Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 28.23 DRV.EMUEPULSEWIDTH
When the emulated encoder output (EEO) is configured to generate an absolute index pulse
(DRV.EMUEMODE is 2, 7 or 9) this parameter and DRV.EMUEZOFFSET define the location
of the Z pulse. DRV.EMUEMTURN is used to define which turn of the position range the Z
pulse is located. DRV.EMUEZOFFSET is used to define the position of the Z pulse within one
revolution.
Note : If you are using multi-turn or single tune absolute feedback devices the Z pulse from gen-
erated by the EEO will always be aligned with the same mechanical position of the of the pri-
mary feedback position. If you are using an incremental feedback device then the origin of the
primary feedback is not at the same mechanical position each time the drive powers up.
Related Topics
28.23 DRV.EMUEPULSEWIDTH
General Information
Type TBD
Description
Sets the encoder output pulse width for modes 6 to
7.
Units us(microseconds)
Range 4.08 us to 2621.48 us
Default
Value
4.08 us
Data Type Float
See Also DRV.EMUEMODE (pg 277)
Start Version
Description
EMU Encoder Out Pulse Width Register
Sets pulse width for CW/CCW and Step and Direction modes. This parameter does not effect
the A quad B mode. To calculate emuOutPulseWidth:
(Desired pulse width -40 nsec)/520 nsec
Requirement DSFPGA-03-306
Bits Bits Description
11:0 emuOutPulseWidth
Read/Write
12 bit unsigned number minimum resolution is 520 nsec.
Reset state – 0
15:12 reserved
l
Register is in counts (12 bit)
l
Register * 520ns + 40ns is the actual pulse with.
l
Register = 1 = pulse width is 560ns = 0.56us (minimum value)
l
For each register increment the pulse width is raised by 0.52us
Example
50 usecs pulse width
emuOutPulseWidth = (50 usecs – 40 nsec)/520 nsec = 96
actual pulse = 96*520 nsec + 40 nsec = 49.88 usecs.
Related Topics
Kollmorgen™ | December 2012 279