IAI America PCON-PO - Manual (Page 65)

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4. Operation Using I/O Signals
4.3.2 Setting Parameters Required for Operation
The following parameters must always be set prior to every operation.
(These parameters are all you need to set to perform operations that only involve positioning.)
(1) Electronic gear
User Parameter Nos. 65 and 66 (Electronic gear numerator and denominator)
Name Symbol Unit Input range Default (reference)
Electronic gear numerator CNUM - 1 to 4096 200
Electronic gear denominator CDEN - 1 to 4096 15
These parameters are used to determine the unit travel distance of the actuator per one pulse in input command
pulse train.
Unit travel distance of linear-motion axis = Minimum travel unit (1, 0.1, 0.01 mm, etc.)/pulse
Unit travel distance of rotational axis = Minimum travel unit (1, 0.1, 0.01 deg, etc.)/pulse
„
Calculation Formula for Electronic Gear
Linear-motion axis
Electronic gear numerator (CNUM) Encoder pulses (Pulse/rev)
Electronic gear denominator
(CDEN) =
Ball screw lead length (mm/rev)
x Unit travel distance (mm/Pulse)
Rotational axis
Electronic gear numerator (CNUM) Encoder pulses (Pulse/rev)
Electronic gear denominator
(CDEN) =
360 (deg/rev) x Gear ratio of rotational axis
x Unit travel distance (deg/Pulse)
Reference
The actuator speed is calculated as follows:
Speed = Unit travel distance x Input pulse frequency (Hz)
Take note that if the unit travel distance is too small, the actuator may not be able to reach the maximum speed.
Table of encoder pulses and lead lengths for different models
Actuator type(s)
Encoder pulses
᜖Pulse/rev᜗
Lead length
SA5C/SA6C/SA7C/SS7C/SS8C
SA5R/SA6R/SA7R/SS7R/SS8R
RA2C/RA3C/RA4C/RA6C
RGS4C/RGS6C/RGD3C/RGD4C/RGD6C
800
Check the lead length shown on the
controller front panel
BA6/BA6U/BA7/BA7U 800 54
GRS 800 1
GRM 800 1.1
GR3LS/GR3LM 800 12
GR3SS 800 2.5
GR3SM 800 3
RTB ( Gear ratio 1/20)/ RTC ( Gear ratio 1/20) 800 18
RTB ( Gear ratio 1/30)/ RTC ( Gear ratio 1/30) 800 12