32-38 Absolute Encoder Cable Length
Range:
Function:
0
*
[0–
300 m]
The absolute encoder (SSI) clock and data signals
will be out of synchronisation if the signal delay
caused by the encoder cable is too long. The MCO
automatically compensates the cable delay when the
cable length is known. The cable delay compen-
sation is based on a cable delay of approximately 6
ns (6 x 10
-9
seconds) per meter. Specify the total
cable length (in meters) between the MCO and the
absolute encoder.
NOTICE
This parameter is only visible when parameter
32-32
Absolute Protocol
is not set to
[0] None
.
32-39 Encoder Monitoring
Monitoring of open-circuit and short-circuit of the encoder inputs
can be enabled or disabled.
An encoder error issues fault code 192.
Option:
Function:
[0]
*
Off
Hardware monitoring is not
required.
[1]
3 channels
All 3 channels (A, B, and
Index) are monitored.
[2]
2 channels
Channels A and B are
monitored.
32-40 Encoder Termination
Termination resistors can be switched on or off for encoder 1.
Option: Function:
[0]
Off Select this option if high input impedance is required
when 1 encoder is connected to multiple MCOs.
[1]
*
On Select this option when the encoder is only connected
to this MCO.
32-43 Encoder 1 Control
The encoder control word configures the position evaluation
after a change of encoder source. Soft encoder changing is
useful if encoders should be switched while running. If this is
done without using this parameter, then setting the new encoder
typically causes a position error because the encoder values are
not the same.
Option:
Function:
[0]
*
No soft changing
Select this option to switch
directly to the position data of
the new encoder.
[1]
Encoder soft
changing enable
Select this option to not switch
entirely to the value of the new
encoder. Instead, the old value is
kept and the differences from the
new encoder are added. This
makes it possible to change
encoders “on the run”.
32-43 Encoder 1 Control
The encoder control word configures the position evaluation
after a change of encoder source. Soft encoder changing is
useful if encoders should be switched while running. If this is
done without using this parameter, then setting the new encoder
typically causes a position error because the encoder values are
not the same.
Option:
Function:
[2]
Soft zero setting
enable
Select this option if it is not
desired to really change the
encoder value when homing is
carried out. If the soft zero
setting is on, then homing can
be carried out and the new
reported actual position is [0]
afterwards.
[3]
Encoder soft
changing and soft
zero enable
This option enables the smooth
changing of the feedback
encoder in the software while
running, and setting the position
to [0] without losing the actual
position.
32-44 Encoder 1 node ID
Range:
Function:
127
*
[1–127]
Enter the CAN encoder node ID.
32-45 Encoder 1 CAN Guard
CAN encoder guardians can be enabled or disabled.
Option:
Function:
[0]
*
Off
Default setting. No monitoring.
[1]
On
CAN encoder is monitored.
5.6.3 32-5* Feedback Source
The 32-5* parameters configure the feedback source.
32-50 Source Slave
Specifies the feedback source for MCO.
Option:
Function:
[1]
Encoder 1
X56
Select this option to use encoder 1 as the
feedback source.
[2]
*
Encoder 2
X55
Select this option to use encoder 2 as the
feedback source.
[3]
Motor Control Select this option for MCO feedback from
the feedback source specified in parameter
1-02 Flux Motor Feedback Source
. This can
be an internal 24 V encoder, encoder
option, or resolver option. The resolution
for
Motor Control
can be set in parameter
32-01 Incremental Resolution
.
Commissioning
Operating Instructions
MG33R302
Danfoss A/S © 04/2014 All rights reserved.
33
5
5
