EXTPOS

ASCII - Command	EXTPOS
Syntax Transmit	EXTPOS [Data]
Syntax Receive	EXTPOS <Data>	Available in
Type	Variable rw	MMI	No
ASCII Format	Integer8	CANBus Object Number	3539 (hex)
DIM	-	PROFIBUS PNU	1657 (dec) IND = 0000xxxx (bin)
Range	0, 1, 2, 3, 4	DPR	57 (dec)
Default	4
Opmode	All	Data Type Bus/DPR	Integer8
Drive State	Disabled + Reset (Coldstart)	Weightning
Start Firmware	1.62
Configuration	Yes	Revision	2.0
Function Group	Position Controller	EEPROM	Yes
Short Description	Position Feedback + Control Type

Description

The EXTPOS command defines the feedback source for the internal position control loop. Furthermore, the type of position control (P/PI) can be defined.

Parameters for the PI position control

The PI position control can be set up by using the following parameters:

GP: proportional gain (position)
GPTN: rest time (position), integral-action time
GPFFV: feed-forward (position)
GPV: proportional gain (speed)

Parameters for the P position / PI speed control

The P position control can be set up by using the following parameters:

GP: proportional gain (position)
GPFFV: feed-forward (position)

The usual velocity-control loop parameters can be used for the following speed control loop.

Status	Position Control uses/ Type of Position Controller	Reading of an external Encoder (PFB0)
EXTPOS=0	Feedback system select by FBTYPE, PI-type Position Controller, P-type Speed Controller	There is no possibility to read an external Encoder on X1 (Drive 400 X2) or X5 (Drive 400 X4).
EXTPOS=1	Feedback via external source selectable by GEARMODE, P-type Position Controller, PI-type Speed Controller	External Encoder selectable GEARMODE, Read by PFB0
EXTPOS=2	Feedback system select by FBTYPE, PI-type Position Controller, P-type Speed Controller	External Encoder selectable by GEARMODE, Read by PFB0
EXTPOS=3	Feedback system select by FBTYPE, P-type Position Controller, PI-type Speed Controller	External Encoder selectable by GEARMODE, Read by PFB0
EXTPOS=4	Feedback system select by FBTYPE, P-type Position Controller, PI-type Speed Controller	There is no possibility to read an external Encoder on X1 (Drive 400 X2) or X5 (Drive 400 X4).