Examples and tips
PROGRAMMING MANUAL 244
Revision 3.0
Example 2
fig. 20
The mechanical system consists of simple rotary table shown in the
figure. A servo motor with 16-bit absolute encoder is used. The
gear ratio of the gearbox is 1:10. The desired user units are degree
of angle. The rotary table is divided in six sections of 60 degrees
each. Therefore the machine_cycle is 60 degrees.
When we apply the last equation to the above, we get:
Simplification of this equation gives:
This results in:
We calculate the parameters as we did in example 1. This gives:
To guarantee the correct overflow both in Trajexia and in the Servo
Driver, we must set two additional axis parameters: REP_DIST =
60, and REP_OPTION = 1. With these settings, the command
MOVE(35) rotates the table 35 degrees in positive direction. The
range of possible MPOS and DPOS values is from 0 degrees to 60
degrees.
1:10 Gear
16-bit
absolute
encoder
Full turn = 360
M
60
10 · motor_revolution = 1· machine_revolution = 6 · machine_cycle
5 · motor_revolution = 3 · machine_cycl
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