Galil DMC-4040, User Manual

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K
v
1/K
e
(ST
m
+1)(ST
e
+1)
1
S
V
E W P
VOLTAGE SOURCE
K
a
K
t
JS
1
S
V
I W P
CURRENT SOURCE
1
S
V
W P
VELOCITY LOOP
1
K
g
(ST
1
+1)
Figure 10.6 - Mathematical model of the motor and amplifier in three operational modes
Encoder
The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in quadrature.
Due to the quadrature relationship between the encoder channels, the position resolution is increased to 4N
quadrature counts/rev.
The model of the encoder can be represented by a gain of
Kf = 4N/2
π
[count/rad]
For example, a 1000 lines/rev encoder is modeled as
Kf = 638
DAC
The DAC or D-to-A converter converts a 16-bit number to an analog voltage. The input range of the numbers is
65536 and the output voltage range is +/-10V or 20V. Therefore, the effective gain of the DAC is
K= 20/65536 = 0.0003 [V/count]
Chapter 10 Theory of Operation
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189 DMC-40x0 User Manual