In this post, we discuss how the Motion4Sim Servo Controller communicates with the AASD servos and the significance of the Electronics Gear Settings. This relates to the parameter PN98 in the servo driver.
The AASD servo drives support a resolution of 10,000 positions per revolution. These positions are returned by the built-in encoder. The setting in the servo driver of PN98 determines how many pulses sent by the controller are transferred to the motor. This means that with PN98 equals 1, the motor always takes one step, indicating that the servo driver adjusts the encoder to this one step. However, if P98 is set to 20 or 10, the servo driver then tries to advance the encoder by 10 steps when a pulse is sent.
For the speed ist important to understand the pulscount needed. The servo motors should always run at full speed, and for that, we need exactly the large number of pulses in the same time they are supposed to run. The electronic gearbox reduces the pulses. So, with PIN 98=20 , for example the thanos AMC setting, every pulse is converted into 20 motor steps. With PIN 98 =1, the motor only takes one step per pulse. This means that if the motor is rotating at maximum speed of 3000 revolutions per minute, which is 50 revolutions per second. With an encoder resolution of 10,000 positions, this corresponds to 500,000 pulses per second.With PIN 98 equals 2, we therefore only need half of the pulses per second at full speed, which is 250 kHz pulse frequency.The controller always operates with a bit of overhead there, so the factory setting is 253 kHz, I believe.
Those were the basics of pulse frequency. If you now set PN98 equals 1 and pulse only at 250 kHz, the motor will not run at full speed.
PIN 98 acts as an electronic gearbox, as mentioned before. 1 means every pulse is one step, and 20, for example, means every pulse is 20 steps. This ultimately determines the resolution of the actuator.
The controller calculates the number of steps needed based on the information provided, ensuring that it operates within the range and does not damage the actuator. Therefore, the PN98 inputs in the servo and software are very, very important. (Bearbeitet)
Hope this helps to understand