How to determine the number of pulses per revolution of a servo motor?
I. Functions and Precautions
(1) Function Description: This document details how to determine the number of pulses per revolution of our motor.
(2) Precautions: When using our SDK, you need to confirm the unit conversion factor; it is not directly based on the number of pulses per revolution of the motor.
II. Operation Steps
(1) Open NiMStudio and connect to our servo motor. Note that the example motor uses CANopen communication; the operation method is the same for other motors.
Figure 2.1
(2) Select motor 1, enter the parameter management interface, select Dec to display the device value in decimal, then check the communication sub-protocol area, manufacturer-defined sub-protocol area, and standard device sub-protocol area, and finally check automatic refresh.
Figure 2.2
(3) Enter 608f in the search box above. You can see that the value of the H608F-01 encoder increment below is 131072. If the transmission ratio is not set, the number of pulses per revolution of the motor is 131072.
Figure 2.3
(4) Enter 6091 in the search box. The values H6091-01 and H6091-02 below form the motor's transmission ratio parameter. By default, both values are 1, and the transmission ratio is not effective.
Figure 2.4
(5) As shown in the figure below, when using the transmission ratio, the motor shaft rotation number (H6091-01) needs to be written with the original number of pulses per revolution of the motor, i.e., the value in H608F-01. The drive shaft rotation number (H6091-02) can be written with the number of pulses per revolution required by the user. When we write 10000, the number of pulses per revolution of the motor will be 10000.
Figure 2.5
(6) When using our SDK, please note that if the number of pulses per revolution of the motor is 10000, and the factor in the Nim_set_unitsFactor function is also set to 10000, then when calling functions such as Nim_moveAbsolute, setting the target position to 1 indicates that the motor rotates 1 revolution. Correspondingly, when using functions such as Nim_set_profileVelocity, setting the profile velocity fVelocity parameter to 1 indicates that the motor rotates 1 revolution per second.
Figure 2.6
