ASCII - Command | EXTPOS | |||
Syntax Transmit | EXTPOS [Data] | |||
Syntax Receive | EXTPOS <Data> | Available in | ||
Type | Variable rw | MMI | No | |
ASCII Format | Integer8 | CANBus Object Number | 3539 (hex) | |
DIM | - | PROFIBUS PNU | 1657 (dec) IND = 1 (dec) | |
Range | -30 ... 30 | DPR | 57 (dec) | |
Default | 0 | |||
Opmode | All | Data Type Bus/DPR | Integer8 | |
Drive State | Disabled + Reset (Coldstart) | Weighting | ||
Start Firmware | 1.0 | |||
Configuration | Yes | Last Change of this Object | 2.13 | |
Function Group | feedback | EEPROM | Yes | |
Short Description | Position Value For Position Control |
Description
The parameter EXTPOS define the source of feedback used for the position loop. For EXTPOS = 0 the motor feedback, defined by the command FBTYPE, will used for the position loop. For EXTPOS > 0 an external feedback will used for position loop. The gearing factor of the external feedback to bring the external position to 32Bit per revolution will set by the parameter EGEARO as a multiplier and EGEARI as a divisor. If EXTPOS is set to negative values the feedback is read and the position stored in PFB0. The position loop acts with the commutation feedback (FBTYPE). example: EXTPOS = -6 The sinus/cosinus-Feedback(5V) is read. The position can be monitored by ASCII-command PFB0. The input of the external feedback is withput effect to the position control. EGEARI and EGEARO can be used to set the ratio: 1. On all analog read position feedbacks EXTPOS=6,7,8,9 the position is calculated by the ENCLINES-setting and converted to the 32Bit/turn -format. The parameter EGEARI/EGEARO are only for the gearing-factor. On EGEARI-feedback turn the motor makes EGEARO turns. example: EGEARI=10,EGEARO=3 -> ratio 10 : 3 2. On all digital read position feedbacks( EXTPOS=1...4 ) the parameter ENCIN defines the feedback pulses / turn. The parameter EGEARI/EGEARO sets the gearing-faktor. example: An external digital Encoder has got 1024 pulses / turn, on 1 feedback turn the motor runs 3 turns. The necessary settings are: EXTPOS 3, ENCIN 1024, EGEARI 1, EGEARO 3 |
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Status | connector | Feedback for position control |
EXTPOS = 0 | - | no external feedback |
EXTPOS = 1 | connector X3 | 24 V pulse / direction |
EXTPOS = 2 | connector X3 | 24 V digital encoder |
EXTPOS = 3 | connector X5 | 5 V digital encoder |
EXTPOS = 4 | connector X5 | 5 V pulse / direction |
EXTPOS = 5 | connector X5 | SSI encoder |
EXTPOS = 6 | connector X1 | 5V SinCos Encoder |
EXTPOS = 7 | connector X1 | 12V SinCos Encoder |
EXTPOS = 8 | connector X1 | ENDAT |
EXTPOS = 9 | connector X1 | HIPERFACE |
EXTPOS=10 | connector X1 | 5V ROD encoder for actual position value in positon control mode |
EXTPOS = 11 | connector X1 | 5V BiSS-B digital feedback. The primary feedback has to be a resolver (FBTYPE = 0). Fw >= 2.28 |
EXTPOS = 12 | connector X1 | BiSS C FBTYPE=33 Fw >= 5.18 |
EXTPOS = 13 | connector X1 | EnDat 2.2 FBTYPE=32 ab Fw >= 5.18 |
EXTPOS = 25 | connector X1 | SSI Encoder FBTYPE=32 ab Fw >= 5.18 |
EXTPOS = 30 | connector X1 | 5 V ROD digital Encoder FBTYPE=32 ab Fw >= 5.18 |