Cyclic Indexed Position

Provides the position error from the indexed position of any number of evenly-spaced indices in a cycle. The output is the floating-point position error ranging from -0.5000ind to 0.5000ind where the size of the index, floating point 1.0000, is defined by the total cycle length divided by the number of indexes.

Designed to be directly connected from the output of the Cyclic Position function block. That block defines the length of the entire cycle.

Index 1 is defined to be at cyclic position 0.0000. With a default, 10-index cycle, index 10 is located at cyclic position 0.9000. Note that in this example, the scaling of indexed position output is ten times smaller than the scaling of cyclic position.

In the SFD drawing below, the block connects directly to the Trapezoid Motion v2. With that block controlling the motive drive's speed setpoint, simply enter the desired index and the motor will achieve the fastest trapezoidal move from the current position to the commanded, indexed position.

• Available only in the dw2xx-v2 series products
• Requires library: Precision Motion (option -39)
• Firmware versions 0x2105 and later

Position

Designed to be directly connected from the output of the Cyclic Position function block. That block defines the length of the entire cycle.

Index

Index 1 is defined to be at cyclic position 0.0000. With a default, 10-index cycle, index 10 is located at cyclic position 0.9000. Note that in this example, the scaling of indexed position output is ten times smaller than the scaling of cyclic position.

Index Count

The repeating cyclic position is evenly divided by this number of indices.

Position Error

The position error from the indexed position of any number of evenly-spaced indices in a cycle. It is the floating-point position error ranging from -0.5000ind to 0.5000ind where the size of the index, floating point 1.0000, is defined by the total cycle length divided by the number of indexes. The sign of the error produces the shortest path through either direction of the cycle.