Drive control and features52Position/synchron control featuresLoad encoder gear functionPositioning uses the measured speed and position of the load. The load encodergear function calculates the actual load position on the basis of the measured motorshaft position.Load encoder gear application examples:The load encoder gear parameters 60.03 LOAD GEAR MUL and 60.04 LOADGEAR DIV are set as follows:Note: The sign of the programmed gear ratio has to match the sign of themechanical gear ratio.Because the drive speed control uses motor speed, a gear function between positioncontrol (load side) and speed control (motor side) is needed. This gear function isformed from the motor gear function and inverted load gear function. The gearfunction is applied to the position control output (speed reference) as follows:M3~Positioning uses the measuredspeed and position of the load. Ifno encoder is mounted on the loadside, the load encoder gear func-tion must be applied in order to cal-culate the actual load position onthe basis of the measured motorshaft position.A second encoder (encoder 2)mounted on the load side is usedas the source for the actual posi-tion value. (Note: Inverted gear ra-tio is considered when the positioncontrol output (speed reference) isproduced).M3~ENCODER 1 LOADGEARMOTOR=60.03 LOAD GEAR MUL60.04 LOAD GEAR DIVLoad speedEncoder 1/2 speed=71.07 GEAR RATIO MUL71.08 GEAR RATIO DIVMotor speedLoad speed
