RMS Technologies R325 DRIVER W/PDT - Manual (Page 6)

RMS Technologies Page 6 Version 1.20
R325IE Single Axis Controller/Driver Manual 02/13/2006
R325IE Encoder Features:
Static encoder feedback with a full set of parameters to configure a wide variety of
motor and encoder combinations.
Homing on encoder index
Eight user presetable target positions
Encoder Feedback
Each time the motor stops and times out ready to drop into the Hold current mode, a
test is run to determine if the motor Absolute Position register and the Encoder
Position register values correspond to the same position.
The motor Absolute Position register holds a measure of motor position in Steps at
the current Step Resolution. To translate this value into an actual position requires
the motor resolution to be also known.
The Encoder Position register holds a measure of encoder position in either Encoder
Lines or Encoder Lines times two depending on the setting of the Encoder Mode
parameter.
If the units used to measure motor position (Motor Fullsteps per Revolution
multiplied by Step Resolution) has a higher resolution than the units used to
measure the encoder position (Encoder Lines multiplied be Encoder Mode) then
position error is measured in motor position units, otherwise the error is measured in
encoder position units.
The count of the finer unit increments required to make up one of the coarser unit
increments is calculated and stored as the Encoder Factor. This parameter is used
each time an encoder to motor position check is made.
The user can enter a parameter value Error Limit that sets the maximum error
allowed before corrective action is taken. This units for this parameter is the same as
the Encoder Factor. The minimum value for this parameter is automatically set to
match the Encoder Factor count. Generally the user would only modify this value for
systems where the encoder and motor are not coaxial mounted and an allowance
must be made for backlash.
Encoder Pinouts
P2 Configuration
Pin No Function
1 GND
2 Index
3 A
4 +5 V
5 B