60
area VD
+0 Encoder counts
+2 Counts setpoint value of positioning
+4 Counts maximum positioning error
+6 Time required to reach max. speed (tenth of seconds)
+8 Status of positioning output (0=stop, 1=onwards, -
1=backwards)
+10 Counts of inertia onwards
+12 Counts of inertia backwards
+14 Duration minimum impulse (resolution 0.2 mS)
+16 Counts of displacement after impulse of 100 mS
+18 Counts of displacement after impulse of 500 mS
+20 Counts of displacement after impulse of 1000 mS
To use these functions, proceed as follows:
• Use ladder instruction “MOV” to transfer the counting of used encoder
(SMD20 = Encoder 1, SMD22 = Encoder 2) in the field “Encoder
counts”.
• Enter the counts value for axis positioning in the field “ Counts setpoint
value of positioning ”
• Enter the counts value of max. error allowed to positioning in the field
“Counts maximum positioning error”
• Enter time value (as tenths of second) required for the axis to reach
max. speed.
• Start function “TunePOS” and wait until contact “TunePOS no” closes
to notify end of Autotuning procedure for axis. Data concerning inertia
and reaction time are now automatically stored on the indicated
memory area where they remain at disposal for function “POS”.
• Disable function “TunePOS”.
• Start function “POS”. When the axis reaches the setpoint (except for
preset error), contact “POS no” will close to notify end of positioning
• Activate the outputs ONWARDS and BACKWARDS reading value in
the field “Output”. If value of “Output” is given by functions “TunePOS”
and “POS” as “1”, the output ONWARDS must be activated; if it is “-1”
the output BACKWARDS must be activated; if it is “0” no output must
be activated.
• Set to zero the value of field “Output” when the functions “TunePOS”
or “POS” are disabled, to avoid that output is still set as Onwards or
Backwards.
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