Analog Position Setpoint

Valid for S400, S600

The analog input can be used for the setting of the position from firmware version 3.10. The function is similar to a master/slave effect.

Setting (ASCII commands)

ANCNFG 8
(Setup Software: I/O analog/ Setp. function: 8 Xcmd = AnIn1). Configures the analg input as a position setting input. 

SRND x
(Setup Software: Position/Position Data/Modulo Start Position: x). Sets the value for the start position. 0V at input 1 corresponds to start position x.

ERND x
(Setup Software: Position/Position Data/Modulo End Pos: x). Sets the value for the target position. 10V at input 1 corresponds to target position x. Also considerably for the moved distance is the scaling of positioning data in the position controller.

OPMODE 5
Setting <> external trajectory 

POSCNFG 0
(Setup Software: Position/Position Data/ Axis Type). Setting <> Linear axis 

EXTPOS 4
(Setup Software: Position/ Mode: P Position, PI Speed). Proportional - use position controller

GPFFV 0
(Setup Software: Position/ Ff factor: 0). Set Feed Forward to zero 

The ramps of the velocity controller define acceleration and decelaration!

After changing the ASCII setting the commands SAVE and COLDSTART must be executed!  

Example

A valve should be adjusted from 0... 90°. A gearhead is used between valve and motor with a ratio i = 10.  
0 Volt shall correspond to 0° and 10 Volt to 90°.

The distance is defined as
SRND 0
ERND 90

Other required settings are
OPMODE 5
ANCNFG 8
POSCNFG 0 
EXTPOS 4
GPFFV 0

The changed parameters are saved and activated by
SAVE
COLDSTART

Set scaling of the axis to 360µm / 10 turns.  

If no absolute feedback system is used, setting of a reference point is mandatory.

Important
The resolution of the analog input is 14 bit. If the target position setting corresponds to many motor revolutions, for example 1 Bit <> 90°, the motor may move in a rough way. Interferences at the analog input will cause a similar effect. Changing the FF value >> 0 will make the motor reaction more smooth.

If a voltage is set at the analog input , the motor will accelerate immediately to the target position, after the reference point is set !