XtraDrive User Manual
Chapter
5
: Parameter Settings and Functions
5-91
5.9. Configuration of Serial Commands for AB Encoders
5.9.1. Position
Control
5.9.1.1. Defining User Units for Motion Profiles
XtraDrive’s built-in programming capability enables the user to define
various motion profiles without the need for an external motion
controller. Having first defined the relationship between the actual
encoder resolution and the units employed, the user uses units such as
radians, millimeters, etc. to write motion commands. These user units
(aka Engineering Units) are automatically converted by XtraDrive to
encoder units.
Each user unit is comprised of three different factors: Position units,
Speed units and Acceleration units, where each factor has both a
numerator and a denominator.
5.9.1.2. Position
Units
Use the following parameters to convert position units from
[Encoder counts] to [User units]:
Parameter Setting
Default
Setting
Signal
Pn2B0
Setting range 1-65535
1
Position units ratio numerator
Pn2B1
Setting range 0-16383
0
Position units ratio numerator
(high bits*)
Pn2B2
Setting range 1-65535
1
Position units ratio denominator
Pn2B3
Setting range 0-16383
0
Position units ratio denominator
(high bits*)
Position user units are calculated according to the formula:
[
]
[
]
ator
deno
ratio
units
Position
numerator
ratio
units
Position
counts
U
Unit
Position
User
min
1
=
=
U – The number of encoder counts in each user position unit.
The number need not be an integer.
The maximum value of numerator (Pn2B0) or denominator (Pn2B2) is
65535. In cases where greater values are required, it is possible to use
parameters Pn2B1 and Pn2B3 for storing the high bits of numerator and
denominator, respectively, according to the following formula:
65536
65536
⋅
−
=
=
=
HB
N
Bits
Low
N
of
part
Integer
HB
Bits
High
where N - required value.
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