trapulsPac - User Guide
Chapter 3 – Reference
When Reverse motor position is not selected:
When Reverse motor position is selected:
Object 0x312B,1 allows setting the Motor Zero at the current position:
- Place the motor at the desired Zero Position,
- drive must be disabled,
- write 0x312B,1=0x73626165
- save parameters into drive
The encoder offset is given in object 0x312D,5 (encoder unit) which must be stored in the parameter file.
The Motor Zero Position can be manually defined:
- drive is disabled,
- write offset value to 0x312D,5
- save parameters into drive
- restart 24 V to apply this offset.
Example 2
:
Set 0x312D,5 = 0x400 0000, so Motor Zero Position is set in the middle of the encoder absolute position range,
The absolute position value will be from -(Max_value+1)/2 to (Max_value+1)/2-1
User Datum
The user position reference related to the mechanical machine can be defined with a homing operation, as usual.
The encoder position offset from homing operation can be read with object 0x3128,0
After the homing operation, parameters need to be saved (object 0x3128,0 is saved in the parameter file).
This operation needs to be carried out only once in the machine life-time.
The encoder position in user unit is defined by the relation below:
[0x3129,0] = [0x3130,0] + [0x3128,0] - user_unit([0x312D,5])
0x3129,0 and 0x3130,0 and 0x3128,0 are in user unit, 0x312D,5 is in encoder unit.
Reset motor position here for
only positive value
Encoder position = 0
Encoder position = Max
Encoder absolute position
Axis travel range
Reset motor position here for
only negative value
Reset motor position here for
bipolar value
Reset motor position here for
only negative value
Encoder position = 0
Encoder position = Max
Encoder absolute position
Axis travel range
Reset motor position here for
only positive value
Reset motor position here for
bipolar value
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