User Manual

8 Advanced Digital Motor Controllers User Manual V2.0, July 8, 2019
Sensor Mounting ................................................................................... 146
Feedback Sensor Range Setting ............................................................ 147
Adding Safety Limit Switches ................................................................ 148
Using Current Trigger as Protection ....................................................... 149
Operating in Closed Loop Relative Position Mode ................................. 149
Operating in Closed Loop Tracking Mode ............................................... 151
Position Mode Relative Control Loop Description.................................. 151
PID tuning in Position Mode .................................................................. 152
PID Tuning Differences between Position Relative and Position Tracking ....... 153
Loop Error Detection and Protection .................................................... 153
SECTION 12
Closed Loop Count Position Mode ...................................................................... 155
Mode description ................................................................................... 155
Sensor Types and Mounting ................................................................... 156
Encoder Home reference ....................................................................... 156
SSI Sensor Home reference .................................................................. 156
Preparing and Switching to Closed Loop ............................................... 156
Count Position Commands .................................................................... 157
Position Command Chaining .................................................................. 157
Position Accuracy Considerations .......................................................... 158
PID Tunings ............................................................................................ 159
Loop Error Detection and Protection ..................................................... 159
SECTION 13
Closed Loop Torque Mode .................................................................................... 161
Torque Mode Description ..................................................................... 161
Torque Mode Selection, Configuration and Operation ........................... 162
Torque Mode Tuning ............................................................................... 162
Configuring the Loop Error Detection .................................................... 162
Speed Limiting in Brushless controllers ................................................. 163
Torque Mode Limitations ....................................................................... 163
Torque Mode Using an External Amps Sensor ...................................... 163
SECTION 14
Serial (RS232/RS485/USB/TCP) Operation ......................................................... 165
Use and benefits of Serial Communication ............................................ 165
Serial Port Configuration ........................................................................ 166
Connector RS232 Pin Assignment ......................................................... 166
Connector RS485 Pin Assignment ......................................................... 166
Setting Different Bit Rates ..................................................................... 166
Cable configuration ................................................................................ 167
Extending the RS232 Cable ................................................................... 167
Connecting to Arduino and other TTL Serial Microcomputers ............... 168
RS485 Configuration .............................................................................. 169
USB Configuration ................................................................................. 170
TCP Configuration .................................................................................. 170
Command Priorities ............................................................................... 171
Communication Arbitration .................................................................... 171