Command Descriptions
115
Resolutions for Compumotor Encoders:
Stepper axes:
•
-RE, -RC, -EC, and -E Series Encoders ....
ERES4000
•
-HJ Series Encoders ..................................
ERES2048
Servo axes:
•
BE Series Servo Motors ............................BExxxxJ-xxxx:
ERES8000
•
SM, N or J Series Servo Motors................SM/N/JxxxxD-xxxx:
ERES2000
SM/N/JxxxxE-xxxx:
ERES4000
•
G Series Servo Motors ..............................GxxxxK-xxxx:
ERES8192
•
Resolution for Parker-supplied resolvers ..
SFB4
:
ERES4096
(BE, SM, N, J and G Series motors)
Daedal Positioning Tables (encoder options):
•
-E2.............................................................
ERES42000
•
-E3.............................................................
ERES84000
•
-E4.............................................................
ERES420000
•
-E5.............................................................
ERES8400
•
For linear servo motors, use the following equation to determine the proper
ERES
, based on both the
encoder resolution and the motor’s electrical (or magnetic) pitch (
DMEPIT
).
)
(
_
)
(
count
mm
resolution
Encoder
mm
DMEPIT
ERES
=
Example: Linear encoder resolution (post quad) is 1
µ
m and the electrical
pitch is 42mm (
DMEPIT42
).
ERES
is calculated as:
42000
)
(
10
1
)
(
42
3
-
=
⋅
=
count
mm
mm
ERES
Dynaserv (stepper or servo):
•
DR10xxB ..................................................
ERES507904
•
DR1xxxE...................................................
ERES614400
•
DR1xxxA ..................................................
ERES819200
•
DR5xxxB ..................................................
ERES278528
•
DR5xxxA ..................................................
ERES425894
•
DM10xxB .................................................
ERES655360
•
DM1xxxA .................................................
ERES1024000
•
DM1004x ..................................................
ERES655360
Example (for stepper axis):
SCALE0
; Disable scaling
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
DRES25000
; Motor/drive resolution set to 25000 steps/rev
; (DRES is used for stepper axes only)
ERES4000
; Encoder resolution set to 4000 post-quadrature counts/rev
; (encoder is for stall detection only)
ESTALL1
; Enable encoder stall detection
MA0
; Incremental mode
MC0
; Preset mode
A10
; Set the acceleration to 10 units/sec/sec
V1
; Set the velocity to 1 unit/sec
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
; Axis will move 100,000 commanded counts (4 revs)
END
; End definition of proga
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