FB1.ORIGIN

Description

FB1.ORIGIN is a value that is added to the feedback deviceA process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position 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

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	/0	M_01-00-00-000