Functions Of The Position Command Mode; Positional Deviation Calculation - Fuji Electric micrex-sx SPH User Manual

7-4 Functions of the Position Command Mode

7-4-1 Positional deviation calculation

The operation of this function in the position command mode is shown below:

Positional deviation calculation

1) Position data
Frequency data
6) Count pulse select
1) Position data
• This is position command data sent from the CPU module (the number of pulses).
Position data is set in the upper word in the set value data area (one-word signed data).
2) Calculation of increment
• From the set value for position data which is sent from the CPU module, pulses for the increment and current
command position are calculated.
Pulses for the increment = Current set value - Previous set value
Increment is calculated each time data is received from the CPU module.
3) Calculation of set value
• The data which is to be set in the target frequency register is calculated.
• This module measures the time interval for receiving each time data is received from the CPU module.
The set value is calculated so that all the pulses which are set as the increment can be output within the time
interval for data receiving.
4) Pulse generator
• Outputs command pulses for positioning.
5) Deviation counter
• Calculates feedback pulse input.
6) Signal select
• Selects the command pulse signal or feedback pulse signal and outputs the selected signal to the current value
counter.
When feedback pulse select is enabled, the feedback pulse is selected.
When feedback pulse select is disabled, the command pulse is selected.
• When feedback pulse select is disabled, the command pulse signal is input to the deviation counter as a command
pulse as well as feedback pulse. (In this case, the deviation amount is always "0.")
Calculation
of
increment
2)
Pulse generator
4)
(step command)
Deviation counter
5)
Feedback pulse
Calculation
of
set value
3)
Pulse count data
Signal
select
7-32
Command pulse
Feedback pulse