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Curtis 1222 Manual, os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T
3 — PROGRAMMABLE PARAMETERS: Position Feedback Parameters
POSITION FEEDBACK DEVICE 1 – ENCODER3 and 4
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Encoder3 Counts/Degree 10.0 – 1000.0
•
n
Defines the number of Encoder 3 counts (pulses × 4) per degree of
0x40C7 0x00 100 – 10000 wheel position. Encoder3 Counts/Degree is always a positive number.
Encoder4 Counts/Degree 0.5 – 1000.0
•
n
Defines the number of Encoder 4 counts (pulses × 4) per degree of
0x40C8 0x00 5 – 10000 wheel position. Encoder4 Counts/Degree is always a positive number.
Note that a lower range is provided for Encoder4 Counts/Degree
than for Encoder3 Counts/Degree. This allows the Encoder 4 sensor to
use the steering gear rather than being a sensor pickup on the motor.
Swap Encoder3 Direction On / Off
•
n
Changes the direction of the Encoder 3 steer position feedback.
0x4014 0x00 On / Off
Swap Encoder4 Direction On / Off
•
n
Changes the direction of the Encoder 4 steer position feedback.
0x4068 0x00 On / Off
Auto Center Type 0 – 1 Defines which event will trigger the controller to center
0x407D 0x00 0 – 1 the steered wheel.
0 = Auto Center after homing.
1 = Auto Center after homing and every interlock.
Center Offset (deg) -180.0° – 180.0° The Center Offset is the difference between the zero position (center)
0x4018 0x00 -32768 – 32767 for the application and the home reference position (found during
homing). During homing, the home position is found and once the
homing is completed the zero position is offset from the home
position by adding the Center Offset to the home position. All
subsequent absolute moves shall be taken relative to this new zero
position, including Auto Center. If the home switch is at the same
position as center, set Center Offset to zero.
Fig. 11 Position Feedback Device “1” signal flow (Encoder 3 shown; Encoder 4 is similar).
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