From RSI - Robotic Systems Integration - SynqNet Systems
Contents |
Hardware
Wiring
Drive Specifications
J14 Auxilliary Feedback Connector
- Maximum analog sine/cosine incremental signal input frequency: 5 kHz
- Maximum digital quadrature incremental signal input frequency: 50 MHz
FAQ
What are EStop recommendations?
Below are the recommended EStop connections:
- Cut motor power (leaving logic power to the drives ON)
- Wire the Hardware Enable on the drive (connector J4, AUX I/O) to disable in the event of an EStop
- Wire the Controller EStop which is on 15 pin HD connector (Controller I/O) to notify the controller an EStop has occurred.
How to read index pulse when using SFD as feedback source for S200 drive
Simply track the PosFB parameter which ranges from 0 to 65536.9961 counts for every one revolution.
PosFB decription
This variable reads back an instantaneous sample of the shaft position within one rev. There are 24 bits within one rev, but the displayed value is scaled for 65536 counts per rev (i.e. bits 17 through 24 show up as a fractional count after the decimal point).
Another alternative:
To latch based on Index Pulse you will need to add jumpers. Look at the S200 drive and follow the steps:
- Connector J4, pin 17 (CH Z OUT) goes into Connector J14, pin 6 (SEC ENC Z+)
- Connector J4, pin 18 (CH Z OUT RETURN) goes into Connector J14, pin 7 (SEC ENC Z-)
You can now use RapidSetup to verify Index pulse is latched.
When using RapidCode you will use the method: CaptureConfigSet(). In this method the enumeration needed is RSICaptureSourceINDEX_SECONDARY