Firstly calculate the electronic gear ratio and pulse equivalent when the rated motor speed is based on the rated motor speed.
1) Position loop upper limit frequency = weekly command pulse × motor speed;
2) Week command pulse = position loop upper limit frequency / motor speed
3) Electronic gear ratio = encoder resolution / weekly command pulse = encoder resolution / (position loop upper limit frequency / motor speed) = (encoder resolution × motor speed) / position loop upper limit frequency
4) Pulse equivalent = pitch / (reduction ratio × weekly command pulse) = pitch / reduction ratio ÷ weekly command pulse = pitch / reduction ratio ÷ encoder resolution / electronic gear ratio
5) At this time, the rated speed of the motor is running, the set value of the electronic gear ratio is the largest, and the set value of the pulse equivalent is the largest;
6) If you set the maximum set value of the electronic gear ratio, the set value of the pulse equivalent is the largest, the maximum speed of the motor can run to the rated speed. At this time, if the motor runs at low speed, the resolution of the encoder is reduced by the electronic gear ratio. Times, in a minimum working state;
2 When calculating the electronic gear ratio = 1, the speed and pulse equivalent of the motor:
1) Because the electronic gear ratio = feedback pulse frequency / position loop frequency upper limit = (encoder resolution × motor speed) / position loop frequency upper limit = 1
So motor speed = position loop frequency upper limit / encoder resolution
2) Pulse equivalent = pitch / reduction ratio ÷i encoder resolution
3) When the electronic gear ratio is 1, the encoder resolution is running at the highest state, that is, the resolution of the encoder is not reduced;
4) When the electronic gear ratio is 1, the encoder resolution is running at the highest state, that is, the resolution of the encoder is not reduced. At this time, the upper limit of the motor speed is the smallest and the pulse equivalent is the smallest;
3 Through the calculation of 2, 3, we got a range:
1) When the maximum speed of the motor is the maximum rated speed, the motor gear ratio is the largest, the pulse equivalent is the largest, and the encoder resolution is reduced to small;
2) When the electronic gear ratio = 1, the encoder resolution is not reduced, running at the highest state, but the upper limit of the motor speed is the smallest, and the pulse equivalent is the smallest;
3) After knowing 1) and 2), the operator can freely set the pulse equivalent and the electronic gear ratio within this range, so that the resolution of the encoder is minimized and the resolution is optimal;
4. In fact, the operator can set the electronic gear ratio and pulse equivalent when calculating the rated motor speed, and the motor can run at any speed under the rated speed;
5. In fact, the operator can set the electronic gear ratio and pulse equivalent when calculating the rated motor speed. The motor can run at any speed under the rated speed, but the resolution of the encoder is reduced to the minimum. Working in the state with the lowest resolution;
6. In other words, this kind of servo control does not really control the angular displacement of the motor, and the resolution of the encoder is no longer useful!
7. In other words, this kind of servo control does not really control the angular displacement of the motor, and the resolution of the encoder is not high. That is to say, the operator sees that the motor has turned more or less, and there are no more ways!
