Delta RMC101 - Manual (Page 603)

Resolver 6.5
Transducer Interface Modules 6-59
When the axis is stopped outside the In Position Window, compensation will be applied to try to
move the it back inside the window. If the axis is not able to move back into the In Position
Window in the time specified by the Compensation Timeout parameter, the Timeout bit will be set
in the Status word. This bit can be used to trigger a hard stop on the axis, as controlled by the
Auto Stop Mask parameter. Do not use the soft stop with this bit, since the axis is already
stopped, so the closed loop stop initiated by the soft stop does nothing.
The timeout is only active when the axis is stopped or geared to an axis that is stopped. It does not
take effect while moving since the Following Error Window will catch problems at this stage.
A Compensation Timeout of 0 will disable the timeout feature so the Timeout bit will always be off.
Several modes of compensation can be configured using these three parameters:
• Disabled
To entirely disable compensation, enter a zero (0) Compensation Rate. The Compensation
Window parameter will then have no effect. However, the Compensation Timeout parameter can
still be used to turn on the Timeout bit if the axis is not In Position within a specified number of
seconds of the Target Position reaching the Command Position.
• Disabled When Moving, Active When Stopped
To disable compensation while moving, enter a non-zero Compensation Rate and a large
Compensation Window (for example, 65535). You can set the Compensation Timeout parameter
as desired. This effectively disables compensation while moving because the error will always be
within the Compensation Window, and therefore the Compensation Rate will never be added to
the target speed. While stopped, the In Position Window is used instead of the Compensation
Window, and therefore compensation will work normally.
• Active when Moving and Stopped
Enter a non-zero Compensation Rate. Enter a Compensation Window between the In Position
Window and Following Error Window parameters. Enter a Compensation Timeout to fit your
needs.
See also:
Stepper Overview
Stepper Wiring
Stepper Configuration
Stepper LED Indicators
Stepper Specifications
Stepper Scaling
Homing
6.5 Resolver
6.5.1 Resolver Overview
Resolvers are absolute rotary position transducers. They are very simple and robust, can be very
accurate, and, in some cases, inexpensive. A wide variety of resolvers are available in many
configurations and for various applications.
How Resolvers Work