Instructions On Positioning (Configuration X40) - BONFIGLIOLI Active Cube User Manual

8.4.13

Instructions on positioning (configuration x40)

If positioning (configuration x40) and an absolute value encoder are used, a distinction
is made for parameterization between "motor encoders" and "application encoders".
The motor encoder is always needed for speed control and can also be used for posi-
tion control in the case of no-slip systems.
An application encoder for position control is used in systems where slip may occur for
slip compensation. This encoder is also often referred to as an "External encoder" or
"Synchronous encoder".
With the present EM-ABS-01 module, the following configurations are possible:
no-slip system,
high speed precision:
absolute value encoder at motor
for speed control and position control
no-slip system,
low speed precision:
absolute value encoder as application encoder
for position control of motor model with speed
control
slipping system,
high speed precision:
absolute value encoder as application encoder
for position control
HTL encoder as motor encoder for speed con-
trol
slipping system,
low speed precision:
absolute value encoder as application encoder
for position control
motor model for speed control
An internal format (referred to as 16/16) is used for speed control and calculation of
the positioning trajectory. The 16 less significant bits represent the position angle on a
motor revolution, the 16 more significant bits represent the number of motor revolu-
tions.
The positioning offers the user so-called "user units" (abbreviation [u]), which enable
adjustment to any application via the reference system. In this way, the resolution of
the smallest unit for positioning can be parameterized (e.g. 1 mm, 4 mm, 0.01 °, etc.).
For more information on the reference system, refer to the application manual "Posi-
tioning".
110
System slip
EM-ABS-01 for ACU
Motor type Configuration
synchronous ser- 540 &
vomotor & asyn- 240
chronous motor
synchronous ser- 640
vomotor
asynchronous mo- 240
tor
synchronous ser- 640 &
vomotor & asyn- 440
chronous motor
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