Encoder - Galil Motion Control DMC-1000 User Manual

VOLTAGE SOURCE
V
K
v
CURRENT SOURCE
V
K
a
VELOCITY LOOP
V
Figure 10.6 - Mathematical model of the motor and amplifier in three operational modes
The encoder generates N pulses per revolution. It outputs two signals, Channel A and B, which are in
quadrature. Due to the quadrature relationship between the encoder channels, the position resolution
is increased to 4N quadrature counts/rev.
The model of the encoder can be represented by a gain of
K f = 4N/2π
For example, a 1000 lines/rev encoder is modeled as
K f = 638
DMC-1000
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
E
1/K
(ST +1)(ST
m
I
K
t
JS
1
K (ST +1)
g 1

Encoder

[count/rad]
W
e
+1)
e
W
W
Chapter 10 Theory of Operation • 137
P
1
S
P
1
S
P
1
S