Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 190)

168 Miscellaneous • Introduction
Publication 1398-PM601A-EN-P — October 2000
TUTORIAL
Miscellaneous
Introduction
Included in this section are the miscellaneous commands that do not fit into any of the other sections.
CONFIG Statement
Up to four configurations can be defined for a ULTRA Plus or IQ. The configuration determines which
encoder is used for the position loop feedback, and whether the encoder 2 connector will bring encoder
signals into the controller or source encoder signals out to an external device. Encoder 2 may also be set
to receive step and direction commands from an external controller.
For some applications, it may be useful to change the configuration for various operations. For example,
it may be desirable to get the position feedback directly from a measuring wheel riding on a piece of
material to be cut while indexing that material into the cutoff knife. When the pusher retracts to load in
another piece of material, the feedback will need to come from the motor encoder.
To accomplish this, two configurations could be established. the first for when the feedback is from the
measuring wheel and the second for when the feedback is from the motor encoder. Once the configura-
tions are established, the application program can select which one is active by executing a CONFIG =
n instruction, where n is 1 through 4.
CONFIG = 2;set the current configuration to 2
Define Home (DH), Define Position (DP) and Define Position 1 or 2
To do absolute position moves with an incremental encoder, an absolute reference must be established.
The DH, DP, DP1 and DP2 commands are used to define the absolute reference position. The DH com-
mand will define the current commanded position as the zero position when executed. The DP com-
mand will define the current commanded position as the position specified in the instruction when
executed. DP and DH also zero the Encoder 2 position. DP1 redefines the encoder 1 position to the
position specified in the instruction when executed. DP1 does not affect encoder 2. DP2 redefines the
encoder 2 position to the position specified in the instruction when executed. DP2 does not affect
encoder 1.