EncoderMode

General

Type	EF
Devices supporting the parameter	Machine Encoder Input
Traceable	Yes

Functional Description

The Machine Encoder Input object can be added optionally under the drive object. The EncoderMode parameter is used to enable the additional input and to set the operation mode of the machine encoder. When EncoderMode = 1, the position value is used in the position control loop of the drive.

Value	Meaning
0	Only use motor encoder (default). The machine encoder is available but not used for position control. The motor encoder is used for current, velocity, and position control.
1	Machine encoder is only used for position control. The machine encoder is used for position control (closed-loop position control) and the motor encoder is used for current and velocity control.

Value

Meaning

Only use motor encoder (default).

The machine encoder is available but not used for position control. The motor encoder is used for current, velocity, and position control.

Machine encoder is only used for position control.

The machine encoder is used for position control (closed-loop position control) and the motor encoder is used for current and velocity control.

NOTE: The parameter value is transferred from the slave to the master via the Sercos bus. This means that if the Sercos bus is not in phase 4 (operating phase), a default value is represented. If the Sercos bus is in phase 4, then the parameter value is transferred over the Sercos bus.