ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 196)

YM[N] - Y Modulo
Purpose:
Specifies the counting range for the auxiliary feedback, which is [YM[1]…YM[2]-1].
The position of the auxiliary feedback is always counted cyclically. This means that after
the position is counted to its maximum value, the next position count will reset the
position counter back to its minimum value. The speed reading is not affected by the
position jump. For example: If YM[1]=-5 and YM[2]=5, the auxiliary position is counted
in a cycle length of 10. The auxiliary position will always be in the range [-5…4]. If the
auxiliary feedback rotates in the positive direction, the auxiliary position count will
proceed from 0, 1, 2, 3, 4 to -5, -4, -3, -2, -1, 0, 1 . . . and so on.
If YM[N] is non-zero with UM=4, the controlled motor position will count cyclically. All
motion trajectories will go the short way. For example: If YM[1]=-512, YM[2]=512, the
initial position is PY=-500 and the target absolute position is PA=500, the PTP trajectory
will travel through -500…-512, 511…500 to a total distance of 23 counts.
The cycle length must be positive (YM[2]>YM[1]) and (YM[2] - YM[1]) must be an even
number. YM[N] values violating the above conditions will be accepted, but not activated.
Until YM[N] can be activated, the motor cannot be started and the parameters cannot be
saved in the flash memory (the SV command will not work).
Notes:
If YM[1] or YM[2] is set so that YM[2] > YM[1] but PY is out of the range
[YM[1]…YM[2]], PY will be set to range by taking modulo:
PY = (PY - YM[1]) mod (YM[2] - YM[1]) + YM[1]
If a homing process requests a PY value setting out of the range [YM[1]…YM[2]],
the request will be ignored and PY will not change.
If the YM[N] value is selected low and the main speed is too high, more than one
full revolution of the auxiliary counter may elapse within a single sampling time.
This will cause the auxiliary position counter to behave unpredictably.
YM[N] cannot be modified while the homing sequence is active (HM[1] > 0).
Attributes: Type: Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=0
MO=1 and SV cannot be used before YM[2]
and YM[1] are activated (see “Activation”
below)
Default values: YM[1]=-5x10
8 , YM[2]=5x10 8 (RS), Non-volatile
Range: Position Range
Unit modes: All
Activation:
YM[2] > YM[1] and YM[2] - YM[1] is an even
number
SimplIQ
Modified, range changed
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
188