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PGEARO Parameter (S300-S700)

ASCII - Command PGEARO    
Syntax Transmit PGEARO [Data]    
Syntax Receive PGEARO <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer32   CANBus Object Number 35CB (hex)
DIM µm   PROFIBUS PNU 1803 (dec) IND = 1 (dec)
Range long int   DPR 203 (dec)
Default 1048576    
Opmode All   Data Type Bus/DPR Integer32
Drive State -   Weighting  
Start Firmware 1.0    
Configuration No   Last Change of this Object 2.6
Function Group position loop   EEPROM Yes
Short Description Position Resolution (Denominator)



The parameter PGEARO is used in conjunction with the PGEARI parameter to convert the control loop position and speed from user-defined units into internal increments.
The PGEARO parameter contains in combination with PRBASE 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[user-defined unit] * PGEARO *2^PRBASE / PGEARI
Velocity[increments/250us] = Velocity[user-defined unit] * PGEARO *2^PRBASE / (PGEARI * 4000)

Note: If PGEARI = PGEARO * 2^PRBASE, then there will be no conversion from user-defined units into increments. In this case, the position and velocity must be given in increments.

The maximum of PGEARO pepends on PRBASE and is calculated by 2^(31-PRBASE)

Position: 1 turn = 2^PRBASE increments

Velocity: speed [rpm] * 2^PRBASE / (4000 *60)

For an example: see PGEARI and PRBASE