Sensor Parameter

The sensor parameters are configured using SensorParam, which is part of the Closed-Loop Parameter.

The type of sensor feedback system used depends on the value of sensorType. If it is set to None, sensor feedback is disabled. Depending on the type,”sensor unit” or the unit of the feedback value is determined differently.

AnalogData

The diagram below illustrates the sensor feedback system when using AnalogData:

In this setup, the servo system’s output influences the sensor, which generates a voltage signal. This signal is converted to a digital value via an ADC (Analog-to-Digital Converter) and is read by the I/O module.

• To access this ADC value, set byteAddress and type, instead of using the Analog I/O Functions.

The ADC output, known as the raw input, is converted to sensor units using a gain value Ks, calculated as shown below:

• The raw input range is defined by minimum and maximum.

• The converted sensor unit range is defined by minimum and maximum. Values outside this range are saturated.

• An additional offset can be applied using offset.

AxisData

The diagram below illustrates the sensor feedback system when using AxisData:

Here, the servo output affects an axis, which may be the same axis or a different one.

• Use axis to specify which axis is used for feedback, and set type to choose the type of feedback: position, velocity, or torque.

• The valid range for the axis feedback value is defined by minimum and maximum. Values outside this range are saturated.

• An offset can be applied using offset.