Greetings,
I want to be sure I understand how the input/output gain works. To ensure I am setting up correctly.
Hardware:
1. KStep - 16X Microstepping
2. Oriental Motor 0.9 Step Angle Stepper
3. Encoder - US Digital 5000 count quadrature
I am getting confused with "Inv Dist Per Cycle", I have always set that to 1. Is this how the math works?
Cycles/Rotation = 400/4 = 100
Micro Steps / Rotation = 16x100 = 1600
Encoder / Motor = 1600/5000 = 3.125
So the value I would enter into the "Input Gain" field would be 3.125?
Or would it be this way?
Steps / Rotation = 400 x 16 = 6400
Encoder Pulses / Rotation = 5000 x 4 = 20000
Ratio = 20000/6400 = 3.125
They both end up being the same value. I am just wondering which is the correct way to think about it?
Thanks,
Scott
Encoder Ratio
Moderators: TomKerekes, dynomotion
- TomKerekes
- Posts: 2566
- Joined: Mon Dec 04, 2017 1:49 am
Re: Encoder Ratio
Hi Scott,
400 full steps/rev x 16 uSteps/Full Step = 6400 uSteps/rev
Assuming the 20000 quadrature counts is correct then an input Gain of:
6400/20000 = 0.32
Its easy to figure out these things yourself. Try a number and if it is off by a factor of X change it.
Inv Dist Per Cycle doesn't apply to Step/Dir Drives like KStep.I am getting confused with "Inv Dist Per Cycle", I have always set that to 1. Is this how the math works?
No.Micro Steps / Rotation = 16x100 = 1600
400 full steps/rev x 16 uSteps/Full Step = 6400 uSteps/rev
This depends on whether the number 5000 is quadrature counts/rev or Pulses or cycles per rev. You initially state it is quadrature count but then treat it as cycles.Encoder Pulses / Rotation = 5000 x 4 = 20000
Assuming the 20000 quadrature counts is correct then an input Gain of:
6400/20000 = 0.32
Its easy to figure out these things yourself. Try a number and if it is off by a factor of X change it.
Regards,
Tom Kerekes
Dynomotion, Inc.
Tom Kerekes
Dynomotion, Inc.