User Manual Chapter 5
GFK-1742F Jan 2020
DSM314 to Host Controller Interface 157
DSM Firmware Revision is interpreted as two separate words for major-minor
revision codes.
DSM Firmware Build ID is interpreted as a single hex word.
Absolute Feedback Offset is the position offset (in counts) that is used to initialize
Actual Position when a digital Absolute Encoder is used. Actual Position = Absolute
Encoder Data + Absolute Feedback Offset.
Analog Inputs provides two words of data for each axis: low word = AIN1 and high
word = AIN2. The data is scaled so that +/- 32000 = +/- 10.0v.
Commanded Position (user units) is a copy of the Commanded Position %AI data
reported for each axis. Refer to paragraph 2.04 in Chapter 5.
Follower Program Command Position (cts) is the active commanded position (in
feedback counts) updated and used by the internal motion command generator.
Refer to Chapter 9 - Combined Follower and Commanded Motion.
Unadjusted Actual Position (UAP) is the accumulated actual position (in counts, not
user units) with a 32 bit binary rollover value of -2,147,483,648 … +2,147,483,647.
A Find Home or Set Position command sets the UAP to a value equal to the Actual
Position data scaled to counts.
UAP is initialized or reset when a Set Position or Home operation is completed. It
tracks actual motor rotation after these operations within the 32 bit raw encoder
count range with rollover, regardless of how the rotation is commanded (except for
the Position Increment without Position Update command).
If a Set Position command is executed or a Find Home cycle is completed, the UAP is
set to the raw counts equivalent to the Set Position data or the configured Home
Position after scaling by the Counts to User Units ratio on the individual axis tab of
the DSM configuration. That is, the raw counts are calculated as:
UAP = (Set Position data or Home Position value) x (Counts) / (User Units),
rounded to the nearest integer value.
The Home Offset configuration parameter, which is provided to allow the actual
stopping position on a homing cycle to be offset from the encoder marker location,
does not affect the UAP, since this added move takes place before the home position
is set.
The UAP value is maintained through power cycles as long as the encoder backup
battery power is maintained, even if the axis is moved while power is off. (The DSM
reads the encoder absolute data as part of the power on sequence.) It is also
maintained during axis E- Stop and emergency stop fault conditions including out of
sync.
Note: The %AQ Position Increment without Position Update command (21h) does not change
the UAP. If an application uses this command, the UAP will no longer match Actual
Position.
Unadjusted Strobe 1 Position is the value of Unadjusted Actual Position captured
when a Strobe 1 input occurs.
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