SMI21
68
12.1.4.3. Type 1 "
Outputs
" Tab Parameters
Setting the parameters of Pulse output 1 "Real speed": A Hall pulse with configurable width (100 to 800 µs)
is generated each time one of the 3 motor Hall sensors changes state.
80140_SMI21 and 80180_SMI21 motors have 12 Hall pulses per revolution (2 pairs of poles).
The 80280_SMI21 motor has 24 Hall pulses per revolution (4 pairs of poles).
Figure
58
Setting the parameters of PWM output 2 "Real Torque": The parameters can be set for the signal frequency
of this output and the torque value corresponding to a cyclical ratio of 100% (scaling).
If cyclical ratio = 0%
→ Torque supplied = 0 mNm.
If cyclical ratio = 100%
→ Torque supplied = "S2 torque".
Figure
59
State of digital output 3 "Real direction": Used to find out the motor direction of rotation.
Figure
60
State of digital output 4 "Error": Used to find out whether an error has been detected.
Figure
61
