|
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 |
MechPosition represents the actual position that is transferred from the drive via the Sercos bus in units. It is indicated on the drive shaft (gear box output side). The YOffsetPosition from the Y offset generator is taken into account (Ref-Actual Values).
Coordinate displacements with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_SetposSingle()) affect this parameter. The parameter Direction must be taken into account when interpreting MechPosition.
The value of MechPosition is calculated once every Sercos cycle (CycleTime). Relative to the position at the drive shaft, the position is delayed by the time ShaftDelay. Therefore, a position including YOffsetPosition is indicated which is delayed to the drive shaft by the time ShaftDelay.
NOTE: The parameter value is 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 default value is indicated here. If the Sercos bus is in phase 4 (operating phase), then the parameter value is transferred and indicated via the Sercos bus. This parameter has no meaning for asynchronous motors without encoder (in open-loop V / f control mode, ControlMode = open-loop control / 1).
Usage with machine encoder: When a machine encoder is used, this parameter can provide either the position of the motor encoder or the position of the machine encoder. This depends on the object parameter EncoderMode. If the machine encoder is used for position control, the position of the machine encoder is provided; otherwise, the position of the motor encoder is provided.
