Application functions
185
The methods about setting and using [Modulo infinite position control mode] + [Encoder Multi-Turn Upper Limit Value]
are as follows.
Consider this example: the encoder single-turn resolution is 17 bits, the reduction ratio is 25 revolutions of the motor,
corresponding to 2 turns of the equipment (m=25, n=2).
1.
Set Byte1 of the parameter [position control switch] to 0x02 to enable the analog-to-digital infinite position control mode;
2.
Set the [encoder multi-turn upper limit value] as the denominator of the reduction ratio (Both the numerator and
denominator of the reduction ratio shall be integers. Otherwise, convert them to integers) less 1. Set to 24 in this example.
For example, when the actual reduction ratio n/m is 1.5/5, both the numerator and denominator of the
reduction ratio shall be converted into integers, that is, 3/10, when setting the [encoder multi-turn upper
limit value]. In this case, the [encoder multi-turn upper limit value] can be set to 9.
3.
Restart the servo drive to make the parameter changes take effect;
4.
When the target position value issued by the upper computer increases progressively to [(2
17
* 25) - 1], it shall be switched
to 0 and then increased progressively, and the actual value of the drive position changes with it, as shown in the figure
below.
（
2^17 x 25
）
-1
0
0
Actual operating
position of the device
Actual position
value of the driver
Corresponding
position for 2 turns
Target position value
of upper computer
（
2^17 x 25
）
-1
5.
When the target position value issued by the upper computer decreases progressively to 0, it shall be switched to [(2
17
* 25)
- 1] and then increased progressively, and the actual value of the drive position changes with it, as shown in the figure
below.
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 ...
