Setting the Counting Direction of the Machine Encoder
Depending on the mechanical components, a movement can imply different directions for the motor encoder and the machine encoder. The counting direction for both encoders must be identical even if the directions of movement are different.
Procedure for verifying the counting direction:
|
Step |
Action |
|---|---|
|
1 |
Set the parameter ENC_ModeOfMaEnc to the value 0 to keep the motor from being controlled during the procedure. |
|
2 |
Read the values of the parameters _p_act_ENC1 and _p_act_ENC2 using the commissioning software. |
|
3 |
Move the motor by means of the commissioning software. |
|
4 |
Compare the change in values of the two parameters _p_act_ENC1 and _p_act_ENC2. If both parameter values have increased or decreased, the counting direction is correct. |
|
5 |
If the parameters count in different directions, set the parameter InvertDirOfMaEnc to 1 to adjust the counting direction. |
|
6 |
Reset the parameter ENC_ModeOfMaEnc to the original value. |
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Position of encoder 1. Type: Signed decimal - 4 bytes |
usr_p - - - |
INT32 R/- - - |
Modbus 7758 IDN P-0-3030.0.39 |
|
|
Position of encoder 2 (module). Type: Signed decimal - 4 bytes |
usr_p - - - |
INT32 R/- - - |
Modbus 7732 IDN P-0-3030.0.26 |
|
|
Inversion of direction of machine encoder. 0 / Inversion Off: Inversion of direction is off 1 / Inversion On: Inversion of direction is on Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective immediately. |
- 0 0 1 |
UINT16 R/W per. - |
Modbus 20496 IDN P-0-3080.0.8 |
Setting the Mode of the Machine Encoder
The mode of the machine encoder can be set via the parameter ENC_ModeOfMaEnc.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Selection of mode of machine encoder. 0 / None: Machine encoder is not used for motor control 1 / Position Control: Machine encoder is used for position control 2 / Velocity And Position Control: Machine encoder is used for velocity and position control It is not possible to use the machine encoder for velocity control and the motor encoder for position control. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Setting can only be modified if power stage is disabled. Modified settings become effective the next time the power stage is enabled. |
- 0 1 2 |
UINT16 R/W per. - |
Modbus 20484 IDN P-0-3080.0.2 |
Setting the Source for Reading the Absolute Position Value
The source for reading the absolute position value can be set via the parameter ENC_abs_source.
Set this parameter to the value Encoder 2 (module) to increase the position accuracy.
This setting is only relevant for encoders with the interface EnDat 2.2, BISS or SSI.
|
Parameter name HMI menu HMI name |
Description |
Unit Minimum value Factory setting Maximum value |
Data type R/W Persistent Expert |
Parameter address via fieldbus |
|---|---|---|---|---|
|
Source for setting absolute encoder position. 0 / Encoder 1: Absolute position determined from encoder 1 1 / Encoder 2 (module): Absolute position determined from encoder 2 (module) This parameter defines the encoder source which is used to determine the base absolute position after power cycling. If this is set to Encoder 1, the absolute position from encoder 1 is read and copied to the system values of encoder 2. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective after the next power cycle. |
- 0 0 1 |
UINT16 R/W per. - |
Modbus 1354 IDN P-0-3005.0.37 |
