Program features 45
The position counter is initialized by setting a known physical position of the load into
the control program. The initial position (for example, the home/zero position, or the
distance from it) can be entered manually in a parameter (90.58 Pos counter init
value int), or taken from another parameter. This position is set as the value of the
position counter (90.07 Load position scaled int) when the source selected by 90.67
Pos counter init cmd source, such as a proximity switch connected to a digital input, is
activated. A successful initialization is indicated by bit 4 of 90.35 Pos counter status.
Any subsequent initialization of the counter must first be enabled by 90.69 Reset pos
counter init ready. To define a time window for initializations, 90.68 Disable pos
counter initialization can be used to inhibit the signal from the proximity switch. An
active fault in the drive will also prevent counter initialization.
Encoder error handling
When an encoder is used for load feedback, the action taken in case of an encoder
error is specified by 90.55 Load feedback fault. If the parameter is set to Warning, the
calculation will continue smoothly using estimated motor position. If the encoder
recovers from the error, the calculation will smoothly switch back to encoder
feedback. The load position signals (90.07) will continue to be updated all the time,
but bit 6 of 90.35 Pos counter status will be set to indicate potentially inaccurate
position data. In addition, bit 4 of 90.35 will be cleared upon the next stop as a
recommendation to reinitialize the position counter.
(Proximity switch) Source set by 90.67
1
0
1
0
1
0
1
0
1
0
1
0
(Initialization inhibit) Source set by 90.68
90.35 Pos counter status
bit 4, Pos counter init ready
(Re-init request) Source set by 90.69
Drive fault
90.07 Load position scaled int
(Initial value) Source set by 90.59
(by default, 90.58)
90.35 Pos counter status
bit 5, Position counter re-init disabled
0
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