IAI America PDR-101-MW - Manual (Page 51)

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The number of pulses of the encoder varies depending on the type of actuator.
Actuator type
Number of encoder pulses
(pulse/rev)
RCS-SS(R)/RCS-SM(R)/RCS-RA55/RCS-F55
ISP(D)/IS(D)/IF/FS/SS
12RS-60/12RS-30
DS-SA4/5/6 [T1]
16384
RCS-RB7530/7535 3072
RCS-R10I/20I/30I 4096
The gear reduction rate of the rotational axis is as follows:
Actuator type Gear reduction rate
12RS-60
12RS-30
1/50 or 1/100
RCS-R10I
RCS-R20I
1/18
RCS-R30I 1/4
„
Calculation example
If the amount of unit movement is set to 0.01 (1/100 mm) for an actuator equipped with an encoder with a
ball screw lead length of 10 (mm) and a number of encoder pulses of 16384 (pulse/rev):
(mm/pulse) movement unit of Amount
(mm/rev) lenght lead screw Ball
) (pulse/rev pulses encoder of Number
x
(CDEN) r denominato gear Electronic
(CNUM) numerator gear Electronic
=
125
2048
100
1
10
16384
= × =
The electronic gear numerator (CNUM) is set to 2048 and the electronic gear denominator (CDEN) is set to
125. With this setting, the amount of movement per pulse of the command pulse-train input is 0.01 (mm).
a. Make sure to cancel common factors in the electronic gear numerator (CNUM) and denominator
(CDEN), so that both integers to be entered become 4096 or less.
Moreover, CNUM and CDEN must satisfy the following relational expression:
(CNUM) x (pulse) pulses encoder of Number
(mm) length lead screw Ball
(mm) length Stroke
2 31 × ≧
(CDEN) x (pulse) pulses encoder of Number
(mm) length lead screw Ball
(mm) length Stroke
2 31 × ≧
Caution