YASNAC MRC

Theoretically available number of steps

Theoretically calculated number of steps for the MRC controller. Number of steps is calculated for
coordinated motions of all axes.
Available steps equally divided on axes group.

Memory 1 robot 1 robot 1 robot 1 robot 2 robot 1 gantry

1 ex-axis 2 ex-axes 1 ex-axis 1 ex-axis 1 robot
1 ex-axis 2 ex-axes
Standard R:2200 R:1556 R:1395 R:1556 *R:1765 B:1126
S:1556 S:1395 *S:1556 S:882 R:1126
S:1126
1M expand R:15000 R:11324 R:10233 R:11324 *R:12845 B:8405
S:11324 S:10233 *S:11324 S:6422 R:8405
S:8405
2M expand R:30000 R:22777 R:20595 R:22777 *R:25836 B:16938
S:22777 S:20595 *S:22777 S:12918 R:16938
S:16938
4M expand R:60000 R:45669 R:41307 R:45669 *R:51803 B:33995
S:45669 S:41307 *S:45669 S:25901 R:33995
S:33995
*S = Total station steps (S1+S2)
*R = Total robot steps (R1+R2)

Example;
Total number of steps for R1-R2-S1 is 6422+6422+6422. This
is maximum number of steps for coordinated motion. The level
between R1 and R2 depend on the robot jobs, i.g. R1+R2 can
also be 10000 + 2845 steps.

To calculate maximum number of steps for a special combination or solution it it

necessary to run data through a PC-software.

Document distributed within MS-group (MRUK, MRI, MRF, MRE)

Calculations above is done by Mr. Fukunaga (YEC), fuku@yaskawa.co.jp
Document is distributed from documentation section, MS, 1998-05-20
File name; 697331654.doc