Aerotech UNIDEX 600 Series, Руководство пользователя

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Setup Wizard U600 User’s Guide
12-12
Aerotech, Inc.
Version 1.4
Number of Lines
The number of lines for the encoder must be specified. This may also be used to rescale
the PGAIN axis parameter.
Rotary Encoder
For rotary encoders, enter the number of lines per revolution of the encoder, after the
times 4 multiplication is done by the controller (i.e., for a 1000 line encoder, enter
4000).
Linear Encoder
For brush motors with linear encoders, enter the number of counts seen by the
controller per revolution of the motor after the times 4 multiplication is done by the
controller (i.e., a ball-screw with a pitch of .1inch, having a linear encoder with
1,270,000 counts per inch (after x4 multiplication), would have 127,000 entered for
the number of lines (1,270,000 * .1 = 127,000).
For brushless motors with linear encoders, enter the number of lines per user unit
(inch or millimeter) after the x4 multiplication is done by the controller (i.e., 1000
lines per inch would be entered as 4000).
Commutation Channel (Hall Channel)
EncoderHall
The commutation channel number specifies the channel number used to commutate
the motor. The Hall effect sensors determine the absolute rotor position, and then the
encoder commutates the motor.
The channel number specified indicates the Hall effect channel and the encoder
channel, which will be used to commutate the motor, after switching out of the six
step commutation mode.
EncoderHall Channel Assignments
Channels 1 through 4 are on the U600 card, channels 5 - 8 are on the 4EN-PC card
configured as Board 1, channels 9 - 12 are on the 4EN-PC card configured as Board
2, channels 13 - 16 are on the 4EN-PC card configured as Board 3.
Brushless Motors w/o Hall Effect Feedback Signals
Brushless motors may be commutated by the controller even if Hall effect feedback
signals are not present. To do so, configure the axis as though Hall effect signals are
present, then:
Use the MSET command to align the absolute rotor position (vector)
Dwell 1 second
ENABLE the axis
This may be done automatically through a Canned Function.
ResolverHall
A commutation channel number must be specified for the Hall effect sensors to be
read. This provides the absolute rotor position for initializing and commutating the
motor. After rotor initialization it will then commutate the motor by the primary
feedback device, unless a secondary feedback device is present.
Resolver Channel Assignments
Channels 1 - 4 are on the resolver card (RDP-PC) configured as Board 1. Channels 5
- 8 are on the RDP-PC card configured as Board 2. Channels 9 - 12 are on the RDP-
PC card configured as Board 3, and channels 13 - 16 are on the RDP-PC card
configured as Board 4.