Axis Gear Ratios
The overall gear ratio of the output shaft which moves the axis is the product of
the ratios of the transmissions in each drive.
Axes 1 and 2 are driven by Harmonic Drive gears with a gear ratio of 160:1.
Thus, one rotation (360°) of the output shaft of motor 1 or 2 moves the axis 2.25°.
Axis 3 is driven by a belt drive with a ratio of 80:21, and a lead screw which
converts each rotation of the output pulley to a linear movement of 16 mm.
Thus, for each rotation (360°) of motor 3 output shaft, the Z-axis will move a
linear distance of 4.2 mm.
Axis 4 is driven by a worm gear with a ratio of 50:1.
Thus, one rotation (360°) of motor 4 output shaft causes the end effector flange to
rotate 7.2°.
User’s Manual 6 - 11 SCORA-ER 14
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