Position

General

Functional Description

Position shows the actual position in units, based on the coordinate system that was selected. It is indicated on the drive shaft (gear box output side). The YOffsetPosition from the Y offset generator is not included. Thus, it is not the actual position that is transferred from the drive via the Sercos bus (see Reference and Actual Values).

After a Sercos phase up, the Position is adjusted to the EncoderPosition by considering the YOffsetPosition. 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.

The object parameter Direction and coordinate displacements with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_SetposSingle()) affect the Position.

Position diagram to position a drive

The value of Position is calculated once every Sercos cycle (CycleTime).

Relative to the actual position at the drive shaft, the position is delayed by the time ShaftDelay. This means, a position without YOffsetPosition is indicated which is delayed to the drive shaft by the time ShaftDelay.

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).