Curtiss-Wright | PG Drives Technology
SK77981-14
140 | R-net Technical Manual | Chapter 5 – Encoder Module
4.4
INVERT M2
This reverses the way the speed and direction signals are read from the encoder fitted to the motor that is connected to the
Power Module’s M1 connector.
The programmable options are
Yes
and
No.
The table below shows the effect of each option.
Motor Direction
Invert M2
Polarity of Encoder B on a rising edge of Encoder A
Forward
No
Low
Reverse
No
High
Forward
Yes
High
Reverse
Yes
Low
4.5
ENCODER RESOLUTI ON
This must be set to the number of pulses per revolution that the encoders output.
The programmable range is
1pprev
to
128pprev
in steps of
1pprev
.
4.6
MOTOR RATED SPEED
This should be set to the motor manufacturer’s stated speed for the motor at 24V. The R-net’s speed control loop will then give
a full forward motor speed as expressed below, assuming the parameter,
Forward Speed
, is set to 100% and no speed limits
are active.
Full forward motor speed = ( 21.6 / 24 ) x
Motor Rated Speed
The programmable range is
150rpm
to
9775rpm
in steps of
1rpm
NOTE:
If a slower full forward motor speed is required, then the parameter, Forward Speed, should be set accordingly.
4.7
COMPENSATION
Even though this parameter is not used for speed control, to ensure safety, particularly if an encoder becomes defective or
disconnected, then it is still essential this value is set correctly.
The programmable range is
0mOhms
to
500mOhms
in steps of
5mOhms
.
Curtiss-Wright recommend this value is initially set to 70% of the total resistance of the motor’s armature, and all the connector
and cables between the motor and the Power Module motor output. Motor manufacturers should be able to supply a figure the
motor’s armature resistance, and typical connector and cables may be arou nd 40mOhm.
Example: The motor has a specified armature resistance of 100mOhms, and cables and connectors between the motor and the
Power Module are estimated to be 40mOhm. This gives a total values of 140mOhm. The value of Compensation sho uld
therefore be set to 70% of 140mOhm = 100mOhm.
