Beijing RichAuto S&T Co., Ltd.
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PS6.1.3 Rotary axis (
pul/ °
)
Formula = pulses per revolution / angles per revolution
（
360°
）
PS6.1.4 Rotary axis pulse equivalent computing
E.g.
：
pulse/rev=1600,transmission ratio =1/40
Pulse equivalent=
=177.778 (result retains up to 3 decimal places)
PS6.2 Servo motor drive
Electronic gear ratio
numerator
: resolution of the encoder, can be found in the servo
driver manual.
Electronic gear ratio
denominator
:
PS6.2.1
Linear axis
►
Screw drive
：
pulse equivalent * screw pitch*mechanical transmission ratio
►
Straight rack
：
pulse equivalent*rack module*gear teeth number*π*mechanical transmission
ratio
►
Helical rack
：
pulse equivalent* rack module*gear teeth number*π*mechanical transmission
ratio/cos
（
helical angle
）
►
Pulley&belt drive
：
pulse equivalent *π*pulley diameter*mechanical transmission ratio
PS6.2.2 Calculate electronic gear ratio according to fixed pulse equivalent
value
E.g.: Pulse equivalent of handle=1000
1. YASKAWA-Numerator Pn20E
YASKAWA∑—7:Encoder resolution=16777216
（
2
24
）
Set
Pn20E
=16777216
YASKAWA∑—V:Encoder resolution=1048576
（
2
20
）
Set
Pn20E
=1048576
YASKAWA- numerator Pn20E can set to 1048576
YASKAWA-denominator Pn210
Screw drive
