Keba ServoOne - Page 105

Correction factor
1 2 3 4 5
6 7....
Interpolation
point distance
P 0593
max. 250
Startposition
P 0591
Correction
interpolation
points
Interpolation point
conter clockwise correction
Interpolation point
clockwise correction
Incorrected Positionvalue (conter-clockwise rotation)
Incorrected Positionvalue (clockwise rotation)
Endposition
P 0592
Legend:
Image 6.12: Corrected position value
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
105
6 Encoder
NOTE
l Parameterizationiscarriedoutintheselecteduserunitforthe
positionasintegervalues.Itisadvisabletousethesamenumber
ofcorrectioninterpolationpointsforthepositiveandnegative
directions.Thefirstandlastcorrectionvaluesinthetablemustbe
zeroinordertoavoidinstability(stepchanges)oftheactual
positionvalue.Differingcorrectionvaluesforthepositiveand
negativedirectionsatthesameinterpolationpointwillleadto
instabilityintheassociatedactualpositionvaluewhenthe
directionisreversed,andsopossiblytoastepresponse
adjustmenttothereferenceposition.
l IfthecorrectionvalueisgreaterthanthepositionstepsizeP 593
[0] - ENC_ACOR_PosDelta,discontinuitiescanalsooccur.
l Theappliedcorrectionvalueistobeseenasapositiontracking
error,butiscorrectedimmediately.However,thiscanalsobe
checkedinuserunitsusingthescopeparameter1001(with
smoothing)and1003.