Aerotech UNIDEX 600 Series, Руководство пользователя

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U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-21
4.6.9. CONFIGHENCODER (encoder_ch) (lines_per_rev)
(hall_lines) (com_offset) (comm_ch) (bounded)
The CONFIGHENCODER command allows the user to assign an encoder feedback
channel to an axis to be used as the position and/or velocity feedback for that axis. The
valid range of encoder feedback channels is determined by the number of encoder
feedback channels present in the user’s system. The lines per revolution parameter
indicates the number of lines per revolution of the encoder times 4. The UNIDEX 600
Series controller electronically multiplies the effective line count of the encoder by 4, so
the lines per revolution entered should always be four times the physical line count of the
encoder. The hall_lines parameter specifies the number of encoder lines per electrical
cycle of the motor. The com_offset parameter allows the resolver to be aligned to the
motor phasing by specifying an offset to produce the required mechanical alignment. This
offset is specified by a 14 bit number (0-16384), with 360 degrees being equal to 16384.
The comm_ch parameter specifies the Hall effect feedback channel. The bounded
parameter is used to activate software end of travel limits by entering a 1 for this
parameter (0 to disable them).
A UNIDEX 600/650 controller has 4 channels onboard with 4 additional channels
provided by each additional encoder expansion card. Their channel numbers are
determined by the expansion board number. Expansion board number 1 will be channels
5 through 8, board 2 will be channels 9 through 12, etc.
Attempting to configure an axis for an encoder channel that is not present will cause a
programming error. This error will be indicated by the GETPROG command after the bad
configuration attempt.
EXAMPLE:
CONFIGENCODER 2 4000 1000 8192 2 0 ;current axis will be
;assigned encoder channel
;2 to receive
;position/velocity
;feedback from, feedback
;will be 4000 counts per
;motor revolution, there
;are 1000 encoder lines
;per electrical cycle, the
;resolver is 180 electrical
;degrees (8192) out of
;phase with the motor, hall
;effect channel 2 is used,
;software limits are
;disabled