8.4.1.2 Using Encoder Emulation 69
8.4.1.3 Function Settings 69
Mode 0:Disable X9 69
Output Modes 1 and 2 69
Input Modes 3, 4, and 5 70
8.4.1.4 Resolution 71
8.4.1.5 Related Parameters and Commands 71
8.5 Non-Plug and Play Feedback Devices 71
8.6 Parameters 71
8.7 Calculations 72
8.7.1 Current Loop 72
8.7.2 Velocity Loop 72
8.7.3 Position Loop 72
8.7.4 Slider Tuning 72
8.7.4.1 Input - Motor Data 72
8.7.4.2 Constants 72
8.7.4.3 Output - Control Loop Gains 72
8.8 Foldback 72
8.8.1 Drive Foldback 73
8.8.2 Setting up motor foldback 73
8.8.3 Setting Fault and Warning Levels 73
8.8.4 Motor Peak Current Time 74
8.8.5 Motor Foldback Ramp 74
8.8.6 Motor Recovery 75
8.9 Overall Foldback 75
8.10 Brake 76
8.11 Using Position Capture 76
8.11.1 Overview 76
8.11.2 Configuring Position Capture 76
8.11.2.1 Setting the Capture Source (CAP0.TRIGGER) 77
8.11.2.2 Setting the Capture Mode (CAP0.MODE) 77
8.11.2.3 Arming and Retrieving the Capture Value (CAP0.EN and CAP0.T) 77
8.11.2.4 Setting the Capture Edge (CAP0.EDGE) 77
8.11.2.5 Setting the Pre-Condition Event: (CAP0.EVENT) 78
8.11.2.6 Setting up a Pre-Condition for complex capture 78
Setting the Precondition Edge: (Terminal Command: CAP0.PREEDGE) 78
Setting the Pre-Condition Select: (Terminal Command: CAP0.PRESELECT) 78
8.11.3 Related Parameters 78
9 Selecting Units for Your Application 79
9.1 Selecting Units 80
9.2 Units Example 80
9.2.1 Settings 82
9.2.2 Related Parameters 82
10 Configuring General Drive Settings 83
10.1 Digital Inputs and Outputs 84
Kollmorgen | December 2010 5
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