Absolute feedback compensation

Summit servo drives include the possibility to compensate absolute feedback inconsistencies caused by mechanical imperfections of the feedback.

Absolute feedback compensation is a LUT (Look-up table) that uses feedback position as a selector of the index. The values from the table are applied as an offset in the output of the selected absolute feedback (Primary or Secondary) by the user.

To control this table multiple registers are defined:

· 0x2300 - Abs feedback 1 compensation table- Enable: Allows enabling/disabling the compensation table compensation for the Primary absolute encoder slave 1.

· 0x2301 - Abs feedback 1 compensation table - Index: Allows selecting the index at which the data will be written / read by the user in the Compensation table for the Primary absolute encoder slave 1.

· 0x2302 - Abs feedback 1 compensation table - Value: Shows the data available in the compensation table for the Primary absolute encoder slave 1 at the index specified. Writing to this parameter also replaces the value in the table with a newer one.

· 0x2303 - Abs feedback 2 compensation table - Enable: Allows enabling/disabling the compensation table compensation for the Secondary absolute encoder slave 1.

· 0x2304 - Abs feedback 2 compensation table - Index: Allows selecting the index at which the data will be written / read by the user in the Compensation table for the Secondary absolute encoder slave 1.

· 0x2305 - Abs feedback 2 compensation table - Value: Shows the data available in the compensation table for the Secondary absolute encoder slave 1 at the index specified. Writing to this parameter also replaces the value in the table with a newer one.

The values of the absolute Primary absolute encoder slave 1 and Secondary absolute encoder slave 1 after the effect of the compensation table offset can be monitored in the following registers:

· 0x204C - Primary Absolute Slave 1 - Compensated Position

· 0x2056 - Secondary Absolute Slave 1 - Compensated Position

To store the values of the compensation table to the NVM a store all process must be performed.