Machine