RichAuto A1X - Servo Driver

Beijing RichAuto S&T Co., Ltd.
Forging ahead and determined to win 72
► Helical rack
pulse equivalent =
1600
1.25×23×3.141592654 ×0.2÷cos （19°31
′
42
″
）
=
1600×cos （19.52833333 ）
1.25×23×3.141592654 ×0.2
= 83.478
NOTES：1.25×23×3.141592654×0.2= 18.0641577605
cos（19.52833333）= 0.94247630504668681677372940102406
1.25×23×3.141592654×0.2÷ cos（19.52833333）=19.1666969915≈19.1667
3. Rotation axis Unit：（ pul/°）
Formula = pulses per revolution / angles per revolution（360°）
pulse =
360 °
Stepper angle
×Driver subdivision
360 °×transmission ratio
4. Pulse equivalent of rotation axis
 e.g.：pulse/rev=1600,transmission ratio =1/40,results retain up to three decimal places
pulse equivalent =
1600
360×1/40
=177.778
9.6.2 Servo driver
1. Linear axis
► Screw drive：pulse equivalent * screw pitch*mechanical transmission ratio
► Straigh track：pulse equivalent*rack module*gear teeth number*π*mechanical
transmission ratio
► Helical rack：pulse equivalent * rack module*gear teeth number*π*mechanical transmission
ratio/cos（helical angle）
► Pulley&belt drive：pulse equivalent *π*pulley diameter*mechanical transmission ratio
2. Calculate electronic gear ratio according to fixed pulse equivalent
Pulse equivalent of handle=1000
YASKAWA- Numerator Pn20E
YASKAWA∑—7: Encoder resolution=16777216（2
24
）Set Pn20E=16777216
YASKAWA∑—V: Encoder resolution=1048576（2
20
） Set Pn20E=1048576