Table of Contents - TG Drives
Table of Contents - TG Drives
Table of Contents - TG Drives
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EXTENDED REGISTER GROUPS<br />
RD2, Resolver/Digital converter #2<br />
externally. (240.000 rpm on a 2 pole motor or 1.2 mm/s for a<br />
laser interferometer. The DMC 2 resolution is about 0.16<br />
nanometer with a He-Ne laser interferometer.)<br />
RD2.Mode=5(1+4) The content <strong>of</strong> RD2.Speed is filtered before used as input to the<br />
gearbox. The filtered speed is available in RD2.FiltSpeed<br />
RD2.Mode=7(3+4) The content <strong>of</strong> RD2.Speed is filtered before used as input to the<br />
gearbox. The filtered speed is available in RD2.FiltSpeed.<br />
RD2.Mode=16 High-resolution mode.<br />
Pulses-per-revolution has been increased to accommodate the<br />
14-bit A/D converter capability. High resolution is a new<br />
operating mode in RD1 and RD2 separately.<br />
One revolution <strong>of</strong> a 2 pole resolver yields 65536 increments, this<br />
is eight times better than the low resolution mode.<br />
i<br />
Several group members must be scaled up or down by 8<br />
when using this mode.<br />
Pg.Speed = multiply by 8 to achieve<br />
the same speed as for low<br />
resolution.<br />
Pg.Acc/Pg.Ret = multiply by 8 to achieve the same<br />
acceleration/deceleration as for low resolution.<br />
Reg.Xgain= divide by 8 all gains. Where X is P, I or D.<br />
Motor.PPR= multiply by 8.<br />
♦<br />
Additional bits:<br />
b7 (128) Set CCW rotation. Note. When used as the<br />
commutation source, in order to change the motor rotation, you<br />
also need to change the rotation definition on the motor.<br />
RD2.Pos 1 -2 31.. 2 31 -1 R<br />
The 32-bit extended position in “increments”, where an electrical<br />
turn on the resolver equals 8192 increments. Resolution is<br />
approximately 2000-4000 increments/turn, or 2-4 increments.<br />
RD2.Speed 2 -2 31 ..2 31 -1 R<br />
The resolver speed in increments-per-second. Resolution is<br />
approximately 2000-4000 increments-per-second.<br />
RD2.Ampl 3 0..32767 R<br />
The combined amplitude <strong>of</strong> sin and cosCOS signals from the<br />
resolver. This value is used to adjust the phase <strong>of</strong> the<br />
sample/hold signal so that the SIN and COS signals are sampled<br />
at their maximum (10000 to 16000). If this value exceeds 16000,<br />
the A/D inputs are overloaded and the accuracy drastically<br />
decreases. If the value is less than 15000, the accuracy<br />
decreases in proportion to the signal level.<br />
The SysIo.PWM0 value is adjusted so that RDx.Ampl<br />
reaches its maximum value. At this adjustment the resolver is<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001<br />
65
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