Elmo SimplIQ Series - FR[N]

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FR[N] - Follower Ratio

Purpose:

 FR[1] defines the follower ratio for current (UM=1).

 FR[2] defines the follower ratio for velocity (UM=2).

 FR[3] defines the follower ratio for position (UM=3, 5).

When UM=1, the auxiliary reference is composed of the analog input and external PWM

signals. The FR[1] parameter scales the ratio between the Duty Cycle of the PWM signal

and the reference to the current loop (UM=1, RM=1). FR[1] may be changed on-the-fly at

any time.

When UM=2, the auxiliary reference is composed of the analog input and the auxiliary

feedback readout or external PWM signal.

FR[2] can be used as a follower ratio of the master motor’s quadrature encoder or as a

follower ratio of the PWM Duty.

When UM=3 or UM=5, the auxiliary reference is composed of the auxiliary feedback

readout. The FR[3] parameter scales the ratio between the auxiliary feedback position

and the reference to the position loop (UM=3, 4, 5, RM=1, EM[1]=0), or the input to the

ECAM table (UM=3, 4, 5, RM=1, EM[1]=1, 2). FR[3] may be changed on-the-fly at any

time. For EM[1]=0 (follower) and EM[1]=2 (cyclical ECAM), changing FR[3] does not

imply an abrupt change to the external position controller reference. For EM[1]=1 (linear

ECAM), changing FR[3] does imply an abrupt change in the external position controller

reference. FR[3] can be modified while the motor is enabled if the software reference is

not active (MS<1). In such cases the software position reference is corrected to avoid a

possible motor jump.

Attributes: Type: Parameter, Real

Source: Program, RS-232, CANopen

Restrictions: MO=0: none

MO=1: RM=1 and MS<2

Default value: 1 (RS), Non-volatile

Range: [-32,000…32,000]

Index range: [1, 2, 3]

Unit modes: UM=1, 2, 3, 5

Activation: Immediate

Elmo SimplIQ Series - FR[N] - Follower Ratio