PULSE counts/degree of axis rotation

    Does anyone know of an easy way to figure out how many pulse counts a Motoman HP50/NX100 uses to define joint angles?
    (Other than jogging to limits of each axis, and looking at the values, I do not have enough space in the cell)
    To put it another way, I want to convert angle (radians or degrees) to PULSE.
    Thanks
    Jim

    Edited once, last by Jim Tyrer ().

    Hey Jim,


    The most easy way is looking in the parameters for the softlimits.


    S1CXG200 S +
    S1CXG201 L
    S1CXG202 U
    S1CXG203 R
    S1CXG204 B
    S1CXG205 T





    S1CXG208 S -
    S1CXG209 L
    S1CXG210 U
    S1CXG211 R
    S1CXG212 B
    S1CXG213 T


    here are the max pulse value you can calculate them with
    fhe max angle pro axis.


    If you need a data pdf from hp 50 let me now.
    good luck

    Hi:


    I just run into this today. If you take a look in the manual, as an example check, the NX100 165 Manipulator Manual, Item 5.5.3.
    It shows the relation pulse/angle for that particular robot, I imagine the other different robot manual's would have the same.


    Somar

    Retired but still helping

    If a figured correctly, on a HP-50, the pulse counts per axis on 90 degree of rotation are as follows.


    S 127489 pulses per 90 degrees
    L 144384 pulses per 90 degrees
    U 179492 pulses per 90 degrees
    R 80554 pulses per 90 degrees
    B 73306 pulses per 90 degrees
    T 37676 pulses per 90 degrees

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Do you have the pulse counts per axis on 90 degree of rotation for HP3
    Thank you

    95devils:


    Do you have the pulse counts per axis on 90 degree of rotation for ES165N-100?


    Thank you

    If I figured correctly:


    S-axis 210651 pulses per 90.


    L-axis 215276 pulses per 90.


    U-axis 189440 pulses per 90.


    R-axis 169690 pulses per 90.


    B-axis 154201 pulses per 90.


    T-axis 90082 pulses per 90.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Quote from TRBe


    Does anyone have the pulse limits for an ES200, I can only find the S-axis in the manual.


    I am assuming it's a DX controller and a standard A-0 robot. These are the factory settings. A user can change these in parameters.


    S1CXG400 S + 430080
    S1CXG401 L 222959
    S1CXG402 U 482169
    S1CXG403 R 890880
    S1CXG404 B 283180
    S1CXG405 T 449302





    S1CXG408 S - -430080
    S1CXG409 L -176020
    S1CXG410 U -190420
    S1CXG411 R -890880
    S1CXG412 B -283180
    S1CXG413 T -449302

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Hey, It's an NX controller. Standard robot. I got the value's from Motoman.


    Only the S-axis is different from your value's, the others are the same, and the parameters are the nx ones : SC1XG200-215


    S = + 421303
    S = - 421303

    Edited once, last by TRBe ().

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