NORDAC SK 530E with PosiCon function
18
Subject to technical changes
BU 0510 EN
3.2.4.2 Optimal path position for any encoder revolution
If more than one encoder revolution is required for the entire travel path, the overrun point
4
must be determined.
This is half of the entire travel path. The value must be entered in parameter P615 "Maximum position". It must be
noted that the accuracy of the value may only be to a maximum of three decimal places. Any other accuracy will
lead to an additional error after each overrun.
NOTE :
To avoid summation of the errors, the system must be referenced after each revolution.
-37.875
37.875
-12.625
12.625
0
50.5 / -50.5
-25.25
25.25
-37.875
37.875
-12.625
12.625
0
50.5 / -50.5
-25.25
25.25
a) normal travel path
b) path optimised travel
Example:
The entire travel path is 101 revolutions of the encoder, therefore the "Maximum position" in P615 =
0.5 * 101 revolutions. Therefore 50.5 rev. must be entered.
The above example is depicted for a ratio/reduction ratio of "1". The maximum value of the position or the overrun
point is calculated as follows:
n
max
:
Maximum motor revolution
±
n
max
= 0.5 * U
D
* Ü
b
/ U
n
Ü
b
:
Ratio (P607 [01])
U
n
:
Reduction ratio (P608 [01])
U
D
Revolutions
encoder
Example:
The incremental encoder is attached to the gear output side, the gear has a ratio of i = 26.3.
±
n
max
=0.5 * 101 rev. * 263 / 10 = 1328.15 rev.
4
Overrun point equals 1/2 encoder revolution
