RoboteQ AX2850 - Manual (Page 7)

AX2550 Motor Controller User’s Manual 7
SECTION 7 Installing, Connecting and Using the Encoder Module 71
Optical Incremental Encoders Overview 71
Recommended Encoder Types 72
Installing the Encoder Module 73
Connecting the Encoder 75
Cable Length and Noise Considerations 76
Motor - Encoder Polarity Matching 76
Voltage Levels, Thresholds and Limit Switches 76
Wiring Optional Limit Switches 78
Wiring Limit Switches Without Encoders 79
Effect of Limit Switches 79
Using the Encoder Module to Measure Distance 80
Using the Encoder to Measure Speed 80
Using the Encoder to Track Position 81
RS232 Communication with the Encoder Module 82
Encoder Testing and Setting Using the PC Utility 83
SECTION 8 Closed Loop Position Mode 85
Mode Description 85
Selecting the Position Mode 85
Position Sensor Selection 86
Sensor Mounting 86
Feedback Potentiometer wiring 87
Feedback Potentiometer wiring in RC or RS232 Mode 87
Feedback Potentiometer wiring in Analog Mode 88
Analog Feedback on Single Channel Controllers 89
Feedback Wiring in RC or RS232 Mode on Single Channel
Controllers
89
Feedback Wiring in Analog Mode on Single Channel
Controllers
89
Using Optical Encoders in Position Mode 90
Sensor and Motor Polarity 90
Encoder Error Detection and Protection 91
Adding Safety Limit Switches 91
Using Current Limiting as Protection 93
Control Loop Description 93
PID tuning in Position Mode 94
SECTION 9 Closed Loop Speed Mode 97
Mode Description 97
Selecting the Speed Mode 97
Using Optical Encoder for Speed Feedback (AX2850 only) 98