Delta MMC120 Bedienungsanleitung PDF herunterladen (Seite 123)

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TARGET POSITION

WhentheaxisisinClosed Loop Mode, the TARGET POSITION is the calculated

instantaneous ideal position for the axis. The TARGET POSITION is calculated every

loop by the target generator state machine of the on-board motion control program. The

PID routine uses the difference between the TARGET POSITION and the ACTUAL

POSITION as its input to compute any required corrective drive.

During a move the transition of the TARGET POSITION toward the COMMAND

POSITION will be the perfect profile for the ACTUAL POSITION to follow.

NOTE: When an axis is stopped, the TARGET POSITION should be the same as the

COMMAND POSITION unless an error or HALT has occurred (see

STATUS).

NOTE: When an axis is not in position Closed Loop Mode, TARGET POSITION is

set to the ACTUAL POSITION.

Why Bother?

Knowing the relationship between the TARGET POSITION and ACTUAL POSITION is

key to tuning the axis. The main goal in tuning the axis is to minimize the error between

the TARGET and ACTUAL POSITIONS. The plot function is a very nice visual aid in

tuning the axis.

ACTUAL POSITION

The ACTUAL POSITION is the measured position of the axis at any moment. This

position is updated every loop. The ACTUAL POSITION is calculated from the

TRANSDUCER COUNTS as follows:

ACTUAL POSITION = TRANSDUCER COUNTS x SCALE + OFFSET

32768

Why Bother?

Before applying drive or hydraulic power, make sure the target position is set to the

actual position using a ‘ P’ command. Otherwise axis will jump to the TARGET

POSITION.

See TARGET POSITION.

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Delta MMC120 Bedienungsanleitung Seite 123