Command to perform incremental position movement according to the effective
acceleration setting.
End of motion
The following parameters are used to define and represent the motor state at the end of the
motion.
Table 7-4
Maximum allowable counting position error (no fault).
Tolerance window that declares “in position” status.
When PE (position error) value is less than the PEINPOS (position error tolerance)
value, the motor is considered to be in position.
When PE (position error) value remains lower than PEINPOSTIME within the time
defined by PEINPOS, the motor is considered to be stable.
Indicate the “motor in position” state. Read only.
When the motor is in position, INPOS=1, regardless of the motion trajectory state.
When the motor is not in position, INPOS=0.
Indicate the “motor stable” state. Read only.
STOPPED=-1. Motion is interrupted.
STOPPED=0. The motion trajectory is in progress.
STOPPED=1. The trajectory is completed.
STOPPED=2. The trajectory is completed and INPOS=1.
7.5.2 Position control
The CDHD2S has two position control loop options - HD (non-linear) and linear.
HD (non-linear) position controller
HD position control is a proprietary algorithm designed to minimize position errors during
movement, and to minimize settling time at the end of movement. We recommend this controller.
Please refer to the Tuning.
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