Parameter groups: 60 DDCS communication (page 405), 61 D2D and DDCS transmit
data (page 423), 62 D2D and DDCS receive data (page 430), 74 Position status &
control words (page 440), 86.2 Actual position (page 463), 87 Master
position (page 472), 88 Position control (page 478) and 96 System (page 516).
Cyclic correction
Cyclic position correction function enables to change or correct the master/follower
distance correction which can be used to correct and lock phase shift between
master and follower load positions. The cyclic position correction functions always
need an external probe (or probes) to operate. Probes can be connected through
FEN-xx module digital inputs or programmable software bit pointers. FEN-xx
digital inputs offer faster and more precise latching where as software bit pointers
allow custom latching functionality.
If enabled, cyclic correction waits until the triggering conditions of the probes are
fulfilled. The drive stores encoder positions into 86.58 and 86.59. If there is any
deviation between the difference of latched positions and probe positions (78.11
and 78.12 Master latch position), the drive performs cyclic correction according
to the given parameters. If multiple latches are received from one probe, the latest
received latch is used for the correction calculation. The desired correction can be
defined in parameter 78.2 Cyclic correction value.
Cyclic correction uses an internally superimposed movement that is unavailable
for normal usage when cyclic correction is active. Correction profile can be adjusted
with superimposed profile parameters 75.41...75.44.
After the cyclic correction, the load position does not match the master reference.
Hence, absolute gear-in mode overrides cyclic correction.
The following parameters need to be defined as required:
• 86.50 Latch 1 trigger
• 86.51 Latch 2 trigger
• 86.56 Latch 1 SW input source
• 86.57 Latch 2 SW input source
• Group 78 Cyclic correction
The following parameters are also used by the function and can be used for
monitoring purpose:
• 86.52 Latch enable
• 86.53 Latched position 1
• 86.54 Latched position 2
• 86.58 Latch1 position
Position control program features 57
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