Nix Product Manual |
Wiring and Connections
INGENIA | 01/22/2019
103
7.6.5 PWM command
PWM command source sets a position, velocity or torque target from the duty cycle value of a PWM signal. PWM
command has to be interfaced with the
high-speed digital input 2 (HS_GPI2)
. Further details about this input can
page. PWM command sources with single and dual input modes can be used.
Single input mode
Single input mode is based o the use of a PWM signal whose duty cycle sets the target position, velocity or torque. A
duty cycle of 50% corresponds with a target of 0 rad, 0 rpm or 0 N·m, and higher or lower values indicate the target
in a different rotating direction. That is, a duty cycle of 0% corresponds with the maximum position, velocity or
torque in one direction, and a 100% duty corresponds to the maximum position, velocity or torque in the opposite
direction.
Single ended operation
In order to use the high-speed digital input in
single ended mode
,
connect the negative terminal
(HS_GPIx-) to 2.5 V
. This voltage can be achieved with a voltage divider from +5V_OUT.
For a 24 V input, the negative terminal
(HS_GPIx-)
can be connected to 5 V (+5V_OUT).
