Discovery QDR Series Technical Manual
3-46
17. Press the
<Enter>
key and the program prompts:
For information about calibration parameters, see “Calibration Parameters” on
page 3-46.
18. Type
Y<Enter>
to accept the calibration values or
N<Enter>
to reject them.
19. Exit SQDRIVER by typing exit and clicking Return.
3.4.4.5.1 Calibration Parameters
The motor_direction field determines whether the positive step direction is the reverse of
the direction of increasing encoder values ('0' if the direction is not reversed, '1' if it is).
This value is set from the corresponding parameter in the MOTOR_AR.PRO file and is a
constant for each motor (i.e., the direction of increasing encoder values must agree with
the system coordinates and the positive step direction is set by the wiring harness for the
stepper motor).
The eight calibrate_position fields are:
1)
1 (Tolerance). The
±
position tolerance, in encoder ticks, for absolute moves. The
calibration program sets this field to the value found in the corresponding
calibrate_position field in the MOTOR_AR.PRO file.
2,3)
50771,5601 (NumberOfSteps,StepDistance). The number of motors steps
corresponding to the step distance in minutes of rotation. The ratio of these two
numbers determines the step size. The calibration program calculates these fields
based on the measurements of the 0
°
and 83
°
positions.
4,5)
2747,4980 (NumberOfTicks,TickDistance). The number of encoder ticks
corresponding to the tick distance in minutes of rotation. Again, it is the ratio of
these two numbers that determines the encoder calibration. These numbers will
generally change from calibration to calibration (although the ratio should remain
approximately the same).
6)
1035 (EncoderOffset). The value subtracted from the encoder readback to set the
origin of motion. The origin of AR motion is the 0
°
position, so this value is the
encoder reading at 0
°
.
7,8)
265,3831 (NegLimit,PosLimit). The encoder readings for the negative (counter
clockwise, or AP) and positive (clockwise, or LATERAL) mechanical stops.
The pos_limit_position and the neg_limit_position are the limits of motion, in minutes
of rotation, in the clockwise and the counter clockwise direction
motor_direction=0
calibrate_position=1,50771,5601,2747,4980,1035,265,3831
pos_limit_position=5069
neg_limit_position=-1395
Update Driver INI-File [Y/N] ?
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