PL.GEARIN

Description

PL.GEARIN sets the gear factor for the position loop output values towards the velocity loop input values. PL.GEARIN is the numerator of the gear factor. PL.GEAROUT describes the denominator of the gear factor.

This gear factor is useful in applications where the position loop is closed by an external encoder (PL.FBSOURCE != 0) and the velocity loop is closed by the motor feedback encoder (VL.FBSOURCE = 0). If there is a mechanical gear factor between the external encoder and the motor feedback encoder, PL.GEARIN and PL.GEAROUT are used to described this physical gearing. Setting of the gear factor is important to achieve a high performance tuning result for the axis.

General Information

Type

NV Parameter

Units

N/A

Range

1 to 8192

Default Value

1

Data Type

Integer

Start Version

M_01-16-08-001

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Related Topics

Position Loop