ASCII - Command PFB0    
Syntax Transmit PFB0    
Syntax Receive PFB0 <Data>   Available in  
Type Variable ro   MMI Yes
ASCII Format Integer32   CANBus Object Number 35C9 (hex)
DIM Counts   PROFIBUS PNU 1801 (dec) IND = 1 (dec)
Range -   DPR 201 (dec)
Default -    
Opmode All   Data Type Bus/DPR Integer32
Drive State -   Weighting  
Start Firmware 1.20    
Configuration No   Last Change of this Object 1.3
Function Group Actual Values   EEPROM No
Short Description Position from External Encoder

Description

The PFB0 command returns the actual position calculated from the position information provided by an external digital or sine encoder. The position is only derived from an external encoder if the configuration variable EXTPOS is set to 1,2,3. The unit for the position value depends on the PGEARI, PGEARO, ENCIN and EXTMUL settings.

PFB0 = Position * PGEARI / PGEARO
whereby:
Position = position value in increments (resolution: EXTMUL * ENCIN per turn*4)
PGEARI, PGEARO - resolution of position control loop

Note: If the resolution is set to 1 (PGEARI=PGEARO) then the PFB0 command provides internal units (counts).

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-PFB indicates always the position of the position loop
-PFB0 indicates always the position of the second feedback device.

Following cases are possible:
1. There is no second feedback device (EXTPOS=0 or 4)
PFB indicates the position of FBTYPE (position loop)
PFB0 is always 0 (no second device)

2. There are two feedback devices. The position loop works with second feedback (EXTPOS=1, GEARMODE)
PFB and PFB0 indicate the same position of the second feedback device.

3. There are two feedback devices. The position loop works with FBTYPE, second feedback is not used internally (EXTPOS=2,3)

PFB indicates the position of FBTYPE (position loop)
PFB0 indicates the position of the second feedback device