|
Type |
AD |
|
Devices supporting the parameter |
Incremental Encoder Input |
|
Traceable |
Yes |
Displays the availability and the validity of the encoder position data.
|
Value |
Data type |
Meaning |
|---|---|---|
|
not ready / 0 |
DINT |
The encoder or encoder processing is not ready. |
|
Initialization / 1 |
DINT |
Encoder processing is initialized. |
|
not synchronous / 2 |
DINT |
Encoder processing does not run synchronously with real-time processing (Sercos bus is not in phase 4). The velocity and position values of the encoder are not exact and therefore cannot be used. |
|
ready / 3 |
DINT |
The velocity and position values of the encoder are valid. |
NOTE: The Incremental Encoder Output object can only control the TM5 module if the parameter OutputsActiveSet of the parent bus coupler is set to on / 1. The bus coupler then begins to transfer the output values to the module.
This is needed to control the error detection and the ZeroTrack detection.
The states of the Incremental Encoder Output object are processed in the following order:
1.not ready / 0
2.Initialization / 1
3.not synchronous / 2
4.ready / 3
NOTE: In TM5 encoder outputs, the not synchronous / 2 state is processed before the Initialization / 1 state because the module can be initialized not before the Incremental Encoder Output object can access the cyclic output registers of the module.
