PGEARI

Description

The parameter PGEARI is used in conjunction with the PGEARO parameter to convert the control loop position and speed from SI units into increments.

The PGEARO parameter contains the number of increments that are moved if the path to be moved has a length of PGEARI.

The conversion is made according to the following formula:

• Position[increments] = Position[SI] * PGEARO / PGEARI
• Velocity[increments] = Velocity[SI] * PGEARO / PGEARI / 4000

If PGEARI=PGEARO, then there will be no conversion from SI units into increments. In this case, the position and velocity must be given in increments.

• Position: 1046576 increments/turn for PRBASE = 20, or 65536 increments/turn for PRBASE = 16
• Velocity: 140/32 * speed in RPM

1. Example
   PGEARI = 10000
   PGEARO = 1048576
   PRBASE = 20
   
   The motion task position should be given in µm with a resolution of 10 mm/rev. The internal resolution of 20 Bit/rev (PRBASE=20) is used. Following settings have to be made:
   
   Position: 1046576 counts/rev at PRBASE = 20 or 65536 counts/rev at PRBASE = 16.
   
   All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in µm, the settings regarding speed/velocity in µm/sec, all settings regarding acceleration in 1000µm/sec²
2. 2. Example
   PGEARI = 3600
   PGEARO = 65536
   PRBASE = 16
   
   The position is given in 0.1 degree steps with a resolution of 360.0 degrees/rev. The internal resolution of 16 Bit/rev (PRBASE = 16) is used. Following settings have to be made:
   
   All settings regarding position (PFB, O_P, PE, PEMAX, PEINPOS) are made in 0.1*degree, the settings regarding speed/velocity in 0.1*degree/sec, all settings regarding acceleration in 1000*0.1*degree/sec²