Baldor MN1851 manual Position Controller Position Controller Parameters, Variables

Position Controller

Position Controller Parameters:

Command	Description	Units	Range	Default	E2 / Par. set
POS.FFA	Queries/updates acceleration FF factor	–	25 : 100		E / P
	unsigned integer ranged 0..100
POS.FFTYPE	Queries / updates FF type with position	–	0 : 2		E / P
	controller redesign 0 – FF none, 1 –
	velocity FF, 2 – acceleration FF
POS.FFV	Queries / updates velocity FF factor	–	25 : 100		E / P
	unsigned integer ranged within 0..100
POS.KP	Queries / updates position gain unsigned	–	25 : 100		E / P
	integer ranged within 25.. 200
POS.FEWRN	Queries / updates FE warning limits	1/4096	–32768 : 32767		E / P
	resolver: 1/4096 of revolution,	(resolver)
	encoder: 1/(4*SYS. encres) of revolution	1/(4*SYS.
	integer, > 0 (< 0: disabled)	encres)
		encoder
POS.FEFAT	Queries / updates FE fatal limits 1/4096 of	1/4096 of	–32768 : 32767		E / P
	revolution, integer,	revolution
POS.IPOS	Queries / updates FE in position limits	1/4096 of	–32768 : 32767		E / P
	1/4096 of revolution, integer, > 0 (< 0:	revolution
	disabled)

Variables:

Command	Description	Units	Range	Default	E2 / Par. set
POS.MPFE	Queries maximum position following error	1/4096 of rev.			– / –
MPFE					– / –
POS.PFE	Queries position following error	1/4096 of rev.			– / –
PFE					– / –
PREF	Queries for position reference	1/4096 of rev.			– / –
POS.REF	Queries position controller reference,	1/4096 of rev.			– / –
	1/4096 of revolution
POS.FEST	Returns follow error status: 0 – normal,	–	0 : 3		– / –
	1 – in position, 2 –warning, 3 – error
FEST					– / –

Methods:

Command	Description	Parameter	Units	Range
PRST	Resets position following error	–	–	–

MN1851 Command Set B-15