Examples and tips
PROGRAMMING MANUAL 261
Revision 3.0
fig. 33
The delay in the capture in the Sigma-II Servo Driver is about 3 μs.
As the encoder information is refreshed every 62.5 μs, it is
necessary to make interpolation to obtain the right captured
position value (see the picture). Since the motor speed cannot
change much during 62.5 μs, the resulting accuracy is very high.
The delays in transmission of the information are:
• Delay in triggering the registration: 0.625 ms to 4 ms.
• Delay in receiving the registration: 3.5 ms.
• Delay in capturing the registration: 3 μs.
It is also possible to use the encoder Z-mark to register an axis
position. This is also done with the argument of the REGIST
command.
Registration in the Junma Servo Driver
Registration in the Junma Servo Driver is the same as registration
in the Sigma-II Servo Driver, with one difference: There is only one
physical input and one logical latch too, so no settings of Servo
DriverServo Driver parameters are necessary. The physical input is
associated to logical latch EXT1, and only the rising signal edge
can be used for registration.
Registration in the TJ1-FL02
The TJ1-FL02 has two physical registration inputs, and two latch
circuits per encoder input, which can be used independently.
Therefore two independent registration inputs can be used at the
same time. For more information on how to use both registration
inputs of the TJ1-FL02 at the same time, refer to sections 3.2.170,
3.2.171, 3.2.217, 3.2.218 and 3.2.219.
The delay in the capture is 0.5 μs. Because the encoder position is
read continuously from the line-drive encoder input, interpolation is
not necessary. The delay for the transmission of the captured
information is just one SERVO_PERIOD cycle.
t
Position
Interpolated
position
62.5μs
Latch input
I52E-EN-03.book Seite 261 Freitag, 29. Juni 2007 11:55 11
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