Monopack 2 Manual V1.04
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Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
4.5.3
Encoder Counter ($71)
Get the value of the incremental encoder counter register.
CMD
$71
Answer
CMD
$71
P1
0
P2,P3,P4
Encoder counter value (signed 24 bit #)
4.5.4
Encoder Holding Register ($72)
This command has been removed in version 2.09 of the Monopack firmware.
4.5.5
Deviation Alarm ($73)
Enables or disables the deviation alarm. This alarm occurs when the maximum deviation is exceeded. The alarm
output will then be set high. Set the maximum deviation using command $70. The motor can also be stopped
immediately or softly when the alarm occurs. Furthermore, the automatic position correction (see 4.5.6) can be
started n/200 sec (n=1..65535) after a deviation has been detected. In this case, the alarm output will only be set
when the maximum number of retries for automatic position correction has been exceeded. The maximum
deviation has to be set up using command $70 (s. 4.5.1) first. The automatic position correction has to be set up
using command $58 (s. 4.5.6).
CMD
$73
P0
Parameter storage control (s. 4.1)
P1
0: disable deviation alarm
1: enable deviation alarm
P2
0: do not stop when deviation alarm occurs
1: soft stop when deviation alarm occurs
2: hard stop when deviation alarm occurs
P3,P4
0: no automatic position correction after
deviation
1-65535: start automatic position correction n/200
sec after a deviation has been detected (available
since firmware V2.09)
4.5.6
Configure Automatic Position Correction ($58)
Configure if an automatic position correction shall be done at the end of each ramp or when a deviation has been
detected. Automatic position correction can only be used in conjunction with an incremental encoder which has to
be configured correctly first.
When this function is turned on, the Monopack checks if the position counter of the incremental encoder matches
the desired end position at the end of every ramp (since firmware V2.09, the tolerance value defines a tolerance
window around the end position). If this is not the case, the Monopack will try to correct the position of the
motor using the reference search velocity. The maximum number of retries after each ramp can also be configured.
The alarm output will be set high and the position correction will be aborted if this number is exceeded.
This function is an easy to use alternative to the PID controller.
CMD
$58
P0
Parameter storage control (s. 4.1)
P1
0: automatic correction turned off
1-255: maximum number of retries for position
correction after each ramp.
P3,P4
end position tolerance (16 bit unsigned #)
(available since firmware V2.09)