User Manual
PD57/60-1260 TMCL
™
Firmware Manual • Firmware Version V1.44 | Document Revision V1.02 • 2018-SEP-05
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6 Module Specific Hints
This section contains some hints that are specific to the PD57/60-1260 module.
6.1 Conversion between PPS, RPM and RPS
In order to convert between pps units and units like rounds per second (rps) or rounds per minute (rpm),
one has to know the fullstep resolution of the motor (full steps per round) and the microstep resolution
setting of the module (axis parameter #140, default setting is 256 microsteps per full step).
So to convert from pps to rps, use the following formula:
v
rps
=
v
pps
r
full step
· r
microstep
To convert from rps to rpm, use:
v
rpm
= v
rps
· 60
With the following symbols:
• v
rps
: velocity in rounds per second
• v
rpm
: velocity in rounds per minute
• v
pps
: velocity in pulses (microsteps) per second
• r
full step
: fullstep resolution of the motor (with most motors 200 (1.8°))
• r
microstep
: microstep setting of the module (default 256)
So, with a 200 fullsteps motor and a microstep setting of 256 (axis parameter #140 = 8), a velocity of
51200pps will result in 1rps (60rpm).
6.2 The SensOstep™ Encoder
The PD57/60-1260 module offers an integrated SensOstep encoder. This built-in encoder has a resolution
of 1024 steps per rotation. Please consider the following hints when using the built-in encoder:
•
The encoder counter can be read by software and can be used to monitor the current position of the
motor.
•
To read out or to change the position value of the encoder use axis parameter #209. To read out the
position of the internal encoder use GAP 209, 0. The encoder position register can also be changed
using command SAP 209, 0, <n>, with n = -2147483648 . . . 2147483647.
•
The resolution of the SensOstep encoder is automatically matched to the microstep resolution of the
motor. This is achieved by an internal pre-scaler that will automatically set to the appropriate value
whenever the microstep resolution (axis parameter #140) gets changed.
•
Using axis parameter #210 a clear-on-null function can be activated. This is useful for finding the
absolute zero-position of the encoder. Set this parameter to 1 to activate the clear-on-null function.
After the clear-on-null function has been executed this parameter will automatically be set back to 0.
•
The motor can be stopped automatically if motor position and encoder position differ too much
(deviation error). This can be set using axis parameter #212 (maximum deviation). Setting this
parameter to 0 turns off this feature.
•
As the built-in encoder is a magnetic encoder, the absolute position value can also be read. Use GAP
215, 0 to read the absolute (single-turn) position value. This always is a value between 0 and 1023
(independent of any other setting).
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