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CHAPTER 9 MAJOR POSITIONING CONTROL
9
9.5 Checking the Current Value
9.5 Checking the Current Value
In the QD73A1, two types of address are used to indicate position.
(1) Addresses to be used
The two types of address, "current feed value" and "actual current value", are stored to the monitor data area.
They can be monitored when necessary.
(2) Precaution
When the value stored in " Current feed value" or " Actual current value" is used for control, the
update timing of the buffer memory area may be in error by 0.5ms.
Item Description Update cycle
Current feed value
• This is the value stored in " Current feed value".
• The address established through OPR is the value of reference.
• The address can be changed through a current value change.
0.5ms
Actual current value
• This is the value stored in " Actual current value".
• The actual servomotor movement amount calculated based on feedback pulses
is stored as an actual current value (the number of feedback pulses).
(Actual current value = Current feed value - Accumulated pulses in the deviation
counter)
Md.1
Md.2
Md.1
Md.2