Galil DMC-2X00 user manual

VOLTAGE SOURCE

V

Kv

E

1/Ke

(STm+1)(STe+1)

W

1

S

P

CURRENT SOURCE

V

Ka

I

Kt

JS

W

1

S

P

VELOCITY LOOP

V

1

Kg(ST1+1)

W

1

S

P

Figure 10.6 - Mathematical model of the motor and amplifier in three operational modes

Encoder

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

Kf = 4N/2π [count/rad]

For example, a 1000 lines/rev encoder is modeled as

Kf = 638

138 • Chapter 10 Theory of Operation DMC-2X00