Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
RD1, Resolver/Digital converter #1.
RD1, RESOLVER/DIGITAL CONVERTER #1.
Group Group
No.
Description
RD1 2 Resolver/digtal converter #1 that is used for main
motor communication and regulation.
GENERAL
The RD1 group contains registers for control and monitoring of the Resolver 1
input, which is, used for primary feedback of motor position and speed.
The resolver is supplied with a excitation frequency from the DMC 2 and outputs two
amplitude modulated signals which represents the sine and cosine of the angular
position at all times. These analog signals are sampled and converted at a
constant rate (4 kHz). From the sine and cosine values, the angle can be
calculated as arctan(sine/cosine).
From this periodic angle measurement, the speed and position of the motor can be
derived. The resolver gives an absolute position over one turn.
The position unit is Increments (incs), where a two pole (single speed) resolver
gives 8192 incs/turn, a four pole resolver gives 16384 incs/turn and so on.
The speed unit then becomes Increments/second (incs/s) and the acceleration unit
becomes: Increments/second 2 (incs/s 2 ) In high resolution mode these numbers are
multiplied by 8.
Resolver Resolver speed High resolution Mode Standard Mode
PPR PPR
2-Pole 1-Speed resolver 65536 8192
4-Pole 2-Speed resolver 131072 16384
6-Pole 3-Speed resolver 196608 24576
8-Pole 4-Speed resolver 262144 32768
FUNCTION
Resolver 1 (RD1) must be set up properly in order to run the motor. The
commutation of motor currents depends on proper operation of RD1.
RD1.Mode Selects the mode of operation for the resolver interface.
RD1.Mode = 0 turns off the resolver and resets RD1.Pos.
RD1. Mode = 1 Is the normal setting for standard resolvers. Other values
enable special functions.
RD1.SHAdj Compensates for phase shift in the resolver and cables. The
synchronous demodulation principle of the resolver interface
requires that this parameter is set to the proper value. A
span of +/- 150 is sufficient for all types of resolvers. A
measuring routine (PL2 coded) for this parameter is included
in the SW package
RD1.RPos Is used as the reference for all movements in the DMC 2 . This
relative axis position can be set to any value by the
statement Ref Pos .
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
57