|
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 |
RefPosition shows the reference position that is generated by the reference position generator (for example, MasterCam, PosGenerator, …) in units. It is indicated on the drive shaft (gear box output side). The YOffsetPosition from the Y offset generator is not included. Therefore it is not the reference position that is transferred to the drive (see Reference and Actual Values).
Coordinate displacements with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_SetposSingle()) affect this parameter. The parameter Direction has to be considered by the interpretation of RefPosition. The value of RefPosition is calculated once every Sercos cycle (CycleTime). Because the ShaftRefDelay is negative, the following is defined: RefPosDelay = -ShaftRefDelay
In relation to the reference position for the drive shaft, the RefPosition is accelerated by the time RefPosDelay. This means, a reference position without YOffsetPosition is indicated for the drive shaft after the time RefPosDelay.
NOTE: If ControllerEnable is disabled, the value of Position is cyclically copied to RefPosition. Thus, the drive is automatically synchronized to the position for the next release. If ControllerEnable is switched off while the drive is still in motion, then a jump occurs in RefPosition. The drive does not react to this jump because it no longer follows the set-point settings when ControllerEnable is switched off.
