Omron TJ1-MC04 - PROGRAMMING 1 - Page 247

Examples and tips
PROGRAMMING MANUAL 247
Revision 3.0
The smallest integer m for which this equation is valid is 8203. This
results in Pn205 = 8202.
In addition, to limit the motion units range to the moving range of
the motion part, the following axis parameters must be set:
REP_DIST = 4260, and REP_OPTION = 1. With these settings,
executing MOVE(38) moves the moving part 38 mm in forward
direction. The range of possible MPOS and DPOS values is 0 mm
to 4160 mm.
Example 4
fig. 22
The mechanical system uses a servo motor with a 17-bit absolute
encoder. The mechanical gear ratio of the gearbox is 1:12.24. The
mechanical measurement units must be tenths of an angle degree.
Therefore the total repeat distance for the full turn of the moving
part is 3600 tenths of an angle degree.
With the same procedure as in example 1, we have:
Therefore:
m motor_revolution = n machine_cycle
m motor_revolution = n machine_cycle
4160 pulley_revolution
320 machine_cycle
= n 13 pulley_revolution
= n 13
6 31 motor_revolution
1 pulley_revolution
= n 82.03 pulley_revolution
m = n 82.03
..
....
.
.
...
.
.
1:12.24 Gear
17-bit absolute
encoder
M
r
Full turn = 360 =
3600 x tenth of degree
Pn202
Pn203
UNITS =
2
17
encoder_counts
1 motor_revolution
1 machine_revolution
12.24 motor_revolution
3600 tenth of degree
1 pulley_revolution
3600
2 12.24
encoder_counts
=
tenth of degree
=
.
.
.
..
.
17
Pn202
Pn203
UNITS =
= 2
1224
360000
17
I52E-EN-03.book Seite 247 Freitag, 29. Juni 2007 11:55 11