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PRBASE Parameter (S300-S700)

ASCII - Command PRBASE    
Syntax Transmit PRBASE [Data]    
Syntax Receive PRBASE <Data>   Available in  
Type Variable rw   MMI No
ASCII Format Integer8   CANBus Object Number 35D1 (hex)
DIM -   PROFIBUS PNU 1809 (dec) IND = 1 (dec)
Range 1 ... 32   DPR 209 (dec)
Default 20    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.6
Function Group position loop   EEPROM Yes
Short Description Position Resolution

Description

Description:

The Servostar 300 works with an internal 64Bit variable for counting the number of turns of the rotor shaft and for the internal position resolution. The upper 32Bit are disposed for counting the number of turns, the lower 32 Bit are acting for the internal position resolution. External controller are working mostly with 32Bit variables. Therefore 32Bit of the 64Bit variable must be copied in an internal 32Bit variable.

PRBASE defines, how many Bits of this 32 Bit variable are acting for the position resolution. The remaining Bits are used for counting the number of turns. The resolution is only activated when the amplifier is switched off and then on again.

Note: If PGEARI = PGEARO * 2^PRBASE, then there will be no conversion from user-defined units into increments. In this case, the position and velocity must be given in increments.

PRBASE=20:
20Bits are available for the internal position resolution. With the remaining 12 Bits, the Servostar can count 2^12=4096 =+/-2047 turns.

PRBASE=16:
16Bits are available for the internal position resolution. With the remaining 16 Bits, the Servostar can count 2^12=65536=+/-32767 turns.

Example:

Internal 64Bit variable: : 0x00000012 15E3A455
Number of turns Position

Internal 32Bit variable at PRBASE=20 : 0x01215E3A

Internal 32Bit variable at PRBASE=16 : 0x001215E3