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How-to’s
Section 5-1
287
The UNITS axis parameter effectively expresses the ratio between user units
that the user wants to use in the program and the position sent to the Servo
Driver via the MECHATROLINK-II bus. Taking the electronic gear setting into
account, the equation expressing the relation between user units, the
UNITS
parameter, parameters Pn202 and Pn203, encoder pulses and mechanical
measurement units is:
where
y
is the number of encoder counts and
x
is the amount in user units.
5-1-3-2 Example 1
The mechanical system consists of a simple rotary table. A servo motor with
13-bit incremental encoder is used. The gear ratio of the gearbox is 1:10.
The desired user units are degree of angle. This system can be described with
the following equations:
The combination of these equations results in:
And therefore:
From this equation, we can derive the values for Pn202, Pn203 and
UNITS
,
given the following restrictions and recommendations:
Pn202
y·encoder _ counts
Pn203
x·user _ units
UNITS =
.
1:10 Gear
13-bit
incremental
encoder
Full turn = 360
M
1
motor_revolution =
2
13
encoder_counts
10
motor_revolution =
1
machine_cycle
1
machine_cycle =
360
o
.
.
.
.
.
Pn202
Pn203
UNITS =
=
.
2
13
13
encoder_counts
1 motor_revolution 1 machine_revolution
10 motor_revolution
360
1 machine_revolution
o
360
2 10
degree
encoder_counts
.
.
.
.
.
.
Pn202
Pn203
UNITS =
.
2
13
10
360
.
Содержание trajexia CJ1W-MCH72
Страница 69: ...Specifications Section 2 4 58...
Страница 83: ...FINS commands Section 3 4 72...
Страница 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Страница 277: ...All BASIC commands Section 4 2 266...
Страница 278: ...267 SECTION 5 Examples This chapter gives 2 categories of examples and tips How to s Practical examples...
Страница 371: ...360 Index...
Страница 373: ...362...