Aerotech UNIDEX 600 Series, User Manual

Page: 91 / 354

AerDebug U600 User’s Guide
4-22
Aerotech, Inc.
Version 1.4
4.6.10. CONFIGHRESOLVER (resolver_ch) (resolution)
(hall_lines) (com_offset) (comm_ch)(bounded)
The CONFIGHRESOLVER command allows the user to assign a resolver feedback and
Hall effect feedback channel to an axis to be used as the position and/or velocity feedback
for that axis. The valid range of resolver feedback channels is determined by the number
of resolver feedback cards present in the user’s system. The resolution parameter
specifies the desired counts per revolution of the motor that has been configured for the
R/D card. This is entered as 10, 12, 14 or 16. These numbers represent binary powers of
two (i.e., 2
10
, 2
12
, 2
14
, or 2
16
), which produce 1024, 4096, 16384 or 65536 counts per
motor revolution. The hall_lines parameter specifies the number of encoder lines per
electrical cycle of the motor. The com_offset parameter allows the resolver to be aligned
to the motor phasing by specifying an offset to produce the required mechanical
alignment. This offset is specified by a 14 bit number (0-16384), with 360 degrees being
equal to 16384. The comm_ch parameter specifies the Hall effect feedback channel. The
bounded parameter is used to activate software end-of-travel limits by entering a 1 for this
parameter (0 to disable them).
UNIDEX 600 Series controllers have 4 channels provided by each resolver (R/D) card.
Their channel numbers are determined by the R/D board number. Resolver board number
one will be channels 1 through 4, board two will be channels 5 through 8, etc.
Attempting to configure an axis for a resolver channel that is not present will cause a
programming error. This error will be indicated by the GETPROG command after the bad
configuration attempt.
EXAMPLE:
CONFIGHRESOLVER 3 12 1000 8192 3 1 ;current axis will be
;assigned resolver
;channel 3 to receive
;position/velocity
;feedback from, feedback
;will be 12 bit (4096
;counts per motor
;revolution) there are 1000
;encoder lines per
;electrical cycle, the
;resolver is 180 electrical
;degrees (8192) out of
;phase with the motor,
;hall effect channel 3 is
;used, software limits are
;enabled