IAI America SCON-C User Manual
Page 182
Calculation example
To set the unit travel distance to 0.01 (1/100) (mm) for an actuator with a ball screw lead of 10 (mm), equipped
with an encoder of 16,384 (pulses/rev).
The electronic gear numerator (CNUM) is calculated as 2,048, while the electronic gear denominator (CDEN) is
calculated as 125. Based on these settings, the travel distance per each command pulse-train input pulse
becomes 0.01 (mm).
Caution:
● The fraction has to be completely reduced so both the electric gear numerator (CNUM) and electric gear
denominator (CDEN) can be 4096 or less and make them to be integral numbers. (Do not stop reducing the
fraction on the way.)
● CNUM and CDEN on the line axis have to satisfy the following relative formulas.
● Use rotary actuators of multi-rotation specification within the range where the following formula is satisfied.
Moreover, the maximum rotation angle is
±9999
(note1)
deg (maximum software stroke limit).
Maximum rotation angle : Set the usage conditions (MAX. -9999 to 9999deg)
Note 1 :The following models can not be rotated up to ±9999.99 [deg].
deceleration
ratio
Maximum rotation angle
[deg]
corresponding model
1/24
±
7679.99 RCS2-RTC8、RCS2-RTC10
1/30
±
6143.99
RCS2-RTC12
1/50
±
3685
1/100
±
1842
RS-30、RS-60
Unit Travel Distance
: Travel distance per command pulse
● Do not set the minimum movement unit out of the encoder resolution ability. If this setting is conducted, the
actuator would not start moving until enough command pulse is stored in the encoder resolution error.
● Pay attention not to exceed the specification limit when setting the velocity, acceleration and deceleration.
(mm/pulse)
distance
travel
Unit
(mm/rev)
lead
screw
Ball
v)
(pulses/re
pulses
encoder
of
Number
(CDEN)
r
denominato
gear
Electronic
(CNUM)
numerator
gear
Electronic
×
=
2
31
≥
Stroke Length [mm]
Ball Screw Lead Length [mm/rev]
× No. of Encoder Pluses [pulse] × CNUM
2
31
≥
Stroke Length [mm]
Ball Screw Lead Length [mm/rev]
× No. of Encoder Pluses [pulse] × CDEM
Encoder resolution for line axis [mm/pulse] =
Ball Screw Lead Length [mm/rev]
No. of Encoder Pluses [pulse/rev]
Encoder resolution for rotational axis [deg/pulse] =
360[deg/rev]
× Rotary Axis Reduction Ratio
No. of Encoder Pluses [pulse/rev]
±2
23
≥
Maximum rotation angle [deg]
Unit Travel Distance [deg/pulse]
164