C-863.12 Mercury Controller MS249E Version: 1.2.1 15
3.5.5 Operating Modes
The C-863.12 supports the following operating modes:
Closed-loop operation
(servo mode On)
A profile generator calculates the dynamics profile from the values
specified for target position, velocity, acceleration, and deceleration.
The position error that results from the difference between the
calculated dynamics profile and the actual position (sensor feedback)
runs through a PID servo algorithm (proportional integral derivative).
Additional corrections can be made as well. The result is the control
value for the PWM converter integrated in the C-863.12. Further
information can be found in the sections "Generation of Dynamics
Profile" (p. 18) and "Servo Algorithm and Other Control Value
Corrections" (p. 21).
Open-loop operation
(servo mode Off)
In open-loop operation, the C-863.12 does not calculate a dynamics
profile and does not evaluate the signals of the position sensor. As a
result, the positioner can move unbraked to the end of the travel range
and, despite the limit switch function, strike the hard stop.
The C-863.12 is intended for closed-loop operation with incremental position sensors (servo
mode On). After switch-on, open-loop operation is active by default (servo mode Off).
➢ Query the current operating mode with the SVO?, #4 or SRG? commands.
➢ Activate closed-loop operation with the SVO command.
➢ If necessary, program a startup macro that starts the C-863.12 via the SVO command in
closed-loop operation; see "Setting up a startup macro" (p. 106).
➢ Avoid motion in open-loop operation.
3.5.6 Physical Units
The C-863.12 supports various units of length for positions. Adapting is done by a factor that
converts the incremental encoder counts into the physical unit of length required. The
conversion factor is set with the following parameters:
Description and Possible Values
Numerator Of The
Counts-Per-
Physical-Unit Factor
0xE
Numerator and denominator of the factor for counts per physical
length unit
1 to 1.000.000.000 for each parameter.
The factor for the counts per physical unit of length specifies the unit
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