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156 VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
Properties
Immediate or buffered, can be used in labelled block, saved by SV
Example 1POSMAIN1(10,3) ; Enable position maintenance. Allow
; a 10 step dead band window and set o/p 3
; when within the desired range
1POSMAIN1(20) ; Enable position maintenance. Allow a
; 20 step dead band window. Output not set.
Note
[1] Position maintenance is performed at the end of a move to correct any
overall position error.
[2] If encoder resolution is different to the motor resolution, then you must
set system variable EM and enable LOADENC. The deadband range will
work in EM* steps. If setting EM +ve, the encoder expects A to lead B for
+ve commanded motion.
[3] The error window is measured in motor steps with LOADENC and
SCALE disabled, load steps with LOADENC enabled, and user steps with
SCALE enabled.
[4] If scaling is enabled, the value given in the deadband will remain the
same, but will now be in user units.
[5] Use encoder port X2 (primary encoder).
[6] With POSMAIN enabled DO NOT USE FOLLOWING.
[7] Position maintenance parameters can only operate correctly after
MOTOR, LOADENC, SCALE and the EM variable have been correctly
configured.
[8] POSMAIN velocity is fixed as V1. The acceleration rate is the one used
in the last GO command.
[9] Position maintenance mode can be selected and de-selected during the
execution of a program.
*EM = encoder counts per rev (4 X line count).