IAI America PCON-CA - Manual (Page 151)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
143
3.3.4 Settings of Basic Parameters Required for Operation
It is a mandatory parameter to perform an operation.
(The parameters listed in the table below may only be set if the actuator performs only
positioning operation.)
Parameter No. Parameter Name Details
65 Electronic Gear Numerator
66 Electronic Gear Denominator
This parameter determines the unit travel distance of
the actuator per command pulse train input 1 pulse.
63 Command Pulse Mode Specifies the command pulse train input mode.
64
Command Pulse Mode Input
Polarity
Sets the type of active high/low of the specified pulse
train
[1] Electronic Gear Setting
This parameter determines the unit travel distance of the actuator per command pulse train
input 1 pulse.
User Parameter No.65/No.66 Electronic Gear Numerator/Denominator
Name Symbol Unit Input Range
Initial Value
(For reference)
Electronic Gear
Numerator
CNUM – 1 to 4096 2048
Electronic Gear
Denominator
CDEN – 1 to 4096 125
Determine the movement amount and calculate value for the electronic gear setting by
following the formula below:
Linear Axis Unit Travel Distance: Min. Travel Distance Unit (1, 0.1, 0.01mm etc.)/pulse
Rotary Axis Unit Travel Distance: Min. Travel Distance Unit (1, 0.1, 0.01deg. etc.)/pulse
„ Electronic Gear Formula:
In the case of Linear Axis
In the case of Rotary Axis
Note 1 : Refer to 9.5 List of Specifications of Connectable Actuators for the encoder pulse of
each actuator.
„ Formula for velocity:
The velocity of the actuator can be figured out with the following formula.
Velocity = Unit Travel Distance u Input Pulse Frequency [Hz]
Electronic Gear
Numerator (CNUM)
Electronic Gear
Denominator (CDEN)
= No. of Encoder Pulses
(Note 1) [pulse/rev]
Actuator Lead Length [mm/rev]
u Unit Travel Distance [mm/pulse]
= No. of Encoder Pules
(Note 1) [pulse/rev]
360 [deg/rev] u Rotary Axis Reduction Ratio
u Unit Travel Distance [deg/pulse]
Electronic Gear
Numerator (CNUM)
Electronic Gear
Denominator (CDEN)