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First, we'll need to record four numbers from your parameter file and your system. We'll call these values A through D.

Value A:
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titleValue A
  1. First, run the Configuration Manager software and Connect to the controller.
  2. Open your Active parameter file. On Ensemble and Soloist, you'll need to right-click the controller and select "Retrieve Parameters" as normal.
  3. Expand the parameter file to Axis > Units.
  4. Record the value of the CountsPerUnit parameter for this axis as value A.

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Calculate
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titleValue D
  1. Open the Help documents for your respective software
  2. Search for the article titled "PSO Specifications."
    • The Help article's contents may differ depending on your software version and will not be reproduced here.
  3. In the Help article, expand the heading "Maximum PSO Encoder Input Data Rates."
  4. In the table under this heading, locate the entry for your drive and the number of axes you're tracking simultaneously with PSO. Record the PSO tracking rate (MHz) in this table cell. We'll call this value D.
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title

With these values recorded, we can now calculate the EmulatedQuadratureDivider

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  1. We'll calculate a base maximum encoder data rate first: Rate (Hz) = A × C.
  2. Convert this value to MHz by dividing by 1 000 000. Rate (MHz) = Rate (Hz) ÷ 1 000 000
  3. Calculate the base divider: BaseDivider = Rate (MHz) ÷ D.
  4. Round up BaseDivider to the nearest whole number.
  5. Check that B is divisible by the BaseDivider: B ÷ BaseDivider = a whole number. If not, increase the BaseDivider to the nearest whole number that divides B. This is also usually a multiple of 4.
  6. The final value of BaseDivider is your new EmulatedQuadratureDivider value. This is usually either 1 or a multiple of 4. (See note below.)
  7. To check your math, verify that Rate (MHz) (from step 2) ÷ EmulatedQuadratureDivider ≤ D.


Info
titleNote

Some A3200 and Ensemble controller models, and Automation1 controllers running the A3200 software, require the EmulatedQuadratureDivider to be set at a minimum value of 4 in order to produce emulated quadrature. This is detailed in the corresponding drive entry in the Help article "PSOTRACK INPUT." You'll see a note as follows:

"If the PositionFeedbackType parameter is set to Encoder Multiplier and your drive uses -MXH feedback, the drive generates emulated quadrature signals only if the effective multiplication factor is greater than 4."



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titleExample

We have a system with CountsPerUnit (A) of 4 000 000 counts/unit, an EncoderMultiplicationFactor (B) of 4000, maximum velocity (C) of 15 mm/s, and a PSO tracking rate (D) of 16.6 MHz.

  1. Base maximum encoder data rate: Rate (Hz) = A × C = 4 000 000 * 15 = 60 000 000.
  2. Rate (MHz) = 60 000 000 / 1 000 000 = 60 MHz.
  3. BaseDivider = Rate (MHz) ÷ D = 60 MHz / 16.6 MHz = 3.614...
  4. Round up the divider 3.614... to the nearest whole number, 4.
  5. B ÷ BaseDivider = 4000 ÷ 4 = 1000. No adjustment is necessary.
  6. Our final EmulatedQuadratureDivider is 4. 
  7. This makes the data rate of the emulated quadrature 60 MHz / 4 = 15 MHz ≤ D (16.6 MHz).

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