Basics Of A Servo Drive - RHINO RMCS –2303 Operating Manual

Basics of a servo drive

This is a servo drive to work with quad incremental encoder and dc motor. When the drive starts up the encoder
position is set as 0. With reference to the start position drive will always have a 32 bit number keeping track of
movement. It can be set to 0 at any point.
This servo drive works with quadrature encoder. The quadrature encoder also known as quad encoder or
incremental encoder gives two channels of pulses output. It can be of optical or magnetic type.
The basic concept is the encoder gives output of two channels of pulse streams say channel A and channel B to
drive, when A is leading B or B is leading A the drive can also determine the direction of movement.
So drive can calculate the speed and direction of motor according to the pulses if number of Lines per
Rotation is known. For each line drive gets 4 counts, for example if encoder is 334 lines drive can get 1336
(334 x 4) counts per rotation. This parameter can be set in register 10. It's a 16 bit unsigned number having
range of 1 to 65535.
In any of the 3 modes drive manages speed, direction, acceleration, deceleration, position of motor and
voltage and current given to the motor based on set parameters, gains and feedback from encoder. This is a
close loop system means in position mode the drive always tries to make the error which is difference between
the required position and error to 0, in case of speed mode it tries to make the speed same as set speed.
The voltage and current given to motor is also managed by drive to provide higher torque when required. This
also means that even at lower speed, higher torque up to the maximum torque available in motor is possible.
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