Chapter 6
– Troubleshooting
43
XtrapulsCD1-pm - User manual
For the
TTL incremental encoder
configuration:
▪
Check for the correct encoder supply voltage value.
▪
Check for the correct encoder-amplifier-motor ground and shield connections with regard to the
recommendations in
chapter 4 of the XtrapulsCD1-pm Installation Guide
.
▪
Check for the correct encoder A channel, B channel and Z marker signal waveforms.
▪
Check that the following conditions are answered for taking into account the maximum value of the encoder
pulse frequency at the maximum motor speed value :
Max. motor speed (rpm) < 60 x 10
6
/ Number of encoder pulses per revolution.
Max. motor speed (rpm) < 60 x Encoder pulse frequency limit (Hz) / Number of encoder pulses per revolution.
▪
Check that the
Motor encoder resolution
and the
Zero mark pitch
parameter values are correct.
▪
Check that the number of encoder pulses between two successive Z marker pulses is equal to the
Motor
encoder resolution
value multiplied by the
Zero mark pitch
parameter value. If this condition is not fulfilled,
the encoder counting protection must be disabled in order to cancel the
Counting
fault. The encoder
counting protection can be disabled by means of the parameter
Zero mark pitch
set at 0.
▪
For a linear motor with only one marker pulse over the whole motor travelling range, the parameter
Zero
mark pitch
must be set at 15. In this case the encoder counting protection is checking that the measured
encoder position has always got the same value when the marker pulse is activated (no position
measurement drift).
Note: In the
TTL incremental encoder
configuration
without HES
, the motor
Phasing
procedure must be
executed again after a
Counting
fault release.
For the
Sin/Cos encoder
configuration:
▪
Check for the correct encoder supply voltage value
▪
Check for the correct encoder-amplifier-motor ground and shield connections with regard to the
recommendations of
chapter 4 in the XtrapulsCD1-pm Installation Guide
.
▪
Check for the correct encoder A channel, B channel and R reference signal waveforms.
When the encoder counting protection has been disabled, the amplifier is only checking that the
encoder pulses frequency is lower than 1.5 times the maximum encoder frequency. The maximum
encoder frequency is calculated into the amplifier according to the
Motor encoder resolution
parameter value and the
Maximum speed
parameter value. In this case, encoder pulse noise at a
frequency lower than 1.5 times the maximum encoder frequency may involve uncontrolled motor
movements that may be dangerous for operator and machine.
!
