Shibaura CA20-M10, Руководство по эксплуатации, Страница: 168 / 384

9
– 10
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9.3 Operation methods
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9.3.1 Designation of pulse train input mode
To run the master unit with this mode, the pulse train input mode must be set in the PARA mode
settings using the Teach Pendant. Refer to section 13.2.10 for details on the settings.
There is a 1-clock method and 2-clock method for the pulse train input operation, and the current
pulse input method can be confirmed with the following screen displayed when the Teach
Pendant is turned ON.
This screen displays only when the pulse train input
mode is designated.
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9.3.2 Matters to be set for pulse train input mode
The parameters that can be set when using the pulse train input mode for operation are shown
below. When operating as a robot, the optimum values are set by the robot type designation.
However, these can be changed individually.
In-position data value [mm]
Overflow data value [pulse]
Direction of revolution
Encoder division value: 2000 [pulse] (Cannot be changed)
Encoder multiplier value: 1, 2, 4 multiplication
Lead:
5, 10, 20 [mm]
Conversion of mm unit and No. of pulses
No. of pulses required for 1 [mm] movement =
1 [mm]
Lead [mm]
No. of encoder divisions × encoder multiplier value
No. of encoder divisions × encoder multiplier value
Lead [mm] [pulse]
Frequency for 1 [mm/s] movement command =
No. of encoder divisions × encoder multiplier value
Lead [mm] [Hz]
[ A U T O ]
P U L S E I N P U T
1 C L O C K M O D E
Clock input method