5-20 WORKING WITH THE CONTROL UNIT
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Field Motor type Description
Peak
current
Maximum current for acceleration/deceleration. Can be derived
from Tp/Kt (Tp is peak torque and Kt is torque constant).
Stall current
Maximum continuous current allowed during a stall. If this
value is not known, use the nominal current.
Moving part
inertia
Rotary only Total inertia of the motor's moving part and the load.
Moving part
mass
Linear only Total mass of the motor's moving part and the load.
Feedback
sensor
All Commutation and position feedback sensor. Options:
Resolver
Encoder
Encoder + Hall (DC brushless (AC servo/AC synchronous)
motor only)
Required.
Encoder
lines per
revolution
Rotary only If the Feedback sensor selection is "Resolver," Adjuster
ignores any values entered here and sets LR=4096, LF=0.
The total Counts per Revolution. = 4 x (Encoder lines per
revolution) x (External multiplier), where 4 is an internal
multiplier provided by control unit.
Example: For a 1000 line encoder (Encoder lines per
revolution = 1000) and no external multiplier (External
multiplier = 1), the Counts per Revolution = 4000 (because of
the internal 4x multiplier).
Based on the value of the Encoder lines per revolution and the
External multiplier defined here, Adjuster calculates the
internal controller parameters, LR and LF.
For rotary motors, the Total Number Of Counts per Revolution
= LR x 2
LF
.
Required.
Encoder
lines per
mm/inch
Linear only If the Feedback sensor selection is "Resolver," Adjuster
ignores any values entered here and sets LR=4096, LF=0.
The total number of counts per mm/inch = Encoder lines per
mm/inch) x (External multiplier) x 4.
Required.
External
multiplier
If the encoder does not have an external multiplier
(interpolator), select 1. The external multiplier is used in the
calculation of the Encoder Counts Per Revolution and the
Encoder Counts per mm/inch.
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