Commissioning
Setting of the feedback system for position and speed control
Absolute value encoder as position and speed encoder
113
EDBCSXS064 EN 4.0
6.8.4
Absolute value encoder as position and speed encoder
Danger!
Valid when using an operating software up to and including V7.0:
When absolute value encoders are used, uncontrolled movements of the drive
are possible!
If an
absolute value encoder
is disconnected from the axis module during
operation, the fault OH3−TRIP occurs. If the
absolute value encoder
now is
connected to X8 again and a TRIP−RESET is carried out, the drive may start up in
an uncontrolled manner with a high speed and a high torque. A SD8−TRIP will
not occur, as would be expected.
Possible consequences:
ƒ
Death or severe injuries
ƒ
Destruction or damage of the machine/drive
Protective measures:
ƒ
If a fault (trip) occurs during commissioning when an
absolute value
encoder
is used, check the history buffer C0168. If an Sd8−TRIP is at the
second or third place, a reinitialisation is absolutely necessary. For this
purpose, switch off and on again the 24−V supply of the control electronics.
If an absolute value encoder with Hiperface® interface is connected to X8 and used as
position and speed encoder, the following setting sequence must be observed:
1. Select absolute value encoder as position and speed encoder.
– Single−turn encoder: C0490 and C0495 = 3
– Multi−turn encoder: C0490 and C0495 = 4
If X8 has been selected as output by changing C0491, X8 will be automatically reset to
input through the encoder selection.
Note!
When encoders are used for position and speed control, the same feedback
system will automatically be set for both control modes. Separate feedback
systems can only be selected in connection with a resolver (see code table,
C0490 and C0495).
2. Select an absolute value encoder.
– Single−turn encoder: C0419 = 307 ... 311
– Multi−turn encoder: C0419 = 407 ... 411
The encoder data (C0420, C0421, C0427) is set automatically in accordance with the
selection.
