Delta Tau PBC Series, Справочник по аппаратуре

Страница: 151 / 207

Power Brick Controller User Manual
Manual Motor Setup 151
Absolute Serial Encoder Phasing
With absolute serial encoders, the four key elements for setting up absolute phasing are:

Motor[].pAbsPhasePos = PowerBrick[].Chan[].SerialEncDataA.a


Motor[].AbsPhasePosFormat

Motor[].AbsPhasePosFormat = $

Motor[].AbsPhasePosSf

Rotary: = 2048 * NoOfPolesPairs / 2
ShiftBits
* 2
SingleTurnBits
Linear: = 2048 * RES
mm
/ ( ECL
mm
* 2
ShiftBits
)
Where:

NoOfPolePairs is the number of pole pairs of a rotary motor

ShiftBits is typically the starting bit # in Serial Data Register A

ECL
mm
is the linear motor electrical cycle length or magnetic pitch (e.g. 60.96 mm)

RES
mm
is the linear encoder resolution in the same unit as the ECL (e.g. 1 µm = 0.001 mm)

Motor[].AbsPhasePosOffset = –PhaseForceTest * Motor[].AbsPhasePosSf

Where: PhaseforceTest is the value recorded from the stepper phasing force test.
a a b b c c d d
= 00 Numerical binary
= 02 Gray code, convert to Binary
= 04 Halls 120 degree spacing
= 05 Halls 60 degree spacing
Number of bits to use
Number of the starting bit
of the data from register B
Number of the starting bit
of the data from register A