Rotating Actuators

Rotary Actuator Configuration

This section explains how to configure rotary actuators, including pulse calculation, offset calibration, and positioning.

MaxPulse Calculation

The MaxPulse value determines the maximum number of position steps per half rotation of the actuator. It is calculated using the following formula:

Example Calculation (Rotary Actuator)

Given:

• AASD15A Servo Drive with 10,000 PPR (Pulses Per Revolution) Encoder

• Gearbox Ratio: 1:50

• Range: 180°

• PN98 (Electrical Gear Ratio): 2

Applying the formula:

This means that one half rotation (180°) corresponds to 125,000 pulses.

🛠 Resolution Consideration The actual resolution depends on the length of the actuator arm. A longer arm results in a finer resolution per degree of movement.

Homing Offset

The Calibration Offset is an individual adjustment for each actuator. After homing, the actuator moves by a specified number of pulses to compensate for mechanical inaccuracies such as:

• Hard stop positioning errors

• Limit switch tolerances

This ensures that each actuator starts from a precisely defined position.

Park Position

The Park Position defines the absolute position (in pulses) to which all actuators return after calibration. This ensures a consistent resting position across all actuators.

Example Calculation

Using the previous MaxPulse example, a 90° rotation would correspond to:

125,0002=62,500 pulses\frac{125,000}{2} = 62,500 \text{ pulses}

Thus, setting the Park Position to 62,500 pulses results in a 90° parked position.

🔧 Tip: Use the Service Menu for precise actuator calibration.

Standby Position

The Standby Position is automatically calculated as half the actuator range (in pulses).

For example, with a 180° range and a MaxPulse of 125,000, the standby position would be:

125,0002=62,500 pulses\frac{125,000}{2} = 62,500 \text{ pulses}

This places the actuator at its mid-range position when in standby mode.

Custom Standby Position Adjustment

The Standby Position can be adjusted as a percentage in the Setup Menu. Instead of always using the mid-range value (50%), you can define a specific standby position based on your needs.

For example:

• 50% → Mid-range position

• 25% → Lower quarter of the range

• 75% → Upper quarter of the range

This flexibility allows for better alignment with your motion platform configuration and startup preferences.