Rotating Actuators

Rotary Actuator Configuration

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

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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.

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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.

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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.

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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.

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