RoboteQ AX2850 user manual Installing, Connecting and Using the Encoder Module

SECTION 7	Installing, Connecting and Using the Encoder Module 71
	Optical Incremental Encoders Overview					71
	Recommended Encoder Types			72
	Installing the Encoder Module			73
	Connecting the Encoder		75
	Cable Length and Noise Considerations					76
	Motor - Encoder Polarity Matching				76
	Voltage Levels, Thresholds and Limit Switches 76
	Wiring Optional Limit Switches			78
	Wiring Limit Switches Without Encoders					79
	Effect of Limit Switches		79
	Using the Encoder Module to Measure Distance						80
	Using the Encoder to Measure Speed 80
	Using the Encoder to Track Position				81
	RS232 Communication with the Encoder Module						82
	Encoder Testing and Setting Using the PC Utility						83
SECTION 8	Closed Loop Position Mode		85
	Mode Description	85
	Selecting the Position Mode 85
	Position Sensor Selection		86
	Sensor Mounting	86

	Feedback Potentiometer wiring				87
	Feedback Potentiometer wiring in RC or RS232 Mode						87
	Feedback Potentiometer wiring in Analog Mode 88
	Analog Feedback on Single Channel Controllers 89
	Feedback Wiring in RC or RS232 Mode on Single Channel
	Controllers	89
	Feedback Wiring in Analog Mode on Single Channel
	Controllers	89
	Using Optical Encoders in Position Mode					90
	Sensor and Motor Polarity			90
	Encoder Error Detection and Protection					91
	Adding Safety Limit Switches				91
	Using Current Limiting as Protection 93
	Control Loop Description		93
	PID tuning in Position Mode			94
SECTION 9	Closed Loop Speed Mode		97
	Mode Description 97
	Selecting the Speed Mode			97
	Using Optical Encoder for Speed Feedback (AX2850 only)						98

AX2550 Motor Controller User’s Manual 7