IAI SCON-CB-F, Инструкция по эксплуатации

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3. Operation
242
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Examples of electronic gear calculations:
To set the unit travel distance to 0.01 (1/100) mm for an actuator a ball screw lead of 10mm,
equipped with an encoder of 16384pulses/rev.
The electronic gear numerator (CNUM) is calculated as 2048, while the electronic gear
denominator (CDEN) is calculated as 125. Based on these settings, the travel distance per
command pulse train input pulse becomes 0.01mm.
Caution:
● The fraction has to be completely reduced so both the electric gear numerator (CNUM)
and electric gear denominator (CDEN) can be 99999999 or less (4096 or less when the
controller version is earlier than V0005) and make them to be integral numbers. (Do not
stop reducing the fraction on the way.)
● CNUM and CDEN on the line axis have to satisfy the following relative formulas.
Also, there are some limitations as follows when the controller version is earlier than V0005.
● Use rotary actuators of multi-rotation specification within the range where the following
formula is satisfied. Moreover, the maximum rotation angle is ± 9999
(note 1)
deg
(maximum software stroke limit).
Maximum rotation angle : Set the usage conditions (MAX. -9999 to 9999 deg)
Note 1 :The following models can not be rotated up to ±9999.99 [deg].
deceleration ratio Maximum rotation angle [deg] corresponding model
1/24 ±7679.99 RCS2-RTC8, RCS2-RTC10
1/30 ±6143.99 RCS2-RTC12
1/50 ±3685
1/100 ±1842
RS-30, RS-60
Multi-rotation absolute
(High resolution type)
±2520 DD Motor
Unit Travel Distance : Travel distance per command pulse
● Do not set the minimum movement unit out of the encoder resolution ability. If this
setting is conducted, the actuator would not start moving until enough command pulse
is stored in the encoder resolution or longer.
● Pay attention not to exceed the specification limit when setting the velocity, acceleration
and deceleration.
= No. of Encoder Pluses [pulse/rev]
Ball Screw Lead Length [mm/rev]
×
Unit Travel Distance [mm/pulse]
=
16384
10
×
1
100
=
2048
125
2 31
≥
Stroke Length [mm]
Ball Screw Lead Length [mm/rev]
×
No. of Encoder Pluses [pulse] × CNUM
2 31 ≥
Stroke Length [mm]
Ball Screw Lead Length [mm/rev]
×
No. of Encoder Pluses [pulse] × CDEN
Encoder resolution for line axis [mm/pulse] =
Ball Screw Lead Length [mm/rev]
No. of Encoder Pluses [pulse/rev]
Encoder resolution for rotational axis [deg/pulse] =
360
[
deg/rev
]
× Rotary Axis Reduction Ratio
No. of Encoder Pluses [pulse/rev]
Electronic Gear
Numerator (CNUM)
Electronic Gear
Denominator (CDEN)
± 2 23
≥
Maximum rotation angle [deg]
Unit Travel Distance [deg/pulse]
2 27
≥
Stroke Length [mm]
Ball Screw Lead Length [mm/rev]
×
No. of Encoder Pluses [pulse] × CDEN
CNUM
3.3.4