Hitachi SJ700-2 - Manual (Page 166)

Chapter 4 Explanation of Functions
P019: Electronic gear set position selection
P020: Electronic gear ratio numerator s
P021: E
etting
lectronic gear ratio denominator
eed-forward gain setting
setting
P022: F
P023: Position loop gain setting
Related code 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)
Position-control feedback
Ｄ
Ｎ
P023
P022
First order lag filter
1
1+ST
Electronic
gear
Position
command
Position loop
gain
Feed-forward gain
Speed
command
P019 = 01 (REF)
P023
P022 Electronic
gear
First order lag filter
1
1+ST
Position loop
gain
Feed-forward gain
Ｎ
Ｄ Position
command Speed
command
Position-control feedback
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)
4 - 10
3