ASCII English PRBASE

Description

PRBASE sets the internal feedback resolution. The change in resolution is activated when the amplifier is cold started. Note: The actual position parameter (PFB) is 32-bits, therefore the setting of PRBASE dictates how many shaft revolutions (or linear distance for linear motors) are possible. PRBASE= 20 (bits/rev) 1048575 incr/rev (internal units) Maximum path length (absolute) ±2047 motor revs PRBASE = 16 (bits/rev) 65535 incr/rev (internal units) Maximum path length (absolute) ±32767 motor revs When PRBASE is changed, PGEARO is automatically adjusted. Change from 16 to 20 bit: PGEARO = PGEARO * 16 Change from 20 to 16 bit: PGEARO = PGEARO / 16 For linear motors the incr/rev becomes incr/pole pitch. Example: IF PRBASE with a linear motor having a 32 mm pole pitch then the internal resolution will be 1048575 incr/32 mm Starting with firmware 5.41 PRBASE and 28 are added: PRBASE (bits/rev) 16777216 incr/rev (internal units) Maximum path length (absolute) +/- 127 motor revs PRBASE( (bits/rev) 268435456 incr/rev (internal units) Maximum path length (absolute) +/- 8 motor revs If motor movement causes PFB to count up > 2^31 -1, PFB will roll over to 2^31 + 1 If motor movement causes PFB to count down < -2^31 + 1, PFB will roll over to + 2^31 - 1 Position rollover can be modified by setting (POSCNFG) = 2