60 Pos Feedback - ABB ACSM1 Firmware Manual

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60

60 POS FEEDBACK

Firmware block:
POS FEEDBACK
(60)
This block
• selects the source for measured
actual position value (encoder 1 or
2)
• selects whether positioning is
executed along linear or rollover
axis
• configures the load encoder gear
function
• selects the unit and scaling for the
position parameters
• selects the integer scaling of a
position value
• defines how many bits are used for
position count within one revolution
• defines the minimum and maximum
position limits
• defines the position threshold
supervision limit
• shows actual position of the
encoder, scaled actual position of
encoder 2 and filtered actual speed
of the load.
Block outputs located in other
parameter groups
60.01 POS ACT SEL
Selects the source for the actual position value.
(0) ENC1
(1) ENC2
60.02 POS AXIS MODE
Selects the positioning axis.
Note: This parameter cannot be changed while the drive is running.
(0) LINEAR
(1) ROLLOVER
Parameters and firmware blocks
POS FEEDBACK
TLF4 500 μsec
[ ENC1 ]
60.01 POS ACT SEL
[ Linear ]
60.02 POS AXIS MODE
[ 1 ]
60.03 LOAD GEAR MUL
[ 1 ]
60.04 LOAD GEAR DIV
[ Revolution ]
60.05 POS UNIT
[ 1 ]
60.06 FEED CONST NUM
[ 1 ]
60.07 FEED CONST DEN
[ 1000 ]
60.08 POS2INT SCALE
[ 16 bits ]
60.09 POS RESOLUTION
[ u/s ]
60.10 POS SPEED UNIT
[ 1000 ]
60.11 POS SPEED2INT
[ 1.0000 ]
60.12 POS SPEED SCALE
[ 32768.000 rev ]
60.13 MAXIMUM POS
[ -32768.000 rev ]
60.14 MINIMUM POS
[ 0.000 rev ]
60.15 POS THRESHOLD
1.12 POS ACT (page 78)
1.13 POS 2ND ENC (page 78)
4.02 SPEED ACT LOAD
FW block: POS FEEDBACK
Encoder 1. Inverted gear ratio is considered when the position control
output (speed reference) is produced.
Encoder 2. Inverted gear ratio is considered when the position control
output (speed reference) is produced.
FW block: POS FEEDBACK
Linear motion. Positioning is between minimum position
MINIMUM POS and maximum position
Rotating motion. Positioning is between 0 and 1 revolutions, i.e. after
360°, the position calculation starts from 0° again.
12
(2)
1.12 POS ACT
1.13 POS 2ND ENC
4.02 SPEED ACT LOAD
(page 89)
(see above)
(see above)
60.13 MAXIMUM
60.14
POS.