ICM-42200
ICM-42200 Encoder 26 pin HD D-Sub Connector (Female), pg 277
Step B. Issue the appropriate configuration commands
Find the appropriate configuration commands for your feedback type as shown in Table 2.6, pg 19.
Step C. Verify proper encoder operation
1. Ensure the motor is off my issuing an MO.
2. Check the current position by issuing TP, the value reported back is in the units of counts.
3. Move the motor by hand and re-issue TP. The returned value should have been incremented or
decremented from the first TP. If there is no change, check the encoder wiring and settings and
retest starting at Step 1.
4. Using the encoder specification sheet, translate a physical distance of the motor into counts read
by the controller. For example, a 2000 line encoder means that the controller reads 2000*4=
8000 counts/revolution and a half turn of the motor would be 4000 counts.
5. Issue TP to determine the current motor position, record this value.
6. Move the motor by hand some measured physical distance.
7. Query TP again. Take the absolute difference from the current TP and the TP recorded from
Step 5.
8. Determine if the physical distance moved is equal to the expected amount of counts calculated in
Step 4, move on to Step 9. Otherwise, check the encoder wiring and settings and retest starting
at Step 1.
9. Perform Step 5-8 again, instead moving a physical distance in the opposite direction. If the
physical distance correctly translates to the expected amount of counts, the encoder is wired
correctly.
Step D. Reverse encoder direction, if necessary
Table 2.7 below provides instructions for how to reverse the direction of feedback by rewiring the encoder to the
DMC controller. The direction of standard, quadrature encoders can be be reversed using the CE command.
NOTE
Reversing direction of the feedback may cause a servo motor to runaway, see Step 7. Setting
Safety Features before Wiring Motors, pg 20 regarding Runaway Motors.
Feedback Type Directions
Standard Quadrature
Differential Swap channels A+ and A-
Single-ended Swap channels A+ and B+
Sin/Cos, 1 V
pk-pk
Swap signals V
0
+ and V
0
-
SSI or BiSS Follow encoder manufacturers instructions
Analog feedback Cannot change the direction of feedback without external hardware to invert
analog signal.
1
Table 2.7: Directions for reversing feedback direction based upon feedback type
1
The polarity of the control loop may still be inverted by either re-wiring the motor or using the MT command, see Step 7.
Setting Safety Features before Wiring Motors, pg 20 regarding positive feedback loops.
Step 7. Setting Safety Features before Wiring Motors
This section applies to servo motors only.
Step A. Set Torque Limit
Chapter 2 Getting Started ▫ 20 DMC-40x0 User Manual
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