Yamaha SRCP User Manual download pdf (Page 22)

4 -4

Operation

4-4 Electronic gear function

This function allows the robot to move at a rate equal to the number of pulses that is

determined by multiplying the input command pulse count by the electronic gear ratio.

This function is effective in the following cases.

• When the pulse output from the host device is insufficient.

• When you want to set an optional movement distance per pulse.

■ Setting examples

1.To move the MR16T (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 (=G1/G2), 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 G1:G2 = 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 1 motor revolution [pulses/rev] as n, and the electronic gear ratio as G, the resolution

a can then be expressed as follows.

a = L / n (2)

Since the distance moved per 1 pulse is 0.001 [mm], an electronic gear ratio that satisfies

the following relation must be set.

0.001 = G × a (3)

an electronic gear ratio G which implements the above is needed.

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

(2) and (3) we obtain:

G = 16384 / 20000

So setting an electronic gear ratio of G1: G2 = 16384 : 20000 allows robot movement

at 1 [μm] per pulse.

CAUTION

* When the pulse input type is "phase A / phase B", the electronic gear ratio G is (G1/G2)

multiplied by the PRM65 (Input pulse evaluation) value.

* Do not set a frequency or electronic gear ratio that exceeds the maximum robot speed

(PRM44).

* Operation cannot be guaranteed when the electronic gear is set to an extreme value. Make

sure this setting does not exceed a range of 1/20 (G1/G2) 100.

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Yamaha SRCP User Manual Page 22