Gemini Variable Resolution

Owned by Jack Degrano
Last updated: Aug 05, 2024 by Eric Rojas (Unlicensed)
1 min read

Users are able to program resolution for the encoder out as well as the command in. This is useful for applications using separate controllers to close position loops based on motor position.

ERES is the command that sets the input encoder resolution (post quadrature) in counts/rev.

ORES is the command that sets the output resolution.

For the GT the ORES command sets the resolution of the auxiliary step and direction output (pins 14-17 on the drive I/O connector).

For the GV the ORES command sets the resolution of the encoder output (pins 14-19 on the drive I/O connector).

For the GV, if the ORES = ERES, this is what we call Encoder Bypass Mode. ORES must equal ERES to have the Z Channel output to a controller. In this mode, the maximum REAL OUTPUT encoder frequency is 2 MHz pre-quadrature (8 MHz post-quadrature).