Download Advanced Position Controller User Guide

Using This
Safety
Functional Command
Introduction
Manual Information
Description Description
Getting
Started
Program Application Migration Glossary of
Quick
Examples
Notes
Guide Terminology Reference
APCDisableExternalRefPosition
Status% = APCDisableExternalRefPosition()
Input Arguments
None
Output Arguments
Status%:
0:
Operation failed
1
Operation successful
Description
This command disables the External position reference [137], and
enables Profile Position reference [117], [136] = 0.
Units
NA
Range
Active or Inactive
Default
Active
APCSetExternalRefPosition
Status% = APCSetExternalRefPosition(Position%)
Input Arguments
Position%: Signed 32-bit
Output Arguments
Status%:
0:
Operation failed
1:
Operation successful.
Description
This command sets the value of the external reference position
[137], in counts. The value of Position% is entered in counts, and
should be calculated with respect to the same resolution set for the
feedback encoder, defined by the command
APCSetNumOfTurnsBits(TurnBits%) [14].
Units
Encoder Counts
Range
-231 to 231 - 1
Default
0
APCSetSpeedFFwdGain
Status% = APCSetSpeedFFwdGain(Gain%)
122
Input Arguments
Gain%:
Output Arguments
Status%:
0 to 2000
0:
Operation failed
1:
Operation successful.
Description
This command sets position loop speed feed forward gain [141].
The speed feed forward reference will be multiplied by Gain%
and divided by 1000 and can be used to provide high inertia
positional dampening.
Units
Number
Range
0 to 2000
Default
1000
Advanced Position Controller User Guide
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