CDHD Operat ion
User Manual 185
End of Motion
The following param eters are used to define and indicate the state of the motor
at the end of m otion.
Va rCom Descript ion
PEMAX
The m axim um position error allowed without producing a fault, in
counts.
PEI NPOS The window of t olerance for declaring an “in position” stat e.
The m ot or is considered to be in posit ion when the value of PE
(position error) is less than the value of PEI NPOS ( position-error
tolerance).
The m ot or is considered set t led when PE (position error) has
remained below PEINPOS for the time defined by PEI NPOSTI ME.
I NPOS Indicates Motor In Position state. Read only.
When the motor is in position, I NPOS= 1, regardless of the state
of the m otion profile.
As long as the motor is not in position, I NPOS= 0.
STOPPED I ndicates Mot or Settled state. Read only.
STOPPED= -1. Motion was interrupted.
STOPPED= 0. Motion profile in progress.
STOPPED= 1. Profile com pleted.
STOPPED= 2. Profile com pleted and I NPOS= 1.
8 .5 .2 Posit ion Control Loop
The CDHD has two position control loop options – linear and HD (nonlinear).
The Linea r position controller is a PI D controller with feedforward, and with the
option to lim it the integral saturation (anti-windup).
The H D position controller is a proprietary algorithm that is designed to m inimize
position error during m otion and to minimize settling time at the end of motion.
This is the recomm ended controller. Refer to
Tuning.
8 .6 Ge a ring Opera tion Mode
In Gearing operat ion m ode, the drive’s current, velocity and position loops are
active, and t he drive responds to incremental position pulses received from the
controller or PLC.
In the ServoStudio Motion task screen, select Oper at ion Mode 4 – Posit ion
Gear Mode to m odify and test parameters.
The CDHD support s various t ypes of gearing m odes.
The param et er
GEARMODE defines t he gearing source and m et hod.
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