119[Connection and Setup of Position Control Mode]Connection and Setup ofPosition Control Mode 48 49 4A 4B 1st numerator ofelectronic gear 2nd numerator ofelectronic gear Multiplier of electronic gear numerator Denominator ofelectronic gear ≠0> • When division/multiplication ratio=1, it is essential to keep the relationship in whichthe motor turns one revolution with the command input (f) of the encoderresolution. Therefore, when the encoder resolution is 10000P/r, it is required to enter the inputof f=5000Pulses in case of duplicate, f=40000Pulse in case of division of 1/4, inorder to turn the motor by one revolution. • Set up Pr48, 4A and 4B so that the internal command (F) after division /multiplication may equal to the encoder resolution (10000 or 2 17 ).Electronic gear function-related (Pr48-4B) (continued from the previous page)2 17 (131072) 10000 (2500P/r x 4)F = f x Pr48 x 2Pr4A= 10000 or 217 Pr4B F : Internal command pulse counts per motor one revolution f : Command pulse counts per one motor revolution.Encoder resolution Example 1 when making the commandinput (f) as 5000 per onemotor revolution Example 2 when making the commandinput (f) as 40000 per onemotor revolutionPr4A 17Pr48 1 x 2 Pr4B 5000Pr4A 0Pr48 10000 x 2 Pr4B 5000Pr4A 0Pr4A 15Pr48 1 x 2 Pr4B 10000Pr48 2500 x 2 Pr4B 10000 4D *0 to 31 <0>Setup of FIRsmoothingYou can set up the moving average times of the FIR filter covering the commandpulse. (Setup value + 1) become average travel times.4C 0 to 7 <1> Setup of primarydelay smoothingSmoothing filter is the filter for primary delay which is inserted after the electronicgear.You can set the time constant of the smoothing filter in 8 steps with Pr4C.Setup value 0 <1> 7Time constant No filter function Time constant small Time constant largePurpose of smoothing filter • Reduce the step motion of the motor while the command pulse is rough. • Actual examples which cause rough command pulse are; (1) when you set up a high multiplier ratio (10 times or more). (2) when the command pulse frequency is low.4E 0 to 2 <1> Counter clear input modeYou can set up the clearing conditions of the counter clear input signal which clearsthe deviation counter.*1 : Min. time width of CL signalSetup value 0 <1> 2Clearing condition Clears the deviation counter at level (shorting for longer than 100μs)*1 Clears the deviation counter at falling edge (open-shorting for longer than 100μs)*1 InvalidCL(Pin-30) 100μs or longerPrNo. Setup rangeTitle Function/ContentStandard default : < >• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on thecontrol power.
