11
Operational Overview
Pulse Mode Parameters
The Pulse Position Input parameter shows the total pulse count received by the drive since
the last power-up.
The Pulse Position Input, Position Command, Position Feedback Encoder and Position
Feedback are initialized to zero on power-up. Only Position Feedback Encoder can be pre-
loaded serially with a value after power-up.
The Pulse Mode Ratio parameter includes a numerator which represents motor revolutions,
and a denominator which represents master pulses. The Pulse Ratio Revolutions is allowed
to be negative which reverses all Pulse mode motion.
The Pulse Position Input is multiplied by the Pulse Mode Ratio to produce the Position
Command.
Following Error/Following Error Limit
The Following Error is the algebraic difference between the Position Command and the
Position Feedback. It is positive when the Position Command is greater than the Position
Feedback. All accumulated Following Error will be cleared when the drive is disabled.
The Following Error Limit is functional in Pulse mode only. A Following Error Limit can be
set using PowerTools FM or a FM-P. This limit is in motor revolutions and has a range of
.001 to 10.000 revolutions. The Following Error Limit can be enabled or disabled.
Pulse Mode Following Error
In Pulse Mode, the range of the Following Error is ±2863.3 revolutions. If the Following
Error Limit is not enabled and the Following Error exceeds 2863.3 revolutions, the displayed
value is limited to this maximum value and will not rollover.
If the Following Error Limit Enable is enabled, the absolute value of the Following Error will
be compared to the Following Error Limit. If the limit is exceeded, a fault will be generated.
If the Following Error Limit Enable is disabled, the Following Error Limit is not used.
Velocity Mode Following Error
In Velocity mode, the maximum Following Error possible varies based on the gain and torque
limit settings. When the Actual Torque Command reaches the maximum possible level, the
following error will stop increasing and any additional position error will be dropped. In
Velocity mode, when the following error exceeds the Following Error Limit parameter there
is no action.
Encoder Feedback and Position Feedback
Encoder Feedback (Position Feedback Encoder) and Position Feedback are two separate
parameters which indicate the same physical motor position. Encoder Feedback is the
position change since power up in motor encoder counts and Position Feedback is the total
position change since power up in motor revolutions. The Position Direction parameter
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