Technical information

89
Software Setup and Operation
359.99 is 0.00. Similarly, if the axis is moving in a negative direction, one position beyond
0.00 is 359.99.
When you have entered a non-zero value here, an Absolute Index will calculate the shortest
path (CW or CCW) to that specific position.
Two other rotary indexes, Rotary CW or Rotary CCW, force CW or CCW motion to an
absolute position.
Maximum Following Error
The drive continuously checks commanded position from the microprocessor controller and
feedback position from the motor. The difference between them is following error. If
following error exceeds the value of this parameter, the drive will shut down and display an
“F” fault. This occurs whether the drive is in motion or stopped. Default setting is the distance
that equals one motor revolution.
Enable In-Position Window
You may have an application that demands different amounts of torque to reach the desired
position. Torque is produced as a result of following error. If following error is large, the
torque produced by the drive will be large. But following error develops over time, the time
necessary for the system to recognize that the actual position is not matching the commanded
position. This time delay may be too long for the actuator to reach the desired actual position
in some applications.
In-Position Window lets you specify how close you want the actuator to actually come to the
desired position, how long the actuator should be in position before the End of Index Output
comes on and how long to wait for the actuator to reach position within the window (or range)
before turning on the Position Window Timeout output function that says the time limit to
reach the window was exceeded.
The End of Index Output normally comes on when the drive has been commanded to be at its
final index position (plus any index dwell time).
The In-Position Window feature delays End of Index reporting until the In-Position Window
conditions have been satisfied. This feature is enabled when you select “Yes”. When you
enable this feature, an additional question will appear in each index screen that asks if you
want the In-Position feature to apply to that index. If you select “Yes”, you will be asked to
specify the In-Position Window (or range) for that index. The In-Position Window range you
enter will be used for all indexes that use the In-Position Window feature.
In-Position Range
The value entered here is the range in user units that the drive must be within at the end of an
index. For example, if user units were degrees, and 5.00° was entered for the In-Position
Range value, the drive must then be within ±5.00° of the desired end of index position to start
the In-Position timer.