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In Open Loop applications,
position is maintained by CTR1
and user units are defined
by the MUNIT Variable. In
Closed Loop applications,
position is maintained by
CTR2, and user units are
defined by the EUNIT
Variable! Note that when
using EUNIT’s, both the
MUNIT variable AND the
EUNIT Variable MUST be
set to the same scaling
factor!
the EUNIT variable and stores them to the POS counter.
The EUNIT variable must be scaled to the same factor as the MUNIT variable.
For example, if you were scaling your system to operate in degrees, the
MUNIT/EUNIT relationship would be expressed thus:
MUNIT=51200/360
EUNIT=2000/360
(This assumes MSEL=256 and a 500 line encoder.)
With this configuration if you performed the following absolute move:
MOVA 270
the axis would turn 270°. Thus when you enter:
PRINT POS
the terminal will display “270.00”.
The program that follows will illustrate encoder feedback by making a
series of moves while displaying both the raw counts from CTR2 and
the scaled POS value.
Enter the program below in the text editor window.
'******PARAMETERS*******
MUNIT=51200 'motor units = 1/256 resolution
EUNIT=2000 '500 line encoder quad input
EE=1 'enable encoder functions
STLF=200 'stall factor 10% of 1 rev.
STLDE=1 'enable stall detection
STLDM=0 'stop motion if stall is detected
MAC=75 'accel. current to 75%
MRC=50 'run current to 50%
MHC=25 'hold current to 25%
'******PROGRAM********
PGM 200
CTR2=0
POS=0
MOVR 1
HOLD 2
DELAY 250
PRINT "\rEncoder Count= ", CTR2, " Position Count= ", POS,"\e[K";
MOVR 10
HOLD 2
DELAY 250
PRINT "\rEncoder Count= ", CTR2, " Position Count= ", POS,"\e[K";
MOVR -11
HOLD 2
DELAY 250
PRINT "\rEncoder Count= ", CTR2, " Position Count= ", POS,"\e[K";
BR 200
END
PGM
Execute the program by entering “EXEC 200” into the terminal.
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