Mitsubishi CRn-500 Series Instruction Manual page 36

7.Setting, Operation and Command Explanation of Robot Additional Axis
The total speed ratio of the rotation axis is calculated as follows. When the table of "Fig. 7.1.3 Inside
of rotation table" rotated one rotation (360 degrees), the motor speed becomes 10 rotations.
Therefore, the total speed ratio becomes as follows.
AXGRTN/AXGRTD = 1/10
Gear a
(8) AXMREV (rated rotation speed) · AXJMX (maximum rotation speed) · AXENCR (encoder
resolution)
These parameters set the properties of the servomotor, which can be used. Referring to the
specifications in "Instruction Manual for Servo Amplifier", set the values which are suitable for the
applied servomotor. The default value of AXMREV is 2000(r/min.), the default value of AXJMX is
3000(r/min.) and the default value of AXENCR is 8192 (pulse/rev).
[Example]
When the properties of the servomotor set "Control axis No. of servo" as the 1st axis are as follows.
Rated speed
Maximum speed
Encoder resolution
AXMREV = 3000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000, 2000,
2000, 2000
(Set "3000" to the 1st element.)
AXJMX = 4000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000, 3000,3000,
3000, 3000
(Set "4000" to the 1st element.)
AXENCR = 16384, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192, 8192,
8192,8192, 8192
(Set "16384" to the 1st element.)
(9) AXJOGTS (JOG smoothening time constant)
Set this parameter to reduce the vibration if it occurs during jog of the additional axis. If any
excessive value is set, the acceleration/deceleration time becomes long during jog operation. The
settable value is in the range of positive real numbers. The default value is 150.00 (ms).
[Example]
When this parameter value is set to "200.00" against vibration of the axis set "Control axis No. of
servo" as the 1st axis,
AXJOGTS = 200.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00, 150.00,
150.00, 150.00, 150.00, 150.00, 150.00, 150.00
(Set "200.00" to the 1st element.)
22
Rotation table
Fig. 7.1.3 Inside of rotation table
3000 (r/min)
4000 (r/min)
16384 (pulse/rev)
Gear b
Gear ratio: 1/10
Servomotor