Integrated Synchronous Servo Drives
HBI 22xx / HBI 26xx / HBI 32xx / HBI 37xx
Operating Manual Rev. 1.6
www.engelantriebe.de
page 23
A detailed description of all parameters relevant to turntable operation can be found in chapter
4.3 Positioning operating mode
Note:
The
Turntable positioning range
2
must be parameterised with a precision of 4 decimal
places.
Permissible value range:
[1.0000 R … 260,000.0000 R ]
Important:
The design of the mechanical reduction for the system must be selected such that the
turntable positioning range is a decimal number with a maximum of 4 decimal places!
Example:
Turntable positioning range
=
0625
.
10
R
( 4 decimal places)
Turntable positioning range
=
03125
.
10
R
( too many decimal places! )
Turntable positioning range
=
...
3
.
10
R
( too many decimal places! )
If decimal places are truncated or rounded when entered, then the approached positions drift
further and further away with every time the turntable limits are exceeded in the same
direction!
Note:
Permissible value range for
Target positions
3
in turntable positioning mode:
a)
with absolute positioning:
[0.0000 R ... Turntable positioning range ]
If an
absolute
positioning process is started, whereby the new target position is
identical to the current setpoint position, then there will be no positioning movement
initiated.
b)
with relative positioning:
[ – Turntable positioning range ... + Turntable positioning range ]
If a
relative
positioning process is started over
Turntable positioning range, then a
positioning movement will be initiated.
Note:
Before using any positioning mode it is necessary to carry out a referencing run (homing),
whereby the current position value will be determined from the homing parameter
Offset
(see also chapter
4.3.2 Homing). In the process, the position counter must not be assigned
a position value that lies outside the specified turntable positioning range.
Permissible value range for
Offset
4
in turntable positioning mode:
[ – Turntable positioning range ... 0.0000 R]
Observe the different scaling with CANopen
!
2
Corresp. object
Max Position Range Limit
[607Bh, Subindex 2],
which represents the positioning range as a multiple
of
10000
1
R. (Replaces the former object
Max Turntable Position
[2006h],
which represented the positioning range as
a multiple of
4096
1
R)
3
Corresp. object
Target Position
[607Ah],
which represents the target position as a multiple of
4096
1
R.
4
Corresp. object
Home Offset
[607Ch],
which represents the offset as a multiple of
4096
1
R.
