5
CD1-k – User guide
Chapter 1 – General description
Electric motor
Electric device that transforms electrical energy into a mechanical movement.
This transformation is often made by means of current commutation.
Generally, the movement is a rotation but there are also linear motors.
Brushless or synchronous
motor
Electric brushless motor. The current commutation is electronically made and
requires a position sensor (resolver, encoder, Hall sensor...).
Resolver
Absolute position sensor over one revolution. The resolver is often used
together with brushless motors because of its robustness.
Encoder
Incremental or absolute position sensor. The encoder is used together with
brushless motors for its accuracy.
Amplifier
Electric device for the control of electric motors. It also includes a current
regulator, a speed regulator and, often, a position regulator.
Current loop
Current regulator
Used for the motor current control. The motor torque is generally proportional
to the current amplitude.
Speed loop
Speed regulator
Allows the motor speed control.
Position loop
Position regulator
Allows the motor position control.
Fieldbus
Digital link that allows real time data exchange between various electric
devices. The characteristic of fieldbusses is their high protection and error
correction level as well as a predictable communication time.
CANopen
Communication protocol on CANbus – Standards: CiA DS301 / CiA DSP402.
Enabled/disabled
(Servo On/Off)
When a motor is enabled, it is controlled by the amplifier and the servo loops
are operating. When it is disabled, its rotation is free and there is no current
in the motor.
