| 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 | 0, 1, 2, 3, 4 | DPR | 57 (dec) | |
| Default | 4 | |||
| Opmode | All | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.62 | |||
| Configuration | Yes | Last Change of this Object | 2.0 | |
| Function Group | Position Controller | EEPROM | Yes | |
| Short Description | Position Feedback + Control Type | |||
Description
| The EXTPOS command defines the feedback source for the drive position control loop. Also the type of position control (P or PI) is selected. Parameters for the PI position / P speed control The PI position control can be set up by using the following parameters: GP: proportional gain (position) GPTN: rest time (position), integral-action time GPFFV: feed-forward (position) GPV: proportional gain (speed) Parameters for the P position / PI speed control The P position control can be set up by using the following parameters: GP: proportional gain (position) GPFFV: feed-forward (position) The usual velocity-control loop parameters can be used for the following speed control loop. See also VEXTRES |
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| Status | Position Control used/ Type of Position Controller | Reading of an external Encoder (PFB0) |
| EXTPOS=0 | Feedback system select by FBTYPE, PI-type Position Controller, P-type Speed Controller | - |
| EXTPOS=1 | secondary feedback source selected by GEARMODE, P-type Position Controller, PI-type Speed Controller FBTYPE defines the commutation and speed feedback The position signal comes from the secondary feedback source. REV 2.3: The values ACC and DEC should be set to minimum to prevent motor oscillation. |
Yes |
| EXTPOS=2 | Feedback system select by FBTYPE, PI-type Position Controller, P-type Speed Controller | Yes -selected by GEARMODE |
| EXTPOS=3 | Feedback system select by FBTYPE, P-type Position Controller, PI-type Speed Controller REV 2.3: The values ACC and DEC should be set to minimum to prevent motor oscillation. |
Yes -selected by GEARMODE |
| EXTPOS=4 | Feedback system select by FBTYPE, P-type Position Controller, PI-type Speed Controller REV 2.3: The values ACC and DEC should be set to minimum to prevent motor oscillation. |
- |