PL.GEAROUT
Description
PL.GEAROUT sets the gear factor for the position loop output values towards the velocity loop input values. PL.GEAROUT is the denominator of the gear factor. PL.GEARIN describes the numerator of the gear factor. PL.GEAROUT must be a power of 2 (see range above).
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, 2, 4, 8, ... 1024 (must be a power of 2) |
|
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
