is not between the On and Off positions, and inactive whenever the axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches the OnPosn the first time.
PLS On Point
PLS.#.OnPosn
PLS.#.Status will be active when the selected source position is between the PLS.#.OnPosn and the PLS.#.OffPosn. The terms On and Off assume the motor is traveling in a positive direction. Assume that the PLS.#.Direction is set to "Both". When traveling in the positive direction and the position feedback reaches the OnPosn, the PLS.#.Status will activate. As the motor continues in the same direction, the PLS.#.Status will deactivate when feedback position reaches or exceeds the OffPosn. If motor travel changes to the negative direction, the PLS.#.Status will activate when position feedback reaches the OffPosn, and will deactivate when it continues past the OnPosn. The important thing to remember is that the PLS.#.Status will be active if between the PLS On and Off points.
If using negative values for your OnPosn and OffPosn, the most negative value should go in the OnPosn parameter, and the least negative value should go in the OffPosn.
If the PLS has a rollover point, and the OnPosn is greater than the OffPosn, the PLS will be active whenever the axis is not between the On and Off positions, and inactive whenever the axis is between the two positions. However, the PLS.#.Status will not turn on until it reaches the OnPosn the first time.
PLS Enable
PLS.#.PLSEnable
This destination is used to enable an individual PLS. A PLS can be enabled though the Assignments view in PowerTools Pro or from a program. If enabled, the PLS will begin to function as soon as the drive has been homed or a DefineHome destination has been activated. Master Posn Valid must be active (Master Define Home is activated) if using a master signal for PLS source.
PLS Rollover Enable
PLS.#.RotaryRolloverEnable
This parameter is used to enable the RotaryRolloverPosn for the individual PLS.
PLS Rollover Position
PLS.#.RotaryRolloverPosn
This parameter is the absolute position of the first repeat position for this PLS. When enabled it causes the PLS to repeat every time this distance is passed. The repeating range begins at an absolute position of zero and ends at the RotaryRolloverPosn. For example in a rotary
application a PLS could be setup with an OnPosn of 90 degrees and an OffPosn of 100 degrees. If the RotaryRolloverPosn is set to 360 degrees the PLS would come on at 90, go off at 100, go on at 450 (360+90), go off at 460 (360+100), go on at 810 (2*360+90), go off at 820 (2*360+100), and continue repeating every 360 degrees forever.
PLS Source
PLS.#.Source
PLSs can be assigned to three different sources: MotorPosnFeedback, MotorPosnCommand, or MasterPosnFeedback. This parameter determines which position signal the PLS uses to reference its OnPosn and OffPosn in order to determine its PLS.#.Status parameter.
PLS Status
PLS.#.Status
This source is active when the position of the PLS source (motor or master) is greater than or equal to the OnPosn and less than the OffPosn.
Position Loop Response
PositionLoopResponse
The Position Loop Response is effectively a proportional gain for the
See the Tuning section of this manual for tuning procedure.
Positive Direction
PositiveDirection
This bit is used to select which direction of motor rotation is considered motion in the positive direction. Select from CW or CCW.
Position Command
PosnCommand
Position command sent to the Unidrive SP by the
Position Feedback
PosnFeedback
Feedback position is the actual motor position in user units. PosnCommand minus the PosnFeedback is the FollowingError.
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