FATEK SD3 Series, Instruction Manual, Page: 385 / 396

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9
9. Appendices
SD3 Series Instruction Manual
Appendices
4. Status Display
4. Status Display
Status
Position Deviation
Units Bytes Signed
Status No.
(Hexadecimal number)
69 (45)
encoder pulse 4 yes
Description
Indicates deviation between the position command and position feedback.
This value is important for tuning in position control mode, enabling you to do the following:
To check the positioning time—for the position deviation to settle into your desired range
after the pulse train command became 0—and vibration.
To adjust gains such that the positioning time will be shorter and vibration will be suppressed,
so the specifications for the equipment will be satisfied
To check resonant frequency, in case of equipment vibration, by using waveforms of position
deviation or torque limit value.
To see whether vibration was suppressed by checking waveforms after specifying the vibration
frequency for the following position command filters.
・ Filter 1 (Smoothing filter 1) Moving average counter (No.80.0)
・ Filter 4 (Smoothing filter 2) Moving average counter (No.81.0)
Command example
24 01 00 11 00 45 FB DA
Status
ABS Position Command
Units Bytes Signed
Status No.
(Hexadecimal number)
74 (4A)
command pulse 4 yes
Description This indicates a position command value based on the home-position offset.
Command example
24 01 00 11 00 4A 0A 35