Description
FB1.ORIGIN is a value that is added to the feedback device position.
If the modulo is disabled (PL.MODPEN is set to disabled), then the origin is added to the position feedback.
Initial position value = ( <feedback from device> + FB1.ORIGIN )
However, if modulo is enabled (PL.MODPEN is set to enabled) then the modulo is applied to both the feedback device position and the origin value.
The modulo value is defined by PL.MODP1 and PL.MODP2
Initial position value = ( <feedback from device> + FB1.ORIGIN ) modulo
The drive internal process for the feedback initialization is as follows:
- Reads the position feedback.
- Adds the origin to the feedback.
- Determines modulo from Step 2 by the actual feedback bits.
- Sets the position feedback sign according to FB1.INITSIGNED.
Example
This example assumes that the drive is connected to a single turn feedback device with memory.
FB1.ORIGIN is set to 26 degrees and saved into NV memory.
Drive boots and reads from feedback device position 340 degrees. According to the description section above, calculation will be:
With PL.MODPEN disabled:
Initial feed back will be set to 366 degrees.
(340 + 26) = 366 degrees.
With PL.MODPEN enabled:
Initial feedback will be set to 2 degrees.
PL.MODP1 = 0
PL.MODP2 = 360
(340 + 26) modulo 366 = 2 degrees.
General Information
|
Type |
NV Parameter |
|
Units |
Depends on UNIT.PROTARY or UNIT.PLINEAR Rotary: counts, rad, deg, custom units, 16-bit counts Linear: counts, mm, µm, custom units, 16-bit counts |
|
Range |
Rotary: 0.000 to 5,123,372,000,000.000 counts 0.000 to 7,495.067 rad 0.000 to 429,436.096 deg 0.000 to 5,964.390 custom units 0.000 to 78,176,452.636 16-bit counts Linear: 0.000 to 5,123,372,000,000.000 counts 0.000 to 1,192.878 mm 0.000 to 1,192,877.952 µm 0.000 to 5,964.390 custom units 0.000 to 78,176,452.636 counts16 Bit |
|
Default Value |
0 counts |
|
Data Type |
Float |
|
See Also |
FB1.INITSIGNED |
|
Start Version |
M_01-00-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD PROFINET | Yes |
| AKD Sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
| Index/Subindex | Object Start Version |
|---|---|
|
3656h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2147 | DWord | No |
| Sercos® III | 8 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 148 | 8 Byte | Position |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
294 |
Yes | 64 bit | No | M_01-03-00-000 |
