ID
Index Name
Unit Description
549
0
ENC_CH1_Corr
Signal correction type
550
0-4
ENC_CH1_CorrVal
Signal correction values
551
0
ENC_CH1_EncObsMin
Encoder monitoring minimum, sqrt(a^2+b^2)
552
0...
ENC_CH1_AbsEncStatus
Error and status codes (absolute encoder)
553
0
ENC_CH1_PeriodLen
nm
Length of signal period (Sin/Cos linear encoder)
554
0
ENC_CH1_
DigitalResolution
nm
Length of one increment (linear absolute encoder)
555
0
ENC_CH1_Info
Encoder information
616
0
ENC_CH1_CycleCount
Sampling cycle in: n x 125 μ (microseconds)
610
0
ENC_CH1_
NominalIncrementA
Sign.
per.
Nominal increment A (distance coded abs.
encoder)
611
0
ENC_CH1_
NominalIncrementB
Sign.
per.
Nominal increment B (distance coded abs.
encoder)
617
0
ENC_CH1_AbsInitMode
Mode absolute value formation
1900
0
ENC_ETS
ETS mode, electronic nameplate
Table 6.10: Parameters for channel 1 (X7) - SinCos encoder (continue)
The Sel, Num, Denom, Abs, Lines, MultiT, SingleT and CorrVal parameters are self-
explanatory.
The Code and Mode parameters are described in Section "SSI (cyclical) X7" on
l
P 547[0] - ENC_CH1_MTBase
= Minimum MultiTurn position
The
MTBase
parameter is used to set a position in the multi-turn encoder’s
travel path that defines the point of discontinuity (overflow/underflow) for the
absolute value initialization (that is, the “multi-turn basis”). Assuming a
bipolar encoder measuring range, all position values that fall below
MTBase
will be shifted “up” (the whole MT range will be added to them once). This
method makes it possible to place the point of discontinuity at any point
within the encoder’s entire measuring range. By default,
MTBase
will be set
to the lowest possible value for the parameter, i.e. reliably outside of the
encoder’s value range: In this case, the full bipolar range will remain
unaffected, as values will never fall below this
MTBase
threshold (see
Section "Channel 1: Interface X7" on page 59).
l
P 548[0] - ENC_CH1_MTEnable
= MultiTurn as SingleTurn
The
MTEnable
parameter makes it possible to use multi-turn encoders as
ID No.: 0842.26B.5-01 Date: 09.2020
ServoOne - Device Help
67
6 Encoder
single-turn encoders for test purposes. Negative logic: Default MTEnable = 0
means "MultiTurn-Enable ON".
l
P 549[0] - ENC_CH1_Corr
= Signal correction type
The GPOC routine used for track signal correction purposes for sine/cosine
signals is used to compensate for systematic errors. The routine is controlled
with the Corr and CorrVal parameters (see Section "Signal correction GPOC
(Gain Phase Offset Correction)" on page 75).
l
P 551[0] - ENC_CH1_EncObsMin
= Encoder monitoring minimum, sqrt
(a^2+b^2)
The parameter
EncObsMin
is used to scale the SinCos wire break
monitoring and represents the “downwards threshold” for an error message.
The default setting is 0.2, corresponding to approx. 20% of the track signals’
amplitude (approx. 80% corresponds to approx. 1 Vss). If EncObsMin is set to
0, SinCos wire break monitoring will be disabled (also see Section "Channel
1: Interface X7" on page 59).
l
P 552[0] - ENC_CH1_AbsEncStatus
= Error and status codes (absolute
encoder)
The AbsEncStatus parameter is used to display status information for
HIPERFACE encoders. In subindex [0], the read “TypeKey” for the
HIPERFACE encoder will be indicated (one byte), for example.
l
P 553[0] - ENC_CH1_PeriodLen
= SinCos linear encoder and
P 554[0] - ENC_CH1_DigitalResolution
- linear absolute encoder
are the length of an analogue SinCos signal period in nanometres and the
length of a digital increment of the position from the absolute value interface
in nanometres. Both parameters are used for linear EnDat encoders and
linear HIPERFACE encoders (instead of MultiT and SingleT bits (rotary)). In
contrast, linear SSI encoders are treated as rotary SSI encoders (in this case,
it is impossible to determine that the system is a linear encoder system based
on the encoder head). Likewise, linear SinCos encoders without an absolute
value interface are treated as “rotary” encoders (if run as commutation
encoders, the number of tracks, or lines (
Lines
) and the encoder gearing
(
Num, Denom
) must be used to establish the relationship to the linear
motor’s magn. pole pair subdivision). Only in the case of SinCos encoders