Infranor XtrapulsGem User Manual

163
X
trapulsPac - User Guide
Chapter 3 – Reference
3.2.3.9 - Stepper Emulation Mode
Stepper Emulation Mode
The Stepper emulation mode emulates the behaviour of a stepper motor and drive.
The position reference is given by the PULSE and DIR inputs: when pulse following control is enabled in the
control word, the servo motor position setpoint is received via the PULSE and DIR input pins.
The stepper motor emulation application is only possible for motors equipped with a resolver as a position
feedback sensor. The encoder input is used for pulse/dir command input (the encoder input must be selected with
incremental TTL encoder).
When the drive is switched on with the stepper emulation mode selected, Pulse following control is disabled. In
this case, the input pulses are not counted and the motor is enabled at standstill.
The motor starts following the input pulses when PULSE_ENA (control word bit 4) is set or COUNT_ENA
(0x3681-3 bit 8) is set.
The specific bits of the control word (object 0x6040) used in stepper emulation mode are described below:
Bit Name Function
4 PULSE_ENA Enable pulse following
5 Reserved
6 Reserved
The specific bits of the status word (object 0x6041) used in stepper emulation mode are described below:
Bit Name Function
12 PULSE_OK Pulse following ok
13 PULSE_CNT Pulse Count
The PULSE_OK is set when drive is enabled and PULSE_ENA or COUNT_ENA is set.
The PULSE_CNT is active only with PULSE_OK active. The PULSE_CNT signal is described in object 0x3681.
The motor Maximum speed value is calculated according to the host controller pulse frequency limit as follows:
Maximum speed (rpm) = 60 x pulse frequency limit (Hz) / Stepper resolution.
For simple count configuration (object 0x3681-3 bit 7 = 0), the Stepper resolution = User position scaling (object
0x6093-2).
For double count configuration (object 0x3681-3 bit 7 = 1), the Stepper resolution = User position scaling (object
0x6093-2) / 2.
The Max. Motor Speed parameter (object 0x6080) is set to the previously calculated maximum speed value + 10
% to avoid a speed saturation of the drive.
The motor speed depends on the pulse frequency and the User position scaling parameter (object 0x6093-2).
The motor displacement direction with regard to the DIR input logic state can be configured by using the reverse
bit of the resolver input.
The polarity of the PULSE and DIR inputs is configurable by 0x3681.
Object 0x392C,0 gives the input pulse counter value.
Object 0x3685,0 gives the stepper emulation reference value.
If the drive is disabled or if the drive is enabled and PULSE_ENA and COUNT_ENA are at 0, then this object is
cleared.
Object 0x3686,0 gives the position setpoint applied to the drive position loop.

Infranor XtrapulsGem Specifications

General

Brand	Infranor
Model	XtrapulsGem
Category	Controller
Language	English