4 Function description
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4.2.4.1 Optimised path positioning
For rotary platform applications, the individual positions are distributed around the circumference. Use
of linear positioning is not recommended for this, as the frequency encoder would not always select
the shortest path the to the selected position (e.g. starting position -0.375, set position + 0.375, see
the following illustration "Linear path").
In contrast, positioning with path optimisation automatically selects the shortest path and therefore
independently decides on the direction of rotation of the drive unit. Here, the drive unit passes over the
overflow point of the relevant rotary encoder see the following illustration "Optimised path"). Here, the
overflow point corresponds to half of a revolution of the encoder (single-turn application).
If the number of revolutions of the encoder deviates from the number of revolutions of the rotary
platform application (multiturn application) the overflow point, i.e. the point at which the application
(rotary platform) has rotated by one half must be determined. This value must be entered in parameter
P615 "Maximum Position".
For multiturn applications care must be taken that the overflow point is entered with a maximum precision of 3
places after the decimal point.
Deviations from this will result in a summation of errors after each overflow. In this case it is recommended that
the encoder is referenced after each rotation of the system.
The zero point of a single-turn absolute encoder is determined by where it is mounted and can be
varied via the parameter P609 [-02] "Offset Position". If an incremental encoder is used, specification
of the zero position must by carried out either by a "Reference point run" or a "Reset Position". The
zero position can be varied by means of an entry in parameter P609 [-01] "Offset Position".
Multi-turn absolute encoder
A multi-turn absolute encoder can also be used as a single-turn absolute encoder. For this, the multiturn
resolution (P605 [-01]) must be set to "0".
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