Delta Tau Geo Brick, Руководство пользователя

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Geo Brick Drive User Manual
Pinouts and Software Setup 69
X1-X8: Encoder Feedback, Resolver
X1-X8: D-sub DA-15F
Mating: D-sub DA-15M
2 3 4 5 6 7 8
9 10 11 12 13 14 15
1
Pin # Symbol Function Notes
1 Sin+ Input Sine+
2 Cos+ Input
3 CHC+ Input Index+
4 EncPwr Output Encoder Power 5 Volts
5 Unused
6 Unused
7 2.5 Volts Output Reference Power 2.5 volts
8 Unused
9 Sin- Input Sine-
10 Cos- Input Cosine-
11 CHC- Input Index-
12 GND Common Common Ground
13 Unused
14 Unused
15 ResOut Output Resolver Excitation Output
This option allows the Brick to connect to up to eight Resolver feedback devices.
Setting up Resolvers
The Resolver data sampling is done at phase rate, and processed in the encoder conversion table. The
commutation (occurring at phase rate) position is retrieved from the Encoder Conversion Table which is
normally read at Servo rate. Thus, the Servo and Phase cycles have to be at the same rate.
Note

Use an encoder cable with high quality shield. Connect the
shield to chassis ground, and use ferrite core in noise sensitive
environment if deemed necessary.

It is essential to set the Servo clock the same as the Phase
Clock in Resolver applications. This will greatly reduce noise.

The Servo Cycle Extension Period (Ixx60) can be used to
lower the CPU load and avoid quantization errors through the
PID loop at high Servo rates.