Document No: C-61-00003-3
3.6.1 Pulse per cm travel generated by incremental encoders
When AGV travels, incremental encoder generates pulses due to the transmission ratio between AVG tires
and incremental encoder frictional wheel. Pulse count per cm depends on AGV's speed.
Figure 3-11 Calculation of pulse count per centimeter travel
AGV tire diameter: 40 cm
Frictional wheel diameter mounted in incremental encoder: 5 cm
Incremental encoder pulse number per revolution: 1000 pulse
AGV tire circumference = Diameter × Circumference ratio = 40 cm × 3.14 = 125.6 cm
AGV tire's one rotation is equivalent to 8 rotations of frictional wheel. This equals to the 8,000 pulses of
incremental encoder.
From above, incremental encoder pulse count per cm is obtained as
8,000/125.6 = 63.7
While setting encoder parameters (Encoder Pulse1 and Encoder Pulse2) in UAM project Designer, set
the encoder pulse count after rounding the calculated value to nearest whole number (64 in this case)
Summary of Contents for UAM-05LP
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Page 104: ... Document No C 61 00003 3 Figure 7 33 b Function Figure7 33 c Area ...
Page 107: ... Document No C 61 00003 3 Figure 7 36 a Project report tab Figure 7 36 b Error report tab ...
Page 148: ... Document No C 61 00003 3 13 External dimension 13 1 UAM 05LP ...
Page 149: ... Document No C 61 00003 3 13 2 Base mounting bracket ...
Page 150: ... Document No C 61 00003 3 13 3 Rear mounting bracket ...
Page 151: ... Document No C 61 00003 3 13 4 Cover Protection Bracket ...
Page 152: ... Document No C 61 00003 3 14 EC Declaration of conformity ...
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