Tolomatic IMA Series, Руководство пользователя

Страница: 26 / 59

2700-4001_22 IMA Manual 26 Last Revision: 12/14/2021
5.3 Feedback Commutation
When Tolomatic manufactures a Tolomatic IMA Actuator, the proper feedback is selected, mounted, aligned and
test run on a servo system drive that is known to be equivalent to the servo system drive that the customer plans to
use for confirming proper feedback alignment and operation.
In any case where it is determined that the feedback has become misaligned, or an drive change is made requiring
the feedback to be aligned differently, it is recommended that Tolomatic be contacted and arrangements made to
have that procedure performed.
Feedback Type Offset Alignment Electrical Degree Tolerance
Hiperface 0 Degrees +/- 5 Degrees
Hiperface DSL 0 Degrees +/- 5 Degrees
Endat 2.2 0 Degrees +/- 5 Degrees
Incremental Encoder 30 Degrees +/- 5 Degrees
Resolver 90 Degrees +/- 5 Degrees
5.4 Feedback Commutation Details
Terminology in the industry varies from motor supplier to motor supplier. One example is in the labeling of phases;
some suppliers will reference phase R, S and T while others refer to U, V and W. With the differences in
terminology visual explanations are used for clarification purposes.
Tolomatic Tolomatic IMA Actuator motors are wired such that as the torque generating current vector progresses
from phase U -> V -> W positive rotation is created. Positive rotation is defined as clockwise as viewed from the
front face of the actuator. For reference, positive rotation will cause the thrust rod to extend.
Figure 5.5: Thrust rod movement relative to motor rotation
Absolute Encoder Feedback
The standard commutation offset for the absolute encoders offered in the IMA is set at 0 electrical degrees. This is
accomplished by first locking the motor rotor with a current vector from phase U (+) to phase V and W (-), and then
sending a set-zero position command to the encoder using appropriate programming tool.
Digital Quadrature Encoder Feedback
The IMA standard feedback device is a digital quadrature encoder. This encoder utilizes differential A and B
signals for tracking position and differential index pulse and halls for commutation. The encoder is mounted with a
current vector from phase R to phase T, at this commutation angle the index pulse of the encoder is located and
the encoder is locked to the shaft of the motor.