Delta RMC151 - Manual (Page 957)

9 Register Reference
A Trailing
The home is triggered on the trailing edge of the A pulse after the leading edge of the Z
pulse. 'Leading' is defined as the edge that will be rising when the encoder is moving in
the direction of increasing counts and falling when in the direction of decreasing counts.
The leading edge of Z is indicated by the arrow in the figure below.
Therefore, when moving in the direction of increasing counts, the home is triggered on
the next falling edge of the A pulse after the rising edge Z pulse, as indicated by arrow
number 1 in the figure below.
When moving in the direction of decreasing counts, the home is triggered on the trailing
edge (as seen in the direction of increasing counts) of the A pulse after the leading edge
Z pulse. Since the axis is moving in the direction of decreasing counts, it will trigger on
the rising edge indicated by arrow 2 in the figure below.
Notice that when the home is triggered, the RMC will automatically adjust the home
position for the direction so that the Home Position is set at the same count, regardless of
direction.
9.2.2.2.23.17. Resolver Resolution
Type: Axis Parameter Register
RMC70 Address: %MDn.10/0-1, where n = 12+ the axis number
RMC150 Address: %MDn.10/0-1, where n = 24+ the axis number
System Tag: _Axis[n].ResCfg.Resolution, where n is the axis number
How to Find: Axes Parameters Pane, Setup Tab: Primary Control Setup
Data Type: Bits - see below
Description
This parameter is valid only on axes with Resolver feedback. It defines the resolution of
the resolver input. The following resolutions are available:
• 14 bits
• 16 bits
The resolution of the resolver input affects the maximum speed and acceleration of the
resolver. If the resolver exceeds the maximum speed or acceleration, a No Transducer
error will occur. The following table lists that maximum speeds and accelerations:
14 Bits 16 Bits
Maximum
Speed
3000 RPM
600 RPM
Maximum
Acceleration
1200 RPS per
second
60 RPS per
second
Changing this Parameter
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