G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
371
Rotary axis with rotary encoder (2048 Impulse) on motor;
internal multiplication (2048)
Result:
1 internal increment corresponds to 0,017166 encoder increments of the internal unit.
Gear: Motor/rotary axis ratio 5:1
1000 increments per degree
⇒ MD30300 $MA_IS_ROT_AX = 1
MD31000 $MA_ENC_IS_LINEAR[0] = 0
MD31040 $MA_ENC_IS_DIRECT[0] = 0
MD31020 $MA_ENC_RESOL[0] = 2048
MD31025 $MA_ENC_PULSE_MULT = 2048
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] = 1
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] = 1
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] = 5
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] = 1
MD10210 $MN_INT_INCR_PER_DEG = 1000
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