Baldor FPX A05T - Page 106

Command Set B-15
MN1276
Position Controller
Position Controller Parameters:
Command Description Units Range Default E
2
/ Par. set
POS.FFA Queries/updates acceleration FF factor
unsigned integer ranged 0..100
-- 25 : 100 E/P
POS.FFTYPE Queries / updates FF type with position
controller redesign 0 -- FF none, 1 --
velocity FF, 2 -- acceleration FF
-- 0:2 E/P
POS.FFV Queries / updates velocity FF factor
unsigned integer ranged within 0..100
-- 25 : 100 E/P
POS.KP Queries / updates position gain unsigned
integer ranged within 25.. 200
-- 25 : 100 E/P
POS.FEWRN Queries / updates FE warning limits
resolver: 1/4096 of revolution,
encoder: 1/(4*SYS. encres) of revolution
integer, > 0 (< 0: disabled)
1/4096
(resolver)
1/(4*SYS.
encres)
encoder
--32768 : 32767 E/P
POS.FEFAT Queries / updates FE fatal limits 1/4096 of
revolution, integer,
1/4096 of
revolution
--32768 : 32767 E/P
POS.IPOS Queries / updates FE in position limits
1/4096 of revolution, integer, > 0 (< 0:
disabled)
1/4096 of
revolution
--32768 : 32767 E/P
Variables:
Command Description Units Range Default E
2
/ Par. set
POS.MPFE Queries maximum position following error 1/4096 of rev. -- / --
MPFE -- / --
POS.PFE Queries position following error 1/4096 of rev. -- / --
PFE -- / --
PREF Queries for position reference 1/4096 of rev. -- / --
POS.REF Queries position controller reference,
1/4096 of revolution
1/4096 of rev. -- / --
POS.FEST Returns follow error status: 0 -- normal,
1 -- in position, 2 --warning, 3 -- error
-- 0:3 -- / --
FEST -- / --
Methods:
Command Description Parameter Units Range
PRST Resets position following error -- -- --