How-to’s
Section 5-1
289
5-1-3-5 Example 3
The mechanical system uses a servo motor with an 17-bit absolute encoder.
The mechanical gear ratio of the gearbox is 1:6.31. One rotation of the pulley
moves the moving part on the belt 320 mm. The total length of the belt, and
therefore the total moving range of the motion part, is 4160 mm.
The mechanical measurement units must be mm. This means that all axis
parameters and commands given to the CJ1W-MCH72 are expressed in mm.
Using the same procedure as in example 1, the equation expressing the
relationship between user units and encoder counts is:
Therefore:
One solution is:
Note that we have not used the pulley radius in the calculation. This is to avoid
the use of
π
, which cannot be expressed as a fractional number). In toothed
pulleys, the number of teeth and mm per tooth is commonly used.
The calculation of the multiturn limit setting is:
The smallest integer
m
for which this equation is valid is 8203. This results in
Pn205 = 8202.
17-bit absolute
encoder
1:6.31
Gear
r = 320/(2*PI)
1 turn = 320mm move
Total length (perimeter) of belt: 4160
M
r
Pn202
Pn203
UNITS =
2
17
encoder_counts
1 motor_revolution 1 pulley_revolution
6.31 motor_revolution
320mm
1 pulley_revolution
320
2
6.31
mm
encoder_counts
=
.
17
.
.
.
.
.
Pn202
Pn203
UNITS =
2
320
17
6.31
2
1000
17
631
=
2
5
8.125
631
= 2
12
631
= 2
12
125
2
3
631
= 2
9
125
.
.
9
UNITS = 2 = 512
Pn202 = 631
Pn203 = 125
m motor_revolution = n machine_cycle
m motor_revolution = n machine_cycle
4160 pulley_revolution
320 machine_cycle
= n 13 pulley_revolution
= n 13
6 31 motor_revolution
1 pulley_revolution
= n 82.03 pulley_revolution
m = n 82.03
.
.
.
.
.
.
.
.
.
.
.
.
.
Summary of Contents for SYSMAC CJ Series
Page 2: ......
Page 70: ...Specifications Section 2 4 58...
Page 84: ...FINS commands Section 3 4 72...
Page 148: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Page 370: ...Section 358...
