•
To use software-based arctangent interpolated position
Sys.WpKey = $AAAAAAAA //Release write-pro
tect
//Default setting Sinusoidal Encoder*1
Gate3[0].EncClockDiv = 3
Gate3[0].AdcEncClockDiv = 3
Gate3[0].AdcEncCtrl = $3FFFC000
//Enable Sinusoidal Encoder
Gate3[0].Chan[0].AtanEna = 0
Motor[1].ServoCtrl = 1
//Setting Encoder table
EncTable[1].type = 4
EncTable[1].pEnc = Gate3[0].Chan[0].Status.
a
EncTable[1].pEnc1 = Gate3[0].Chan[0].AdcEn
c[0].a
EncTable[1].index3 = 0
EncTable[1].index5 = 1
EncTable[1].ScaleFactor = 1/65536
Motor[1].pEnc = EncTable[1].a
Motor[1].pEnc2 = EncTable[1].a
//Setting correction factor value*2
EncTable[1].SinBias
EncTable[1].CosBias
EncTable[1].CoverSerror
EncTable[1].TanHalfPhi
Sys.WpKey = $0 //Write-protect
*1. Do not change the setting by which Sinusoidal Encod-
er values can be received correctly.
*2. Set values other than 0 to correct incompleteness of
signals. For details on the settings, refer to DT’s
Power PMAC User's Manual (Cat. No. O014)
,
SETTING UP THE ENCODER CONVERSION TABLE
‒
Conversion Method Details
‒
Type 4: Software
Arctangent Sinusoidal Encoder Extension
.
3 Sinusoidal Encoder Connection Procedure
3-9
CK3M-series Startup Guide Sinusoidal Encoder (O048)
3-4 V
arious Controller Settings and Checking Operation
3