Specifications

Examples and tips
PROGRAMMING MANUAL 234
Revision 5.0
This is called unlimited axis and a typical example of it is a turntable shown
in fig. 20. It can be achieved with the following equation: the smallest value
of m such that:
Because n and m are integers: Pn205 = m – 1. This setting is explained in
the following example.
Example 2
fig. 20
The mechanical system consists of simple rotary table shown in the figure. A
servo motor with 16-bit absolute encoder is used. The gear ratio of the
gearbox is 1:10. The desired user units are degree of angle. The rotary table
is divided in six sections of 60 degrees each. Therefore the machine_cycle
is 60 degrees.
When we apply the last equation to the above, we get:
Simplification of this equation gives:
This results in:
We calculate the parameters as we did in example 1. This gives:
n machine_cycles = m motor_revolution
..
1:10 Gear
16-bit
absolute
encoder
Full turn = 360
M
60
10 motor_revolution = 1 machine_revolution = 6 machine_cycle
.. .
5 motor_revolution = 3 machine_cycle
..
Pn205 = 5-1 = 4
UNITS = 2 = 204
8
11
Pn202 = 32
Pn203 = 36