User`s manual

Functions

5-24

5. Functions

[Calculation examples of electronic gear ratio]

1. To move the MR16 (PHASER series) robot at a speed of 2000 millimeters per

second [mm/s] with input pulses at a frequency of 500kpps:

Here, by setting the resolution [mm/pulse] as a, the input frequency [pps] as P, the

movement speed [mm/s] as V, and the electronic gear ratio as G (=FA-12/FA-13), V

can then be expressed as follows.

V = G × (P × a) (1)

Since the PHASER series resolution is 1µm and since a=0.001 [mm/pulse] then by

applying formula (1) we obtain:

G = 4

So setting an electronic gear ratio of FA-12 : FA-13 = 4 : 1 allows robot movement

at a speed of 2000 [mm/s].

2. To move the F14-20 (FLIP-X series) robot a distance of 1 µm per pulse:

Here, by setting the resolution [mm/pulse] as a, the lead length [mm/rev] as L, and

pulses per motor revolution [pulses/rev] as n, and the electronic gear ratio as

G (=FA-12/FA-13), the resolution a can then be expressed as follows.

a = L / n (2)

To move the robot 0.001mm per pulse, an electronic gear ratio G that satisfies the

following relation is needed.

0.001 = G × a (3)

On the F14-20 robot, L=20 [mm/rev] and n=16384 [pulses/rev], so by applying

formulas (2) and (3) we obtain:

G = 16384 / 20000

So setting an electronic gear ratio of FA-12 : FA-13 = 16384 : 20000 allows robot

movement at 1µm per pulse.

Note 1: When the position pulse train signal type is phase difference 2-phase pulse,

the electronic gear ratio should be calculated using the input frequency

multiplied by 4.

Note 2: Do not set a frequency or electronic gear ratio that exceeds the maximum

robot speed.

Note 3:

Operation cannot be guaranteed when the electronic gear is set to an extreme

value. Make sure that the setting (FA-12/FA-13) is in a range from 1/20 to 50