AMD2000 Series - Servo Drive - User Manual
104
DS619-0-00-0019 - Rev 0
ANCA Motion
For analogue (SINCOS) encoders further information is required regarding the Sine and Cosine information in the
channel. The two IDN’s listed in the following table are each an array containing two elements. The first element
in each IDN array relates to the Cosine information from the sensor, and the second element relates to the Sine
information, so their respective descriptions for each IDN use the terminology “CosSin” to reflect this particular
ordering of the input information. IDN 33803 allows the user to configure the gain applied to the analogue inputs
for each of the Cosine or Sine inputs. IDN 33804 is similarly configured for offsets from zero.
IDN
Description
P-0-1035 / 33803 Motor Encoder CosSin Gain
P-0-1036 / 33804 Motor Encoder CosSin Offset
External Encoder Feedback
If IDN 33797 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 external encoder details can be
configured such as;
IDN
Description
S-0-0115 / 115
External Encoder Feedback Type
S-0-0117 / 117
Resolution of Rotary External Encoder
S-0-0118 / 118
Resolution of Linear External Encoder
P-0-0005 / 32773 External Encoder Control Word
The external encoder is usually the feedback device attached at the end effector. Encoder details must be
configured via parameters S-0-0115 / 115 and P-0-0005 / 32773, for specific bitfield details refer to the SoE
parameters document.
The resolution of an incremental external encoder is defined via S-0-0117 / 117 for rotary encoders and S-0118 /
118 for linear encoders. Again, please refer to the SoE parameters document for details .
Analogue Incremental Encoders Only
For analogue (SINCOS) encoders further information is required regarding the Sine and Cosine information in the
channel. The two IDN’s listed in the following table are each an array containing two elements. The first element
in each IDN array relates to the Cosine information from the sensor, and the second element relates to the Sine
information, so their respective descriptions for each IDN use the terminology “CosSin” to reflect this particular
ordering of the input information. IDN 33843 allows the user to configure the gain applied to the analogue inputs
for each of the Cosine or Sine inputs. IDN 33844 is similarly configured for offsets from zero.
IDN
Description
P-0-1075 / 33843 External Encoder CosSin Gain
P-0-1076 / 33844 External Encoder CosSin Offset