Configuration Of Serial Commands For Ab Encoders; Position Control; Defining User Units For Motion Profiles; Position Units - Omron XTRADRIVE User Manual

XtraDrive User Manual

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
Pn2B0
Pn2B1
Pn2B2
Pn2B3
Position user units are calculated according to the formula:
[
1
User
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:
High Bits
Low Bits
where N - required value.
Setting
Setting range 1-65535
Setting range 0-16383
Setting range 1-65535
Setting range 0-16383
] [
=
Position Unit U counts
= =
HB Integer part
= − ⋅
65536
N HB
5-91
Chapter 5: Parameter Settings and Functions
Default
Setting
1 Position units ratio numerator
Position units ratio numerator
0
(high bits*)
1 Position units ratio denominator
Position units ratio denominator
0
(high bits*)
]
Position units
=
Position units ratio
N
of
65536
Signal
ratio numerator
min
deno ator