EncoderPosition

 

EncoderPosition

General

Functional Description

EncoderPosition represents the actual position of the machine encoder within the EncoderRange in units. It is indicated on the drive shaft (gear box output side). It is the actual position of the machine encoder that is transferred via the Sercos bus (see Ref-Actual Values). For single turn encoders, the EncoderPosition ranges from 0...1 revolutions (motor side), for multi-turn encoders, the EncoderPosition ranges from 0...4096 revolutions (motor side).

Coordinate displacement with SetPos (FC_SetposDual(), FC_SetposGroup(), FC_Setpos­Single()) does not affect this parameter. The parameter Direction must not be taken into account when interpreting EncoderPosition.

The EncoderPosition value is calculated once per Sercos cycle (CycleTime).

Relative to the actual position at the drive shaft, the position is delayed by the time ShaftDelay. Thus, a position within the encoder range is represented that is delayed to the drive shaft by the ShaftDelay time.

Example

FeedConstant = 100 units/revolution

GearIn = GearOut (no gear box)

EncoderRange = 1 revolution (single turn)

Diagram for the parameter EncoderPosition

 

 

NOTE: The parameter value is calculated taking into account the parameters that are transferred from the slave to the master via the real-time channel of the Sercos. If the Sercos bus is not in phase 4, then a default value is indicated here. If the Sercos bus is in phase 4 (operating phase), then the parameter value is calculated and indicated. This parameter has no meaning if no MachineEncoder is connected to the drive.