Rexroth Indramat CLM1.4, Manual

Page: 195 / 274

9-32
Interfaces CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
actual position of Axes 1 and 2 in increments
The status query:
? s X _ _ 0 3 _ C R L F
produces the message:
X s 0 3 _ 0 0 0 C 1 4 F A _ 0 0 0 A 3 9 C D _ _ _ _ _ _ _ $ h h C R L F
Actual position of Axis 2 in
increments (Hexadecimal)
Actual position of Axis 1 in
increments (Hexadecimal)
The actual position in IU is calculated as follows:
1) Example for incremental encoders:
Parameter A119 = 01500_0000
Parameter A101 = 0010.00000
From these, the actual position in increments, hexadecimally represented
as ’000C14FA,’ is calculated. This corresponds to a decimal value of
’791802.’
IU position Actual
A Parameter
A Parameter Increments in Position Actual
IU in position Actual
67 , 1319
4 1500
0000 . 10 791802
4 119
101
=
×
×
=
×
×
=
L: IU = input units
Fig. 9-17: Calculation of the Actual Position with an Incremental Encoder
2) Example for incremental encoders:
Parameter A119 = 04096_0512
Parameter A101 = 0020.00000
From these, the actual position in increments, hexadecimally represented
as ’000A39CD,’ is calculated. This corresponds to a decimal value of
’670157.’
IU Position Actual
A Parameter from Resolution
A Parameter Increments in Position Actual
IU in Position Actual
25 . 3272
4096
0000 . 20 670157
119
101
=
×
=
×
=
L: IU = input units
Fig. 9-18: Calculation of the Actual Position with an Absolute Encoder
Status `03´