Q: I am using the RKS564AC-TS30-3 motor+pulse input driver package and have changed my resolution to be 600 pulses/revolution. I am interested in using the TIM output, but am confused when the TIM output will be output. Can you explain this in more detail?
A: The TIM output signal is output after 7.2 degrees of the motor rotation. Since the TIM output is output every 7.2 degrees of the motor rotation, it would be beneficial to set the pulse or step angle so that the motor output shaft stops at an integral multiple of 7.2°. The first example in the manual is for a 0.72 degree basic step angle motor (with no gearhead attached). This means that the 10 pulses must be sent to the driver's inputs in order to rotate the motor shaft 7.2 degrees (0.72 * 10 = 7.2 degrees). Then the TIM output will turn on. It will turn off as soon as you move away from the 7.2 deg. FYI the TIM output is ON when the system is first powered up.
Below is an excerpt from page 34 of the RKS564AC-TS30-3 RK2 series operating manual.
Here's the link for the manual:
http://www.orientalmotor.com/products/p ... 60234E.pdf
The manual then shows another example of a geared RK2 series motor that has a 7.2:1 gear ratio. The gearing happens after the motor and changes the final output resolution. The motor will still need 10 pulses in order to rotate 7.2 degrees, however the gearing will have an effect on the geared output shaft rotation. With a 7.2:1 gear ratio, the basic step angle of the output shaft of the gearhead will be is 0.1 degrees. Therefore after 10 pulses, the output shaft on the gearhead will have rotated 1 degree (while motor is at 7.2 deg). Therefore, the TIM output is output every 1 degree of the output shaft of the gearhead. The driver will always output a TIM signal every 7.2 deg at the motor, but depending on your motor type (standard/high resolution), resolution/microstep setting, and/or gear ratio, the TIM output signal will behave differently.
If we expand on this concept, then we can figure out the TIM timing output if we microstep the driver to be 600 pulses per revolution. For this example, I will be using the RKS564AC-TS30-3 model which has a 30:1 gear ratio gearhead. Page 37 of the manual has information on the resolution settings of the driver. If the resolutoin is set to 600 pulses/revolution, then the basic step angle is going to be 0.6 degrees/pulse.
With a basic step angle of 0.6 degrees, in order for the motor to rotate 7.2 degrees, the motor will require 12 pulses (7.2 / 0.6 = 12). Therefore, the TIM output will be output after 12 pulses.
To figure out the degree on the motor shaft at which the TIM is output, we will need to take the gear ratio into consideration. With a 30:1 gear ratio, the step angle of the output shaft is 0.6/30 = 0.02 degrees. When you multiply this by the 12 pulses, then the TIM will be output after 0.24 degrees of the output shaft.
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