Examples and tips
PROGRAMMING MANUAL 242
Revision 3.0
One solution to this equation is:
When we consider the third recommendation from the above list
(avoid situations where Pn202/Pn203 is less than 0.01 or greater
than 100), we can rewrite the last equation to:
This gives us the solution:
With these values, the command MOVE(28) rotates the table 28
degrees in positive direction.
Absolute encoder setting
The absolute encoder keeps the current motor position, even if
there is no power supplied. The absolute encoder gives the position
within one turn (that is, a fraction from 0 to and excluding 1), and it
has a multiturn counter. You can set the multiturn behaviour of the
absolute encoder with the parameter Pn205 of the Sigma-II Servo
Driver. This parameter adjusts the maximum number of turns that
the counter counts before it has an overflow. For more information
Pn202
Pn203
UNITS
10
360
= 2
13
.
Pn202 = 10
Pn203 = 360
UNITS = 2
= 8192
13
Pn202
Pn203
UNITS·
10
360
= 2
13
2
36
= 2
8
32
36
= 2
8
5
Pn202 = 32
Pn203 = 36
UNITS = 2
=256
8
I52E-EN-03.book Seite 242 Freitag, 29. Juni 2007 11:55 11
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