Quadrature Scaling

To have any useful meaning, the counts from the transducer must be scaled to position units. For a quadrature axis, the Position Scale parameter defines the position units as a function of transducer counts. This topic describes how to correctly calculate this parameter for an Quadrature encoder.

If your motion is linear, read this topic. If your motion is purely rotary, see the Rotary Scaling topic.

Delta Recommends using the Scale/Offset Wizard for scaling the position. If you need to do it manually, read this topic.

Scaling Counts to Position Units

The RMC calculates the quadrature axis Actual Position every control-loop time using the following formula:

Actual Position [pu] = (Change in Counts [cnt] x Position Scale [pu/cnt]) + Last Position

Note:
If the Actual Position filter is applied, the RMC filters the Actual Position after calculating it with the above formula.

Manually Calculating the Scale and Offset

The Scale/Offset Wizards provide the easiest method of scaling your axis. If you prefer to do it manually, read this section.

Determining the Scale and Offset

There are two methods of finding the correct Position Scale and Position Offset.

Method 1: P0/P1 Calculation

Method 2: Using the Encoder Resolution