Gear Functions

In use with a load gear and encoder signals directly from the motor some adjustment of drive parameters have to be done. The actual position POS ACT (Par 1.12) is calculated as shown, depending on the load gear parameters 60.03 and 60.04.

Example of gear 1:7 , 7 rev on motor side leads to 1 rev. on load side: Par.60.03 = 1, Par. 60.04 = 7.

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In use with a load gear and encoder signals from the load side the actual speed is calculated as the load speed. This should be compensated with the motor gear function, Par. 22.03 and 22.04 for the speed control.

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Example of gear 1:7 , 7 rev on motor side leads to 1 rev. on load side: Par.22.03 = 1, Par. 22.04 = 7.

As POS ACT, Par 1.12 (set in Par 71.01) is used as position input for speed reference the gear ratio function has to be used to adapt the position for internal speed reference. Par 71.07 = 60.04 x 22.03 and Par. 71.08 = 60.03. x 22.04.

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The following table shows the gear functions parameters:

Parameters for Gear Functions
Parameter Name Value Mnemonic Comment
SPEED FEEDBACK
22.03 MOTOR GEAR MUL     Numerator for load gear if load encoder is used for speed feedback.
22.04 MOTOR GEAR DIV     Denominator for load gear function if load encoder is used for speed feedback.
Parameters for Gear Functions
POS FEEDBACK
60.03       Numerator for load gear function if mo-tor encoder is used for pos. feedback.
60.04       Denominator for load gear function if motor encoder is used for pos. feedback.
Parameters for Gear Functions
POSITION CTRL
71.07 GEAR RATIO MUL =60.04 x 22.03   Gear ration function to compensate gear calculation for speed and/or position 71.07 =!(60.04 * 22.03).
71.08 GEAR RATIO DIV =60.03 x 22.04  

Scaling ratio for load gear 71.08 =!

(60.03*22.04)

Some examples:

  • The load gear has 1:7 (7rev of motor =1 rev. of load),
  • Encoder on motor side is used for position and speed control.

Just the adjustments which are relevant for this configuration are shown below:

Example for Gear Functions
Parameter Name Value Mnemonic Comment
22.03 MOTOR GEAR MUL 1   Motor gear function if encoder on load side is used.
22.04 MOTOR GEAR NOM 1  
60.03 LOAD GEAR NOM 1   Scaling for mech. gear for position 1:7 (7 rev. motor=1 rev. load).
60.04 LOAD GEAR DIV 7  
71.07 GEAR RATIO MUL 7   Scaling for mech. Gear 1:7 (7 rev. motor=1 rev. load).
71.08 GEAR RATIO DIV 1