synchronized motion throughout the software. Using a high number of decimal places will improve position resolution, but will also limit the maximum position. You can select from zero to six decimal places of programming resolution.
Master Distance Units Scaling
The scaling factor is defined as following:
MasterDistUnitsCharacteristicDis tance
Scaling=
MasterDistUnitsEncoderRevs
The numerator (top value of the scaling fraction) is the Characteristic Distance. The Characteristic Distance is the number of Master Distance Units that will be traveled per number of revs defined in the bottom value of the fraction.
The denominator (bottom value of the scaling fraction) is the # of encoder revolutions. The master revs parameter is the number of incoming whole revolutions it takes to travel the specified characteristic distance.
Master Position Filter Enable
The enable check box is used to turn on or turn off the Master Position Filter. If checked, the filter is active and the user must select the number of samples used by the filter. If unchecked, the filter is not used
Master Position Filter Samples
Defines the number of samples used by the filter to smooth the master signal. Increasing the number of samples increases smoothness, but also increases lag. See Filter table below to select proper setting.
|
|
| Feedforward OFF | Feedforward ON |
|
|
|
|
|
| ||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| One update of phase shift | No delay, |
|
|
|
|
|
| ||
|
| Disabled | (not velocity dependent) |
|
|
|
|
|
| |||
|
| No Filtering |
|
|
|
|
|
| ||||
|
|
| No Filtering |
|
|
|
|
|
| |||
|
|
|
|
|
|
|
|
|
| |||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 4 | Small Lag (function of speed), | Poor at low speed, |
|
|
|
|
|
| ||
| # of | Low Filtering | Low Filtering |
|
|
|
|
|
| |||
|
|
|
|
|
|
|
| |||||
|
|
|
|
|
|
|
|
|
|
|
| |
Samples |
|
|
|
|
|
|
|
|
|
|
| |
8 | Medium Lag (function of speed), | Good at low speed, |
|
|
|
|
|
| ||||
|
|
|
|
|
|
|
| |||||
|
|
| Medium Filtering | Medium Filtering |
|
|
|
|
|
| ||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 16 | Large Lag (function of speed), | Best at low speeds, | Smoother | Increasing Lag | ||||||
|
| High Filtering | High Filtering | |||||||||
|
|
| with FF Off | |||||||||
|
|
|
|
|
|
|
|
|
| |||
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| Reduced Lag |
|
|
|
|
|
|
Enable Feedforward
The Enable Feedforward Check Box is used to turn on or turn off feedforward. If checked, feedforward is active. If unchecked, feedforward is not used.
Configuring an Application | www.emersonct.com | 39 |
