QDR
4500 Technical Manual
4-26
PRESS ANY KEY TO CONTINUE
14.
Press the
<Enter>
key and the program prompts:
motor_direction=0
calibrate_position=1,50771,5601,2747,4980,1035,265,3831
pos_limit_position=5069
neg_limit_position=-1395
Update Driver INI-File [Y/N] ?
The
motor_direction
field determines whether the positive step direction is the
reverse
of
the direction of increasing encoder values ('0' if the direction is
not
reversed, '1' if it is). This
value is set from the corresponding parameter in the MOTOR_AR.PRO file and is a constant
for each motor (i.e., the direction of increasing encoder values must agree with the system
coordinates and the positive step direction is set by the wiring harness for the stepper motor).
The eight
calibrate_position
fields are:
1)
1
(Tolerance). The
±
position tolerance, in encoder ticks, for absolute moves. The
calibration program sets this field to the value found in the corresponding
calibrate_position
field in the MOTOR_AR.PRO file.
2,3)
50771,5601
(NumberOfSteps,StepDistance). The number of motors steps
corresponding to the step distance in minutes of rotation. The ratio of these two
numbers determines the step size. The calibration program calculates these fields
based on the measurements of the 0
°
and 83
°
positions.
4,5)
2747,4980
(NumberOfTicks,TickDistance). The number of encoder ticks
corresponding to the tick distance in minutes of rotation. Again, it is the ratio of these
two numbers that determines the encoder calibration. These numbers will generally
change from calibration to calibration (although the ratio should remain approximately
the same).
6)
1035
(EncoderOffset). The value subtracted from the encoder readback to set the
origin of motion. The origin of AR motion is the 0
°
position, so this value is the
encoder reading at 0
°
.
7,8)
265,3831
(NegLimit,PosLimit). The encoder readings for the negative (counter
clockwise, or AP) and positive (clockwise, or LATERAL) mechanical stops.
The
pos_limit_position
and the
neg_limit_position
are the limits of motion, in minutes of
rotation, in the clockwise and the counter clockwise direction
Note:
The
PosLimitOffset
and
NegLimitOffset
entries in the
[ArMotor]
section of the
hardware.ini
file determine the motion limits relative to the mechanical stops. If these
To Next Page
Loading...
