NORDAC SK 530E with PosiCon function
16
Subject to technical changes
BU 0510 EN
3.2.2.5 Encoder
error
If a CANopen encoder is parameterised in SK 530E and the position control is switched on in parameter P600
"Position control", the function of the encoder is constantly monitored. If the "Position control" P600 is not switched
on, the encoder is position is displayed but no error messages will be generated if there is a problem. Emergency
or manual operation is therefore always possible.
•
If one of the following conditions occur, a malfunction or error message E14.4
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is triggered:
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There is no contact to the encoder five seconds after the SK 530E is switched on
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The encoder does not respond to an SDO command from the SK 530E
-
The parameters set in SK 530E do not correspond to the options in the encoder (e.g. P605 resolution
of CANopen absolute encoder)
-
The SK 530E does not receive a position value for a period of 50 ms.
If there is an error in the encoder, the last valid position is kept in the SK 530E.
3.2.3 Encoder
monitoring
The position difference between both encoders, if both an absolute and incremental encoder are present, can be
monitored with the parameter P631 " Abs/Inc Slip error". The maximum permissible position deviation between the
absolute and incremental encoders is specified by the value set in this parameter. The drag error monitoring is
active when the value is "0". If the maximum permissible deviation is overshot, the error message "E013 (E14.6)" is
activated. The ratio or the location where both encoders are attached can be different. A parameter value can be
parameterised for each of the two encoders for the parameters P607 "Ratio", P608 "Reduction ratio" and P609
"Offset actual position".
If a second redundant encoder is not present for position monitoring , a drag error can be specified for the position
in the parameter P630 "Position slip error". In this case, the actual position is compared with the position change
calculated from the actual speed. When a target position is reached, the estimated position is set to the position
actual value by the encoder to prevent the values being added together over the time. If the position difference
exceeds the drag error value set in P630 " Position slip error", the error message "Error E013 (E14.5)" is activated.
Larger values in P630 are required if the paths are also large. The necessary value should be best determined
experimentally. The drag error monitoring is deactivated when the value is "0".
The permissible working area can be limited with the parameters P616 "Minimum position" and P615 "Maximum
position". If the drive leaves the permissible area, the error message "Error E013 (E14.7) Maximum position
overshot" or "Error 013 (E14.8) Minimum position undershot" is activated.
The position monitors are deactivated when the value set is "0". Position monitoring is also deactivated in
parameter P604 "Encoder type" with the settings 3, 4, 5 or 7.
ATTENTION
Position setpoints that are greater than the values set for "Minimum position" in parameter
P616 and "Maximum position" in parameter P615 are limited to the values set for this values
internally in the inverter.
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Error message is only possible when positioning is active