RichAuto A1X - Page 79

Beijing RichAuto S&T Co., Ltd.
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3. Calculate pulse equivalent according to fixed electronic gear ratio
B2： Electronic gear ratio default--16/10，A2: Electronic gear ratio default--N=128/10
e.g. B2：Set P1-44=1,P1-45=1,Encoder pulses 2500×4=10000
 Screw drive
screw pitch=5mm，pulse equivalent =
10000
5
= 2000
 Rack drive
rack module：1.25,gear teeth number：23,π：3.141592654,transmission ratio：1/5(0.2)
helical angle：19°31′42″（≈19.52833333°）
 Straight rack (results retain up to three decimal places)
pulse equivalent =
10000
1.25×23×3.141592654 ×0.2
= 553.582
 Helical rack(results retain up to three decimal places)
pulse equivalent =
10000
1.25×23×3.141592654 ×0.2÷cos ⁡（19°31
′
42
″
）
=
10000×cos ⁡（19.52833333 ）
1.25×23×3.141592654 ×0.2
= 521.738
4. Rotation axis
1) Pulse equivalent of handle fixed to1000
YASKAWA Same to linear axis
YASKAWA∑—7：Pn20E= 16777216,YASKAWA∑—V：Pn20E=1048576
transmission ratio =1/40，Pn210= 1000×360×1/40=9000
DELTA Same to linear axis
DELTA ASDA-B2 Encoder pulses default--N=160000,A2 Encoder pulses
default--N=1280000
e.g. B2：Denominator M=1000×360×1/40=9000,Electronic gear ratio =
N
M
=
160000
9000
=
160
9
,Set P1-44=160，P1-45=9.
2) Calculate pulse equivalent according to fixed electronic gear ratio，set P1-44=1，P1-45=1
Encoder pulses 2500×4=10000
pulse equivalent =
10000
360×1/40
=1111.111(results retain up to three decimal places)