F-8 Encoder Usage and Position StepLogic Application
E247 [Pos Reg Gain] is a single adjustment for increasing or decreasing
the responsiveness of the position regulator. For faster response, the filter
should be reduced and/or the gain should be increased. For smoother
response with less overshoot, the filter should be increased and/or the
gain should be reduced. In general, the gain will have a larger effect on
most systems than the filter.
Homing Routine
This drive supports incremental encoders only. Therefore, when the drive
powers up it will reset the current position to zero. If this is known to be
correct the position routine can be started without further adjustment.
However, in most applications the drive will need to be “homed” after
each power-up and prior to starting the position routine.
This can be accomplished in one of the following two ways:
1. Manual Homing–Program the following drive parameters:
A051-A054 [Digital Inx Sel] = 36 “Pos Redefine”
Program one of the digital inputs to option 36 “Pos Redefine”. Then,
move the system into the home position via a run command, a jog
command, or by manually moving the system into the home position.
Then, toggle the “Pos Redefine” input. This will set the drive to
“Home” at its current position and d308
[Units Traveled H] and d309
[Units Traveled L] are set to zero. Alternately, the “Pos Redefine” bit
in E248
[Enh Control Word] can be toggled instead of utilizing a
digital input.
Important: The “Pos Redefine” input or bit must be returned to
inactive before starting the position routine. Otherwise
the drive will continuously read a position of “0”
(home) and the position routine will not function
correctly.
2. Automatic Homing to Limit Switch–Program the following drive
parameters:
A051-A054 [Digital Inx Sel] = 34 “Find Home”
Program one of the digital inputs to option 34 “Find Home”
A051-A054 [Digital Inx Sel] = 33 “Home Limit”
Program one of the digital inputs to option 33 “Home Limit”.
Normally, the “Home Limit” input would be wired to a proximity
switch or photo-eye and will indicate the system is in the home
position.
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