A.3 Position Block Modes
A.3.1 Digital Command Position Block (BlkType = 2)
This mode is just a velocity block mode with the VelCmd coming
from the position loop. See Figure 3. In particular,
PosError = PosCommand - Position Feedback
()
VelCmd KPP PosError
KVFF d
dt
PosCommand=2 * * +π
100
*
where:
PosCommand is the position command in counts
KPP is the proportional position loop gain
KVFF is the velocity feed forward gain percentage.
When the SC900 is disabled and BlkType = 2,
PosCommand is set to the position feedback value. This insures
that when the drive is enabled, it picks up motion from its present
position.
MA950 A-5
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