IAI America PCON-PO - Manual (Page 55)

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4. Operation Using I/O Signals
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Calculation Example
Operate an actuator with a ball screw lead of 6 mm equipped with an encoder of 800 pulses/rev, at a unit travel
distance to 0.1 mm (1/10).
* Encoder pulses are 800 pulses/rev for all RCP2 models.
Electronic gear numerator (CNUM) Encoder pulses (Pulse/rev)
Electronic gear denominator
(CDEN) =
Ball screw lead length (mm/rev)
x Unit travel distance (mm/Pulse)
The electronic gear numerator (CNUM) and electronic gear denominator (CDEN) are 40 and 3, respectively. Based
on these settings, the travel distance per one pulse in input command pulse train is calculated as 0.1 mm.
Caution:
z Set both the electronic gear numerator (CNUM) and electronic gear denominator (CDEN) as integers not
exceeding 4,096, by reducing them as much as possible with a common divisor.
Also, CNUM and CDEN must satisfy the relational expression specified below.
Stroke length (mm)
2
31 ≥
Ball screw lead length (mm/rev)
x Encoder pulses (Pulse) x (CNUM)
Stroke length (mm)
2 31 ≥
Ball screw lead length (mm/rev)
x Encoder pulses (Pulse) x (CDEM)
z Do not set a minimum travel unit smaller than the encoder resolution.
Ball screw lead length (mm/rev)
Encoder resolution for linear-motion axis (mm/Pulse) =
Encoder pulses (Pulse/rev)
300 (deg/rev) x Gear ratio of rotational axis
Encoder resolution for rotational axis (deg/Pulse) =
Encoder pulses (Pulse/rev)
The actuator will not move unless enough command pulses accumulate to reach or exceed the encoder resolution.