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STEP 5: Set the Lines per rotation as per the encoder and motor
specifications
Lines per rotation concept is very important for Position Control mode. We have two types of quad encoders for
Rhino DC Servo Motors which are :
High Precision encoder
Quad Encoder
Both these encoders are quad encoders. Also the base motor specs are provided on in datasheet of each motor.
High Precision Encoder
Lines per rotation = 334
For one rotation of encoder, the no of steps = 334 x 4 = 1336 ( As it is quad encoder)
So for 1336 steps, the base motor would move one rotation.
However as the motors are geared motors, the ratio of the gear box determines the rotation of the output
shaft of the motor for each rotation of the base motor.
Eg For a motor of 200 RPM with base motor of 18000 rpm, the gear ratio is 90. Hence for a full rotation of
the output shaft in this motor, the no of steps to be programmed would be 1336 x 90 = 120,240 steps.
Quad Encoder
Lines per rotation = 41
For one rotation of encoder = 41 x 4 = 164( As it is quad encoder)
So for 164 steps, the base motor would move one rotation.
For one rotation at output shaft of motor for Base Motor 18000 RPM and 200 RPM at Output shaft of Motor
One rotation of encoder x gear ratio
Gear ratio = Base Motor RPM / RPM at output shaft of motor
18000 / 200 = 90
So for one rotation of motor at output shaft of motor = 164 x 90 = 14760
The procedure to set lines per rotation in this drive is explained below:
