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Encoder Usage and Position StepLogic Application
F-11
E248 [Enh Control Word]
This parameter allows many of the positioning functions to be completed via parameter control using an explicit message. This allows the operation over communications instead of with hardware inputs. The bits have the same functions as the digital input options of the same name.
Options relating to positioning are:
Bit 0 “Home Limit”
Bit 1 “Find Home”
Bit 2 “Hold Step”
Bit 3 “Pos Redefine”
E230-E244 [Step Units x]
All of the position steps can be written to while the drive is running. The changes will take place at the next move. For example, if step 0 is over-written while the drive is moving to step 0, the drive will move to the previous commanded position at step 0. The next time the drive is commanded to return to step 0 it will proceed to the new position. One possible use of this capability is when an application requires full control of the movement by a controller external to the drive. The Step Logic program might be written to jump from step 0 back to step 0 when Input
1 is active. The controller could write any desired position to step 0 and then toggle the input 1 bit of E248 [Enh Control Word] to cause the drive to move to the new position. This allows almost unlimited flexibility and can be used with absolute or incremental moves.
Setup Notes
The RA computer tools (DriveExplorer and DriveTools SP) can make setup of the positioning functions much easier. Please refer to the latest versions for additional tools or wizards which can aid in the setup.
F-12
Notes:
Encoder Usage and Position StepLogic Application
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Table of contents
- 7 Overview
- 7 Who Should Use this Manual?
- 7 Reference Materials
- 8 Manual Conventions
- 8 Drive Frame Sizes
- 9 General Precautions
- 10 Catalog Number Explanation
- 11 Installation/Wiring
- 11 Opening the Cover
- 12 Mounting Considerations
- 13 Plate Drive Installation
- 14 AC Supply Source Considerations
- 16 General Grounding Requirements
- 17 Fuses and Circuit Breakers
- 19 Power Wiring
- 23 Common Bus/Precharge Notes
- 23 I/O Wiring Recommendations
- 37 Start and Speed Reference Control
- 39 EMC Instructions
- 43 Start Up
- 43 Prepare For Drive Start-Up
- 45 Display/Fault Reset
- 45 Drive Programming Tools
- 47 Programming and Parameters
- 47 About Parameters
- 48 Parameter Organization
- 49 Basic Display Group
- 55 Basic Program Group
- 61 Advanced Program Group
- 95 Enhanced Program Group
- 108 Advanced Display Group
- 110 Parameter Cross Reference - by Name
- 113 Troubleshooting
- 113 Drive Status
- 113 Faults
- 115 Fault Descriptions
- 118 Common Symptoms and Corrective Actions
- 123 Supplemental Drive Information
- 123 Drive, Fuse & Circuit Breaker Ratings
- 124 Specifications
- 129 Accessories and Dimensions
- 129 Product Selection
- 135 Product Dimensions
- 147 RS485 (DSI) Protocol
- 147 Network Wiring
- 149 Parameter Configuration
- 149 Supported Modbus Function Codes
- 150 Writing (06) Logic Command Data
- 151 Writing (06) Reference
- 152 Reading (03) Logic Status Data
- 153 Reading (03) Feedback
- 153 Reading (03) Drive Error Codes
- 154 Reading (03) and Writing (06) Drive Parameters
- 154 Additional Information
- 155 RJ45 DSI Splitter Cable
- 155 Connectivity Guidelines
- 156 DSI Cable Accessories
- 157 Connecting One Temporary Peripheral
- 157 Connecting One Temporary Peripheral and One Permanent Peripheral
- 158 Connecting Two Permanent Peripherals
- 158 Connecting an RS-485 Network
- 159 Velocity StepLogic™, Basic Logic and Timer/Counter Functions
- 160 Velocity StepLogic Using Timed Steps
- 161 Velocity StepLogic Using Basic Logic Functions
- 162 Timer Function
- 164 Counter Function
- 167 Encoder Usage and Position StepLogic Application
- 167 Encoder Usage
- 168 Wiring Notes
- 168 Positioning Overview
- 169 Common Guidelines for All Applications
- 171 Positioning Operation
- 174 Homing Routine
- 175 Encoder and Position Feedback
- 176 Use Over Communications
- 177 Setup Notes
- 179 PID Set Up
- 179 PID Loop
- 182 PID Reference and Feedback
- 183 Analog PID Reference Signals
- 189 Plate Drive Installation Instructions
- 189 Introduction
- 189 General Requirements
- 190 Heatsink Thermal Capacity
- 191 Heatsink Surface and Flatness Requirements
- 192 Mounting Dimensions and Requirements
- 192 Verification