IAI America SCON-C User Manual

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163

The number of encoder pulses varies depending on the actuator type.

Actuator type

Number of encoder pulses

(pulses/rev)

RCS-SS (R)/RCS-SM (R)/RCS-RA55/RCS-F55
ISP (D) (A)/IS (D) (A)/IS (P) A/IF/FS/SS/NS (excluding NS-S***-I)
RS-60/RS-30
DS-SA4/5/6 [T1]
RCS2-SA4 (C) (D) (R) RCS2-SA5 (C) (D) (R) /RCS2-SA6 (C) (D) (R)
RCS2-A4R/RCS2-A5R/RCS2-A6R/RCS2-SA7 (C)
RCS2-SS7C/RCS2-SS7R/RCS2-SS8C/RCS2-SS8R
RCS2-RA5C/RCS2-RA5R/RCS2-F5D
RCS2-RA4C (D) (R) /RCS2-RA13R
RCS2-G20/RCS2-RT6/RCS2-RT6R/RCS2-RT7R
RCS-G20/RCS2-GR8/RCS3
RCS2-RTC8L/RCS2-RTC8HL/RCS2-RTC10L/RCS2-RTC12L

16384

RCS-RB7530/RCS-RB7535/RCS2-RA7AD/RCS-RA7BD 3072
RCS-G20/RCS-R10/RCS-R20/RCS-R30 4096
S6S (linear)

48000

S8S/S8H (linear)

60000

S10S/S10H (linear)

90000

H8S/H8H/L15S/N10S/N15S/N15H (linear)

50000

M19S/N19S (linear)

72000

W21S (linear)

45000

NS-S***-I

2400

With actuators of belt-drive type, the ball screw lead is assumed as follows in the calculation.

Actuator type

Lead (mm)

HM 40

Other than HM

The gear ratios of rotational axes and ROBO Rotaries are as follows.

Actuator type

Gear ratio

RS-60 1/50

RS-30 1/100
RCS-R10/ RCS2-RT6
RCS-R20/ RCS2-RT6R

1/18

RCS-R30/RCS2-RT7R 1/4
RCS-G20/RCS2-GR8 1/5
RCS2-RTC8L/RCS2-RTC8HL/RCS2-RTC10L

1/15 or 1/24

RCS2-RTC12L

1/18 or 1/30

In calculating the electronic gear ratio, the ROBO Gripper RCS-G20 is assumed as a “linear axis.”
Follow the rules below to use an appropriate ball screw lead for the RCS-G20:
 When commands from the host controller specify values for one finger: 12.5 mm
 When commands from the host controller specify total values of both fingers: 25 mm

With linear actuators, calculations are performed by assuming the lead as one of the following lengths as
applicable.

Actuator type

Gear ratio

S6S

S8S/S8H

S10S/S10H

H8S/H8H/L15S/N10S/N15S/N15H 50

M19S/N19S 72

W21S