|
Type |
AD |
|
Devices supporting the parameter |
Lexium LXM52 Drive, Lexium LXM52 Linear Drive, Lexium LXM62 Drive, Lexium LXM62 Linear Drive, Lexium ILM62 Drive Module, Sercos Drive |
|
Traceable |
Yes |
ShaftMechPosition shows the actual position of the drive shaft (gear box output side) in units. The dead time ShaftDelay is compensated starting from MechPosition. The YOffsetPosition from the Y offset generator is included.
After a Sercos phase up, the ShaftMechPosition is adjusted to the EncoderPosition. This means, if the absolute value range, indicated by the encoder was exceeded before the Sercos was shut down, then Position will have another value by the next phase up than before the shutdown. Then the new value is within the load-sided absolute value range of the encoder. If the parameter Direction is parameterized with left / 0, then the initial value of the MechPosition is negative.
The object parameter Direction and coordinate displacements with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_SetposSingle()) affect the MechPosition. The value of ShaftMechPosition is calculated once per Sercos cycle (CycleTime).
With respect to the actual position at the drive shaft, there is no delay. However, a detected acceleration-proportional error occurs during the compensation of the dead time.
NOTE: The parameter value is calculated in dependency of the parameters that are transferred from the slave to the master via the real-time channel of the Sercos. If the Sercos bus is not in phase 4, then a standard value is indicated here. If the Sercos bus is in phase 4 (operating phase), then the parameter value is calculated and indicated. This parameter has no meaning for asynchronous motors without encoder (in open-loop V / f control mode, ControlMode = open-loop control / 1).
