ElmoMC SimplIQ Command Reference - Manual (Page 66)

FR[N] - Follower Ratio
Purpose:
ƒ
FR[1] defines the follower ratio for current (UM=1).
ƒ FR[2] defines the follower ratio for velocity (UM=2).
ƒ FR[3] defines the follower ratio for position (UM=3, 5).
When UM=1, the auxiliary reference is composed of the analog input and external PWM
signals. The FR[1] parameter scales the ratio between the Duty Cycle of the PWM signal
and the reference to the current loop (UM=1, RM=1). FR[1] may be changed on-the-fly at
any time.
When UM=2, the auxiliary reference is composed of the analog input and the auxiliary
feedback readout or external PWM signal.
FR[2] can be used as a follower ratio of the master motor’s quadrature encoder or as a
follower ratio of the PWM Duty.
When UM=3 or UM=5, the auxiliary reference is composed of the auxiliary feedback
readout. The FR[3] parameter scales the ratio between the auxiliary feedback position
and the reference to the position loop (UM=3, 4, 5, RM=1, EM[1]=0), or the input to the
ECAM table (UM=3, 4, 5, RM=1, EM[1]=1, 2). FR[3] may be changed on-the-fly at any
time. For EM[1]=0 (follower) and EM[1]=2 (cyclical ECAM), changing FR[3] does not
imply an abrupt change to the external position controller reference. For EM[1]=1 (linear
ECAM), changing FR[3] does imply an abrupt change in the external position controller
reference. FR[3] can be modified while the motor is enabled if the software reference is
not active (MS<1). In such cases the software position reference is corrected to avoid a
possible motor jump.
Attributes: Type: Parameter, Real
Source: Program, RS-232, CANopen
Restrictions: MO=0: none
MO=1: RM=1 and MS<2
Default value: 1 (RS), Non-volatile
Range: [-32,000…32,000]
Index range:
[1, 2, 3]
Unit modes: UM=1, 2, 3, 5
Activation: Immediate
See also:
PY , RM , YM[N] , YA[N], PW[N]
Reference chapter in the SimplIQ Software Manual:
Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-53