AMD2000 Series - Servo Drive - User Manual
88
DS619-0-00-0019 - Rev 0
ANCA Motion
If the user prefers to see all the encoder signals rendered individually in the time domain (rather than sine versus
cosine), then they can choose instead to examine the Tab labelled “Time Domain” rather than the default Tab
“Circle Graph.” The same operations can be performed when viewing the time domain data, and in addition the
user can choose to zoom in on both horizontal and vertical data simultaneously using the ZXY button (see
Figure
10-2
).
Step 2: Measure the minimum and maximum values of the raw sin and cos signals
For convenience the following symbols are defined:
3
S
min
– minimum value of raw unadjusted sin signal
S
max
– maximum value of raw unadjusted sin signal
C
min
– minimum value of raw unadjusted cos signal
C
max
– maximum value of raw unadjusted cos signal
It is recommended that the user select from the appropriate Zoom buttons on either Tab to obtain a high
resolution plot of the region close to the appropriate minimum and maximum data that they wish to collect. They
can then obtain high resolution ADC values to supply from the above measurements, for the purposes of the next
step of calculation.
Step 3: Calculate the offsets and gains for correcting the sin and cos signals
Step 3.1 Calculate the gains for correcting the SINCOS signals.
(
)
,
(
)
.
Step 3.2 Calculate the offsets for correcting the SINCOS signals.
.
Step 4: Visually verify the SINCOS signals have been properly compensated
Check the updated Circle Graph for whether the adjusted SINCOS signals are more closely reflecting a perfect
circle than the raw unadjusted data. This can be done while taking measurements so the adjustments are seen
live on axis.
3
note: these symbols do not refer to the minimum and maximum allowable encoder values shown in the plots, but are instead
the minimum and maximum values of the raw encoder outputs.
