Omron trajexia CJ1W-MCH72 Operation Manual page 303

How-to's
5-1-3-6 Example 4
292
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.
M
17-bit absolute 1:12.24 Gear
encoder
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:
17
.
Pn202
2 encoder_counts
UNITS =
.
Pn203 1 motor_revolution 1 machine_revolution
17
.
2 12.24 encoder_counts
=
3600 tenth of degree
Therefore:
One solution is:
Because the greatest common divisor of Pn202 and Pn203 must be 1, we get:
Pn202 = 17 and Pn203 = 500. Therefore, the parameters are:
To calculate the multiturn limit setting Pn205, we have:
r
.
12.24 motor_revolution
.
Pn202 1224
17
UNITS = = 2
Pn203 360000
17
UNITS = 2 = 131072
Pn202 = 1224
Pn203 = 360000
UNITS = 131072
Pn202 = 17
Pn203 = 500
Pn205 = 16
REP_DIST = 3600
REP_OPTION = 1
Section 5-1
Full turn = 360 =
3600 x tenth of degree
.
1 pulley_revolution
=
3600 tenth of degree