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7. Reference zero absolute/relative
FMod-IPDCMOT (Axis1)
POSITION
INPUT
FMod-IPAXESCTRL is able to work with the exact
position coming from each FMod-IPxxMOT. In that case
we speak about zero absolute, because the "0" displayed
on FMod-IPAXESCTRL means that the corresponding axis
POSITION register is really at position 0.
Sometimes it is useful to set a new reference "0" that is
not the "0" set during the calibration (homing) of the
FMod-IPxxMOT.
There are two cases to perform that action:
1) A new "0" is send to the corresponding FMod-
IPxxMOT POSITION register; absolute zero is changed,
and the software minimum and maximum limitation
(INPUTMIN & INPUTMAX registers) could make no
sense because their reference "0" is changed.
Especially if a home position (homing) is done at
power-up.
2) FMod-IPxxMOT POSITION register is kept unchanged
but an offset value will be added locally in FMod-
IPAXESCTRL.
In both cases the value displayed is the same, and all the
interaction. But with the "0 relative reference" the inside
FMod-IPxxMOT reference will not change. That is very
important when a range of suitable position (e.g. hardware
limitation) is ative.
What is made inside (when key function is pressed):
"Set position zero absolute" :
AXIS1POSITIONOFFSET = 0
"Set position zero relative" :
AXIS1POSITIONOFFSET += POSITION
FMod-IPAXESCTRL
+
-
AXIS1POSITIONOFFSET
+
31 / 71
Local position,
display, save goal
position
Trackball, key
interaction, set goal
position
FMod-IPAXESCTRL User Manual v.1.1
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