Editing Signal path of motor drive
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* Velocity mode: frequency input, setpoint = number of edges of either channel per [[control cycle]] | * Velocity mode: frequency input, setpoint = number of edges of either channel per [[control cycle]] | ||
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− | | PWM || rowspan= | + | | PWM || rowspan=2 |Absolute || Full input scale equals setpoint range of +/-16384. In loss of PWM signal, setpoint is 0. || rowspan=3 | |
*Direct 1:1 absolute value in position mode | *Direct 1:1 absolute value in position mode | ||
− | *Velocity & torque mode: +/- | + | *Velocity & torque mode: +/-16834 represents full torque or speed scale |
|- | |- | ||
| Analog || Full input scale equals setpoint range of +/-16384 | | Analog || Full input scale equals setpoint range of +/-16384 | ||
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− | [[File:Driveblockdiagram controller.png| | + | [[File:Driveblockdiagram controller.png|800px]] |
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==Calculation formulas and examples== | ==Calculation formulas and examples== | ||
These examples focus on calculating values on a rotary motor and linear axis. | These examples focus on calculating values on a rotary motor and linear axis. | ||
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Calculation of how many counts the [[feedback devices|feedback device]] produces per one physical unit: | Calculation of how many counts the [[feedback devices|feedback device]] produces per one physical unit: | ||
− | <math>X_{FeedbackDeviceCountsPerUnit}=4\frac | + | <math>X_{FeedbackDeviceCountsPerUnit}=4\frac{FBR}{AXS}</math> |
AXS is a number that tells how many physical lenght units (such as millimeters a linear axis) translates per one rotary motor revolution. | AXS is a number that tells how many physical lenght units (such as millimeters a linear axis) translates per one rotary motor revolution. | ||
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Here we convert physical units (such as millimeters) to setpoint value in position control mode: | Here we convert physical units (such as millimeters) to setpoint value in position control mode: | ||
− | <math>setpoint=\frac | + | <math>setpoint=D_{DesiredPosition}\frac{MUL}{DIV}X_{FeedbackDeviceCountsPerUnit}</math> |
===Example 2 - Calculating value for CVL parameter=== | ===Example 2 - Calculating value for CVL parameter=== | ||
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==See also== | ==See also== | ||
*[[Trajectory planner]] | *[[Trajectory planner]] | ||
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