ASCII - Command PRBASE    
Syntax Transmit PRBASE [Data]    
Syntax Receive PRBASE <Data>   Available in  
Type Variable rw   MMI No
ASCII Format Integer8   CANBus Object Number 35D1 (hex)
DIM -   PROFIBUS PNU 1809 (dec) IND = 1 (dec)
Range 16, 20   DPR 209 (dec)
Default 20    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.20    
Configuration Yes   Last Change of this Object 1.8
Function Group Position Controller   EEPROM Yes
Short Description Position Resolution

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