Position error (also called following error). PE is the calculated absolute difference
between PCMD and position feedback (PFB). Read only.
Position reference command. Read only.
Actual position based on motor feedback. Read only.
Incremental (relative) motion
Incremental or relative motion moves the motor relative to its current position. Relative motion
is always referenced to the current position of the load (and motor shaft) and can be used in
indexing applications such as fixed-length shear feeders and turntables.
Reference point parameter position feedback (PFB) is the actual position obtained based on
motor feedback.
The movement can be carried out in any direction, depending on the position value mark. For
example, if the target position is one revolution, the motor will make one revolution from the
starting point.
Table 7-2
Command to perform incremental position movement according to the effective
acceleration setting.
The position feedback (PFB) value can be modified or compensated using parameter
PFBOFFSET. This parameter is used for manual homing, or just for testing incremental motion.
Procedure: Set current position to 0
1. Enable the drive (PFBOFFSET can only be set if the drive is disabled).
2. Set PFBOFFSET to 0 (zero).
3. Read position feedback (PFB).
4. Set PFBOFFSET to a negative position feedback (PFB) value.
5. When using counts as the position unit, PFBOFFSET can only be set to an integer value, even
if the actual position feedback (PFB) count of real value display contains fractions (due to internal
interpolation of the encoder signal).
Absolute motion
Absolute motion is always relative to an absolute reference point.
Reference point position feedback (PFB)=0 point.
Table 7-3
To Next Page
Loading...
