3 Function description
BU 0510 EN
technische Änderungen vorbehalten
19
Overview table for incremental and absolute encoder parameter settings
Number of encoder
revolutions
P604 Encoder type
P605
resolution CANopen
absolute encoder
P615
Maximum position
Reference
run
Single turn
absolute encoder
1
5 = CANopen
Optimal path
Array [01] = 0
Array [02] = pulse
0 No
Multiturn absolute
encoder
≥
1
5 = CANopen
Optimal path
Array [01] = number
Array [02] = pulse
0.5 * total
revolutions
No
Incremental
encoder
1
3 = Incremental
absolute
4 = Incremental
absolute with save
- 0
yes
Incremental
encoder
> 1
3 = Incremental
absolute
4 = Incremental
absolute with save
-
0.5 * total
revolutions
yes
Array [01]
=
Multiturn resolution – number of possible encoder revolutions
Array [02]
=
Single turn resolution – resolution per encoder revolution
NOTE :
A multiturn absolute encoder can also be used as a single turn absolute encoder. The setting in
parameter P605 "Absolute encoder" in Array [01] must be parameterised for the multiturn
resolution to 0 (see table under P605 of the single turn absolute encoder).
3.3 Setpoint
specification
Three different methods are available for setpoint specification. The setpoint specification can be implemented via:
•
Digital inputs or Bus IO In Bits as absolute position using the position array
•
Digital inputs or Bus IO In Bits as relative position using the position increment array
•
Bus
setpoint
It makes no difference to the setpoint specification how the actual position is generated. Absolute, relative and bus
setpoints can be specified regardless of whether absolute encoders or incremental encoders are used as the
speed feedback.
3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits
In the parameter P610 "Setpoint mode", the function 0 = "Position array" can be used to select up to 15 positions
via the digital inputs 1-7 or Bus IO In Bits. The position numbers result from the binary value. A position setpoint
can be parameterised for each position number. The position setpoint can either be input via a control panel
(Control technology unit or parameter technology unit) or via the PC parameterisation software "NORD CON" (read
and accept as actual position) or per "Teach-In" while approaching the positions.
It is possible to control the start for approaching the setpoint position with the setting [62] "Sync position array" in
the digital inputs or Bus I/O In Bits. If one of the inputs or Bus IO In Bits is parameterised to [62] "Sync position
array", the position or the position array can be preselected in binary code using other digital inputs or BUS I/O In
Bits. The position value is accepted as the setpoint position as soon as the input "Sync position array" is set to "1".
When the absolute setpoint position is set via Bus IO In Bits, the position numbers are based on the Bits 0..3 of the
serial interface. To do this, one of the bus setpoints (P546, P547 and P548 "Function bus setpoint) must be set to
"Bus IO In Bits 0..7" and the functions of the corresponding bits must be assigned in P480 "Function Bus I/O In
Bits".
NOTE:
Further details on the setting options for functions can be found in the respective parameter
escriptions in Chapter 4 Parameter settings.
