Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 220)

198 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
DPn Define Position Number Home
Purpose Redefine an encoder position as a new position. The present encoder position will
become the specified position, the encoder position that is not the feedback encoder is
unaffected, the Home Sequence Complete output (if assigned) and the HSEQCPL sys-
tem flag will be turned ON.
Syntax DPn = value
n The number of the encoder: n = 1 or 2
value Position in user units.
Remarks The function performed by DPn is dependent on the status, used or not used, of the
position loop feedback (POSn). The following table defines the functions:
Position Loop Feedback Status
POS1 Used POS1 Not Used
DP1 Pgen is set to the new POS1_value, Pjog,
Gpos, Pcam, and Pext are set to zero, and
Posn and Pos1 are set to (Pcmd - Fe).
Pos2 is not affected.
Pos1 is set to the
new Pos1_value
Pos2 is not
affected
POS2 Used POS2 Not Used
DP2 Pgen is set to the new POS2_value, Pjog,
Gpos, Pcam, and Pext are set to zero, and
Posn and Pos2 are set to (Pcmd - Fe).
Pos1 is not affected.
Pos2 is set to the
new Pos2_value
Pos1 is not
affected
Use caution if you use this command while there is motion. The time delay caused by
execution speed will result in the zero position being defined at a position that is dif-
ferent than when the command was issued. The difference in position will be propor-
tional to the velocity of the motor when the command was issued.
Any following error that is present when this instruction is executed will be main-
tained (the feedback position will not be set equal to the commanded position).
The Home Sequence Complete output is assigned in the Parameter menu, Outputs dia-
log box.
See Also DH (Define Home), HOMECMD, HSEQCPL, POS1, POS2, POSN
Example DP1 = -1.34 ;define encoder 1 position (POS1) as -1.34