Application functions
180
When using this method, the set value of the[ Encoder Multi-Turn Upper Limit Value] shall be a non-zero value according to
the actual situation. The target position value limit given by the upper computer is limited by the data length of the object
"0x607A: Target Position", i.e. -2
31
- 2
31
-1 Inc. When the target position value increases progressively and exceeds the upper
limit, it is automatically reset to the lower limit and increments are counted again. Or, when the target position value decreases
progressively and is less than the lower limit, it is automatically reset to the upper limit and the decrements are counted again.
Modulo infinite position control mode + Encoder Multi-Turn Upper Limit Value
This method is suitable for scenarios where the device needs to run continuously in a single direction and the operating
positions in a single cycle need to be known. Besides, because of the use of absolute multi-turn encoder, it is also possible to
know the current position after restart without returning to the origin.
When using this method, the set value of the[Encoder Multi-Turn Upper Limit Value]shall be a non-zero value according to
the actual situation. The target position value limit given by the upper computer is limited by the [Encoder Multi-Turn Upper
Limit Value]. When the target position value increases progressively and exceeds (the encoder resolution * the set value of
[Encoder Multi-Turn Upper Limit Value] - 1), it is automatically reset to 0 and the increments are counted again. Or, when the
target position value decreases progressively and is less than 0, it is automatically reset to (the encoder resolution * the set
value of [Encoder Multi-Turn Upper Limit Value] - 1) and the decrements are counted again.
1.
The [infinite position mode] only works in the CSP control mode, and the electronic gear ratio can only
be 1 when the mode is enabled.
2.
Only when the position unit is set to EncInc (0x608A.Byte0 = 0xAC) and the home offset is 0 (0x607C =
0) can the [infinite position mode] be enabled.
3.
After the [infinite position mode] is enabled, the following functions cannot be used:
Position command smooth filter
Position command lowpass filter
Positioning vibration suppression
Software Position Limit Function
Model vibration suppression function
Associated parameters
8.4.2
The parameters for setting the [infinite position mode function] are as follows.
Index
Name
Unit
Setting range
Default value
effective Period
0x2000
Position control switch
—
0-0x03010303
0x02000000
Restart
Y
0x2085
First Encoder Multi-Turn Upper
Limit Value
Rev
0-65535
0
Restart
N
0x2086
Second Encoder Multi-Turn Upper
Limit Value
Rev
0-65535
0
Restart
N
Summary of Contents for CoolDrive Series
Page 29: ...Preface 17 T2 model ...
Page 30: ...Preface 18 T3 model ...
Page 31: ...Preface 19 T4 model ...
Page 230: ...Monitoring 218 ...
