Kollmorgen AKD-N-DB Benutzerhandbuch Seite 765

AKD Benutzerhandbuch | 25.17.21 FB1.ORIGIN
Fieldbus Address Attributes Signed?
Profinet 2147
sercos ® III
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 294
Description
FB1.ORIGIN is a value that is added to the feedback device position.
If the modulo is disabled (PL.MODPEN (➜ S. 1131) is set to disabled), then the origin is added to the
position feedback.
Initial position value = ( <feedback from device> + FB1.ORIGIN )
However, if modulo is enabled (PL.MODPEN is set to enabled) then the modulo is applied to both the
feedback device position and the origin value.
The modulo value is defined by PL.MODP1 (➜ S. 1125) and PL.MODP2 (➜ S. 1127)
Initial position value = ( <feedback from device> + FB1.ORIGIN ) modulo
The drive internal process for the feedback initialization is as follows:
1. Reads the position feedback.
2. Adds the origin to the feedback.
3. Determines modulo from Step 2 by the actual feedback bits.
4. Sets the position feedback sign according to FB1.INITSIGNED (➜ S. 755).
Example
This example assumes that the drive is connected to a single turn feedback device with memory.
FB1.ORIGIN is set to 22 degrees and saved into NV memory.
Drive boots and reads from feedback device position 340 degrees. According to the description sec-
tion above, calculation will be:
With PL.MODPEN disabled:
Initial feed back will be set to 366 degrees.
(340 + 22) = 366 degrees.
With PL.MODPEN enabled:
Initial feedback will be set to 2 degrees.
PL.MODP1 = 0
PL.MODP2 = 360
(340 + 22) modulo 360 = 2 degrees.
Related Topics
9.3 Rückführung 1
DWord No
8 Octets
Yes 64 bit
M_01-03-00-000
No
KOLLMORGEN | Dezember 2014 765