Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
PinOuts and Software Setup
102
Resolution Scale Factor (SF)
Parameter
Encoder Type
Technique 1/3
Technique 2
Resolution
Scale Factor SF
Rotary
[counts/rev]
= 2
ST
= 2
ST-5
= 2
ST
/32
Linear
[counts/user units]
= 1/RES
= 1/(32*RES)
Where ST:
is the rotary encoder Singleturn resolution in bits
RES:
is the linear scale resolution, in user units (e.g. mm)
Commutation Cycle Size
Parameter
Motor/Encoder
Technique 1
Technique 2/3
Ixx70
Rotary
= Number of pole pairs
Linear
= 1
Ixx71
Rotary
= SF= 2
ST
if Ixx01=3
= 2
18
= 262144
= 32 * SF= 32 * 2
ST
if Ixx01=1
Linear
= ECL * SF= ECL/RES
if Ixx01=3
= ECL * SF / 2
Offset
= ECL/(RES*2
Offset
)
= 32 * ECL * SF
= 32 * (ECL/RES)
= 32 * (ECL/RES)
if Ixx01=1
Where ST:
is the rotary encoder Singleturn resolution in bits
RES:
is the linear scale resolution, in user units (e.g. mm)
ECL: is the electrical cycle length of the linear motor, same units as RES (e.g. mm)
Offset: is the ECT commutation Offset, it is (=ST-18 for rotary, or =RES-18 for linear)
SF:
is the encoder resolution scale factor (calculated previously)
Position and Velocity Scale Factors, Position Error Limit
With technique 2, and technique 3 (with encoder resolutions greater than 20 bits), it is recommended to
set the position and velocity scale factors to equal 1 and widen the position error limit. Otherwise, default
values should be ok for all other cases. This alleviates register saturation(s), allows for higher commanded
speed settings and easier PID (position-loop) tuning.
set the position and velocity scale factors to equal 1 and widen the position error limit. Otherwise, default
values should be ok for all other cases. This alleviates register saturation(s), allows for higher commanded
speed settings and easier PID (position-loop) tuning.
Parameter(s)
Technique 1
Technique 2
Technique 3
Ixx08, Ixx09
= 96
= 1
= 96
= 1
= 1
for ST < 20
for ST ≥ 20
for ST ≥ 20
Ixx67
Default
= 8388607
= Default
= 8388607
= 8388607
for ST < 20
for ST ≥ 20
for ST ≥ 20
Absolute Power-On Position and Phasing
Process
Technique 1
Technique 2
Technique 3
Absolute Position Read
From serial register A,
automatic settings
From serial register A,
scaling required
From serial register A,
automatic settings
Absolute Phasing
Automatic settings,
depending on ST+MT
From ECT for Comm.,
automatic settings
From ECT for Comm.,
automatic settings