Servosila-Device-Reference-0xA020192

introduce complexity into the controller's configuration. Note that even if a
motor is equipped with an encoder, it is possible to run it as a plain sensorless
brushless motor.
CAUTION: If you enable a "motor encoder" here, make sure the configuration
parameter "encoder bias vs. electrical position" of the corresponding encoder
peripheral is properly set. The parameter defines an angular offset of the rotor vs.
motor encoder readings. The parameter is important for proper positioning of
magnetic field inside the motor. Failing to do so may cause the motor to
unexpectedly accelerate out of control once given a motion command.
11
Servo Encoder - • 0: No encoder
• 1: Quadrature Encoder
• 2: BISS-C/SSI Encoder
• 3: SPI Encoder
• 4: PWM Encoder
A "Servo Encoder" is dedicated for use with "Servo Control" only, since the
encoder that plays this role is allowed to be linked to the motor via backlash-
introducing mechanisms such as a gearbox or a belt. The implies that some other
means (Hall sensors, a "Motor Encoder", or sensorless control) shall be used by
the controller to sense the angular position of the rotor.
Note that a "Servo Encoder" can be of a ROTARY or a LINEAR type.
Note that some types of encoders share pins and thus cannot be used together at
the same time. After enabling an encoder here, proceed to configuring an
associated encoder peripheral in a corresponding section.
It usually makes sense to first run a brushless motor in a sensorless mode, and
only later connect an encoder to the controller. This approach helps gradually
introduce complexity into the controller's configuration. Note that even if a
motor is equipped with an encoder, it is possible to run it as a plain sensorless
brushless motor.
UINT16,
0x2000,
0x0B,
rw
12 Gearbox:
Reduction
Ratio
- The "Gearbox: Reduction Ratio" parameter is used whenever a servo drive is
equipped with a gearbox, a belt, or any other type of a speed reducer. Otherwise
set this parameter to 1.0.
For ROTARY servos, set the parameter to match a reduction ratio of the servo
mechanism's gearbox or belt. For example, if the reduction ratio is 100:1, then
set this parameter to 100. If there is a multi-stage speed reducing mechanism
(such as a belt driving a harmonic gear set), make sure a combined reduction
ratio is used.
For LINEAR servo mechanisms, determine how many rotor revolutions it takes
the motor to move the linear encoder from its initial position (such as a leftmost
one) to the furthest end position (such as a rightmost one). It might turn out to be
FLOAT32,
0x2000,
0x0C,
rw
11 www.servosila.com