Emerson Epsilon EP Drive 400518-01 Instalační manuál stáhnout pdf (Strana 20)

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

Marker

Selecting Marker means the rising edge of the motor’s encoder marker channel is used to establish the reference position.

Figure 9: Marker Home Reference Position

Sensor then Marker

Selecting Sensor then Marker means the reference position is established using the first marker rising edge after the device

sees the rising edge of the Home Sensor input function.

Figure 10: Sensor then Marker Home Reference Position Example 1

Accuracy and Repeatability

The accuracy is one trajectory update rate. For example - if the trajectory update rate is set to 800 µs then the accuracy will

be 800 µs, if the trajectory update rate is set to 1.6 ms then the accuracy will be 1.6 ms.

The amount of accuracy the application requires will determine the Home Reference type selected. Homing to an external

sensor will only establish a repeatable home position within 0.04 revolutions at 3000 RPMs (800 µsec sensor capture

interval).

Note

The data above assumes the use of a perfectly repeatable home sensor.

In Sensor then Marker applications, the marker must be at least 800 µsec after the rising edge of the sensor input to be

considered a valid marker pulse, see Figure 11.

Note

At 1000 RPM, the motor will travel 0.0133 revolutions (or 4.8°) in 800 µsec.

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Emerson Epsilon EP Drive 400518-01 Instalační manuál Strana 20