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Where to Find Pulses per Degree for External Axis?

#1
Hi,
I’m using a Yaskawa GP-50 robot with YRC1000 controller and have loaded the ALL.PRM file.
However, I'm not sure which file contains the Pulses per Degree information for an external axis used in a gantry robot setup.
I’ll attach my ALL.PRM file for reference.
Could someone please let me know where to find and how to set this parameter?
I’d really appreciate any help.

Thanks in advance!


Attached Files
.zip   ALLPRM.zip (Size: 11.97 KB / Downloads: 18)
#2
If external axes are used, it is necessary to copy their pulse/degree values from the teach pendant.
#3
Hi Sergei,

When using a positioner, is this the correct way to find it, like in the link below?
https://robodk.com/forum/Thread-Yaskawa-...ht=yaskawa

Also, I’m wondering how it appears on the teach pendant.
Is there a way to verify or match what we see in RoboDK with what’s shown on the actual pendant?

Thanks in advance!
#4
Hi. fyi on how I found these numbers:
I ran the positioner from side to side writing down the pulses.
Divided that by degrees moved.
J2 is easy since it is +- 90 degrees
J1 WAS locked to +- 450 degrees, so I did the same here.
There is certainly errors there, but by the amount of pulses pr degree they are close to none existent. Esp on how yaskawa treats the endless rotation with MRESET.

Pendant and robodk will always be the same. You have to measure on the robot to find the error
  




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