8-54 Functions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Example Program:
Instruction Command Command Contents Comment
0100 MOM 1 020 040 00.00.0 400 Torque Limitation
To positive stop 20% At positive stop 40%
0101 POA 1 000250.000 999 Initiate movement at maximum speed.
0102 VCC 1 +000200 100 1 1 Wait until position +200 with v=10% is
reached.
0103 PFA 1 +000300.000 100 010 Movement to positive stop until position
+300 is reached.
0104 JMP 0200 Jump if positive stop not recognized.
0105 BCE 0120 I0.00.7 1 Positive stop recognized. Jump if input is 1.
0106 JMP 0105 Wait until input becomes 1.
0120 PSA 1 +000000.000 999 Return to position +0
0121 JST 0100 Jump with stop according to instruction
0100 (wait for next cycle)
0200 AEA Q0.01.2 1 Set output.
0201 PSA 1 +000000.000 999 Return to position +0
0202 JST 0000 Jump with stop according to instruction
0000.
Fig. 8-31: PFA Command Example
8.13 Encoder Emulation
It is possible, with the help of encoder emulation, to generate positions in
both of the standard formats
• TTL format with incremental encoder emulation
• SSI format with absolute encoder emulation.
Using these formats, encoder signals (Connector X9) can be sent to other
devices.
Incremental encoder emulation means the simulation of a real
incremental encoder by a driver controller.
The emulated incremental encoder signals are used to relay
information about the traversing velocity of the motor that is connected to
the controller to a higher-ranking numeric control (NC) device.
"Absolute encoder emulation" means that the drive controller has the
option of simulating a real absolute encoder in SSI data format. The drive
controller thus offers the possibility of transmitting the position in SSI data
format to a higher-level device. Pertinent Parameters
• C014, Encoder emulation type
• C015, Encoder emulation resolution
• C010, Homing, set absolute position
For incremental encoder emulation, the following parameter is also
used:
• C016, Marker pulse offset
With absolute encoder emulation, the following parameter is used:
C011, Reference distance
Incremental Encoder Emulation
Absolute Encoder Emulation
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