Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
103
10
10.1.17
Encoders
Description
The drive can be connected to up to two encoders, one on Channel 1, and a further encoder on Channel 2. Each
channel supports connection to either of two encoder types, both of which are incremental, these are:
o
Quadrature, or
o
Analogue SINCOS
The encoders provide feedback information to the drive for closed-loop position or speed control and are also
employed to some degree in current control. The encoder channels will be described using the terms “motor”
and “external” encoder feedback in the discussion below, where the external feedback is often assigned to a
linear scale or some other sensor that is closer to the tool tip, or end effector of the machine under operation.
The motor encoder feedback is usually directly connected to the motor itself. Either of these feedbacks can be
connected to either channel on the drive, with suitable configuration described below. Each channel needs to be
configured separately.
Encoder Connection Setup
The drive needs to be configured to determine which channels are connected to an encoder. The user can set
the following IDN’s to either of the following two values:
0: No encoder connected
10: Incremental encoder connected
IDN
Description
P-0-1432 / 34200
Encoder Type Connected - Channel 1
P-0-1433 / 34201
Encoder Type Connected- Channel 2
Furthermore, each channel needs to be specified as either “motor” encoder feedback, or “external” encoder
feedback. The user can set the following IDN’s to either of two values:
0: Channel 1
1: Channel 2
IDN
Description
P-0-1028 / 33796
Motor Encoder Source Channel
P-0-1029 / 33797
External Encoder Source Channel
Motor Encoder Feedback
If IDN 33796 has been associated with a Channel (either 1 or 2) which has an encoder connected (ie. the
channel’s IDN has been set to ‘Incremental encoder connected’) then further motor encoder can be configured
such as;
IDN
Description
S-0-0116 / 116
Resolution of Motor Encoder
S-0-0121 / 121
Input Revolutions of Load Gear
S-0-0122 / 122
Output Revolutions of Load Gear
S-0-0123 / 123
Feed Constant
S-0-0277 / 277
Motor Encoder Feedback Type
P-0-0004 / 32772
Motor Encoder Control Word
P-0-0006 / 32774
Motor Poles Per Revolution
The type of Motor Encoder Feedback IDN parameters S-0-0277 / 277 and P-0-0004 / 32772, for specific bitfield
details refer to the SoE parameters document
The resolution of an incremental motor encoder is defined via IDN S-0-0116 / 116. Given the input (S-0-0121 /
121) and output (S-0-0122 / 122) revolutions, the overall gear ratio is calculated. In addition the feed constant (S-
0-0123 / 123) should be specified
Analogue Incremental Encoders Only
