Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario descargar pdf (Pagina 38)

4-10

2-Axis Servo Module M/N 57C422B

4.12 Register 10: In-Position Tolerance

considered to be in-position. This value is read by the

module whenever the "enable feedback" (register 65) or

"change default setups" (register 66) command is issued.

The axis is considered to be in-position if the absolute value

of the difference between where the axis should be and

where it actually is, is less than this tolerance. This condition

is available as "axis locked" status in register 72. The

in-position tolerance is in units of encoder counts. Refer to

figure 4.11.

4.13 Registers 11, 12: Positive Overtravel

Limit

Registers 11, 12 define the positive overtravel limit. This

value is read by the module whenever the “enable feedback”

(register 65) or “change default setups” (register 66)

command is issued. This limit applies only if the axis is in the

linear mode (register 0, bit 4=0) and “software overtravel”

was enabled in register 2. The negative overtravel limit must

be algebraically less than the positive overtravel limit or a

motion fault will occur. The software overtravel limits are in

units of encoder counts.

Registers 11 -12 are also used to provide a maximum travel

limit

for the "tune dynamics" (register 66) or "tune

Figure 4.11 – In-Position Tolerance Register

1 2 ... 33 34 35 36 37 38 39 40 41 42 43 ... 121 122

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Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 38