SHS EtherCAT HT7, User Manual

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6 Encoder Feedback
A digital encoder sensor can be connected to the drive, both single ended and differential sensors
are accepted; wiring instructions are available into the hardware manual.
The behavior of the drive when the encoder is used is configured by the Encoder Mode sub-index of
the Encoder Configuration Object 0x2032. The available modes are described in the next chapters.
6.1 Encoder Mode 0
When the Encoder Mode sub-index is set to 0, the encoder doesn’t affect the positioning, the
position can be read on Encoder Counts Object 0x2030.
6.2 Encoder Mode 1
If this mode is active, the drive checks whether the difference between the theorical position and the
encoder feedback position is lower than the value set in Encoder Fault Steps Object 0x2034.
When this condition is violated, the drive rise an error in the statusword, based on the active
operating mode, see Table 6-1. The motor keeps running until the target position is reached.User
must take into account that if the stepper motor is in a stall condition, it should be stopped and
restarted in order to exit this condition.
Active Mode Statusword flag Encoder Error action Statusword bit
Profile Position Following Error Rise 13
Profile Velocity Speed Rise 13
Table 6-1 Encoder action on statusword
6.3 Encoder Mode 2
If this mode is active, the drive checks whether the difference between the theorical position and the
encoder feedback position is lower than the value set in Encoder Fault Steps Object 0x2034.
When this condition is violated, an error in the statusword, based on the active operating mode, see
Table 6-1. Despite mode 1, the drive stops the motor.
HT7 Ethercat User Guide 12