Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Setup
170
Commutation Cycle Size: Ixx70, Ixx71
The ratio of Ixx70/Ixx71 represents the number of encoder counts per electrical cycle. These parameters
are typically set up with respect to the motor, encoder type, resolution, and processing method:
are typically set up with respect to the motor, encoder type, resolution, and processing method:
For a rotary motor:
the number of commutation cycles Ixx70 should be equal to the number of pole
pairs: Ixx70= {Number of pole pairs}. The commutation cycle size Ixx71, is equal to the electrical cycle
length or pole-pair pitch in units of encoder counts:
length or pole-pair pitch in units of encoder counts:
Feedback Type
Motor Scale Factor (SF)
[counts/rev]
Ixx71
Quadrature
SF= Lines x 4
= SF
Sinusoidal / HiperFace
SF= Sine/Cosine cycles per rev * 128
= SF/32
Resolver
SF= 4096
= SF*32= 131072
SSI / EnDat / BiSS
Technique 1
SF= 2
ST
= SF= 2
ST
If Ixx01= 3
= 32*SF= 32*2
ST
If Ixx01= 1
SSI / EnDat / BiSS
Technique 2
SF= 2
ST-5
= 2
ST
/32
= 2
18
= 262144
SSI / EnDat / BiSS
Technique 3
SF= 2
ST
Yaskawa Sigma II
SF= 2
ST
= 32*SF= 32*2
ST
Where ST:
is the rotary encoder Singleturn resolution in bits
For a linear motor:
the number of commutation cycles Ixx70 is typically equal to 1: Ixx70=1. The
commutation cycle size Ixx71, is equal to the Electrical Cycle Length (ECL) or pole-pair pitch in units of
encoder counts:
encoder counts:
Feedback Type
Motor Scale Factor (SF)
[counts/mm]
Ixx71
Quadrature
SF= (1/RES
mm
)*4
= SF*ECL
mm
= ECL
mm
/ RES
mm
Sinusoidal / HiperFace
SF= 128/RES
mm
= SF*ECL
mm
/32= 4* ECL
mm
/ RES
mm
SSI / EnDat / BiSS
Technique 1
SF= 1/RES
mm
= ECL
mm
* SF= ECL
mm
/ RES
mm
If Ixx01= 3
= 32* ECL
mm
*SF
= 32* ECL
mm
/ RES
mm
If Ixx01= 1
SSI / EnDat / BiSS
Technique 2
SF= 1/(32*RES
mm
)
= ECL
mm
*SF/2
Offset
= ECL
mm
/(RES
mm
*2
Offset
)
SSI / EnDat / BiSS
Technique 3
SF= 1/RES
mm
Yaskawa Sigma II
SF= 1/RES
mm
= 32* ECL
mm
*SF = 32* ECL
mm
/ RES
mm
Where RES:
is the linear scale resolution in user units (e.g. mm)
ECL: is the electrical cycle length of the linear motor in the same units as RES (e.g. mm)
Offset: is the ECT commutation offset; = linear encoder protocol bit length - 18