Shibaura CA20-M10, Руководство по эксплуатации

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13
– 24

13.4.12 Setting of encoder No. of divisions
STEP 1
Use the numeric keypad to enter the encoder
No. of divisions and press
ENT
.
When
NEXT
is pressed, the next screen will
display, and when
-NEXT
is pressed, the
previous screen will display. Press
ESC
to
display the parameter 2 end screen.

The encoder No. of divisions refers to the No. of pulses per revolution of the
encoder installed on the motor.
(Initial value: 2000, setting range; 1 to 9999, unit: pulse/rev)

This value is set automatically when the robot type is entered. Refer to section 2.4.7.

13.4.13 Setting of encoder pulse multiplier
STEP 1
Use the numeric keypad to enter the encoder
pulse multiplier and press
ENT
.
When
NEXT
is pressed, the next screen will
display, and when
-NEXT
is pressed, the
previous screen will display. Press
ESC
to
display the parameter 2 end screen.

The multiplier determines at what fold to generate the pulses of the encoder
installed on the motor.
(If a multiplier of 3 is set, the operation will be 2-fold.)
(Initial value: 4, setting range: 1 to 4)

This value is set automatically when the robot type is entered. Refer to section
2.4.7.
The lead, No. of divisions and multiplier are parameters used to calculate the pulse rate
(distance advanced per pulse). The calculation equation is as shown below.
Pulse rate =
Lead (= slider movement amount per motor revolution)
(mm/pulse)
Encoder No. of divisions × multiplier
Even if the pulse rate value is 0.01 or less, the minimum unit that can be input with the Teach
Pendant is 0.01.

13.4.14 Setting of encoder type
STEP 1
Select the encoder type with
ALT
and press
ENT
.
When
NEXT
is pressed, the next screen will
display, and when
-NEXT
is pressed, the
previous screen will display. Press
ESC
to
display the parameter 2 end screen.

The encoder type is the type of encoder installed on the motor. The following types
are available.
a : Absolute encoder
i : Incremental encoder
(Initial value: a, selective types: a, i)

If
“i” is set, an absolute encoder is used as an incremental encoder.
[ P A R A ] K 1 2 A 0 = 2 0 0 0
D I V I S I O N A 1 = 2 0 0 0
A 2 = 2 0 0 0
A 3 = 2 0 0 0
[ P A R A ] K 1 3 A 0 = 4
M U L T I P L I - A 1 = 4
C A T I O N A 2 = 4
A 3 = 4
[ P A R A ] K 1 4
E N C O D E R T Y P E
[
a ]