IDEC SE2L Series, User Manual

Page: 26 / 152

SE2L User’s Manual (SE9Z-B1865)
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3.6.1 Pulse per cm travel generated by incremental encoders
When AGV travels, increment encoder generates pulses due to the transmission ratio between AVG tires
and increment encoder frictional wheel. Pulse count per cm depends on AGV's speed.
Figure 3-11 Calculation of pulse count for per centimeter travel

AGV tire diameter : 40 cm

Frictional wheel diameter mounted in increment encoder: 5 cm

Increment encoder pulse number per revolution : 1000 pulse
AGV tire circumference = Diameter × Circumference ratio = 40 cm × 3.14 = 125.6 cm
AGV tire's one rotation is equivalent to 8 rotation of frictional wheel. This equals to the 8,000 pulse of
increment encoder.
From above, increment encoder pulse count per cm is obtained as
8,000/125.6 = 63.7
While setting encoder parameters (Encoder Pulse1 and Encoder Pulse2) in SLS Project Designer, set the
encoder pulse count after rounding the calculated value to nearest whole number (64 in this case).
In the explanation above, the transfer method of the rotation was based on the frictional wheel. Same
method can be applied for other cases to estimate the pulse count generated for one rotation of the wheel.