5.3.13. Settings of kinematics (DC motor)¶

In the Application Settings Device configuration -> DC Motor

Settings of kinematics (DC motor) window

Motor parameters - electric motor settings¶

Revers - checking this flag associate the motor rotation direction with the current position counting direction. Change the status of the flag if positive motor rotation decreases the value on the position counter register. This flag effect is similar to connecting the motor winding to reverse polarity.

Move with max speed - if this flag is checked motor ignores the preset speed and rotates at the maximum speed limit.

Limit speed with max speed - if this flag is checked the controller limits the maximum speed to the number of steps per second, specified in the Max nominal speed field.

Max nominal speed, Max voltage, Max current - are motor nominal parameters. If they are active and applicable for given type of motor, the controller limits these parameters within the specified values. For example, if the motor speed and voltage exceeds the nominal values, the controller will reduce output action until both values are within the normal range. However, the controller remains in operational condition, and will execute the current task.

Motion setup - settings related to the movement kinematics¶

Working speed - movement speed.

Backlash compensation - backlash compensation. Since the stage mechanics are not ideal there is a difference between approaching a given point from the right and from the left. When the backlash compensation mode is on the stage always approaches the point from one side. The preset value determines the number of steps which the stage takes to pass a given point in order to come back to it from the same side. If the specified number is above zero the stage always approaches the point from the right. If it is below zero the stage always approaches the point from the left.

Backlash compensation speed - speed of backlash compensation. When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per second.

Acceleration - enables the motion in acceleration mode, the numerical value of the field is the acceleration of movement.

Deceleration - movement deceleration.

Feedback settings¶

Encoder - use of encoder as a feedback sensor. The following encoder types are available: Single-ended, Differential or Autodetect.

Encoder counts per turn - this parameter defines the number of encoder pulses per one motor axis full rotation.