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Accordingly, the following table starts by listing all the parameters for the Ch3
encoder channel. If the functionality of a parameter is different from that of the
corresponding parameter for encoder channel Ch1, the parameter will be described
in the chapters that go over selecting a special encoder with (507) ENC_CH3_Sel
and (570) ENC_CH3_Abs.
Parameters Lines, MultiT, SingleT, etc. are self-explanatory.
Most of the following parameters are explained in the information for encoder
channel Ch1 (see Section "Channel 1: Interface X7" on page 59).
ID Index Name Unit Description
349 0 CON_FM_MConOffset Commutation offset
502 0..3 ENC_CH3_ActVal Current position value at encoder channel Ch3
output
507 0 ENC_CH3_Sel Main selection on encoder channel Ch3
514 0 ENC_CH3_Num Encoder gearing: Numerator
515 0 ENC_CH3_Denom Encoder gearing: Denominator
520 0 ENC_MCon =3, channel selection for motor commutation
521 0 ENC_SCon =3, channel selection for speed control
522 0 ENC_PCon =3, channel selection for position control
570 0 ENC_CH3_Abs Absolute value interface selection (one-time
reading)
571 0 ENC_CH3_NpTest TEST-MODE: Index pulse signal(s) to Scope
572 0 ENC_CH3_Lines Number of Lines (Sin/Cos / TTL encoders)
573 0 ENC_CH3_MultiT Number of MultiTurn bits (absolute encoder)
574 0 ENC_CH3_SingleT Number of SingleTurn bits (absolute encoder)
574 0 ENC_CH3_Code Code selection (SSI encoder) (binary, gray)
576 0 ENC_CH3_Mode Mode selection (SSI encoder)
577 0 ENC_CH3_EncObsMin Encoder monitoring minimum, sqrt
(a^2+b^2) Encoder observation minimum, sqrt
(a^2 + b^2)
578 0 ENC_CH3_Extended ENC CH3: Extended
580 0 ENC_CH3_Info Encoder information channel 3
581 0 ENC_CH3_AbsEncStatus Error and status codes (absolute encoder)
582 0 ENC_CH3_PeriodLen nm Length of signal period (Sin/Cos linear encoder)
Table 6.21: Encoder configuration channel 3 (X8) parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help 81
6 Encoder
ID Index Name Unit Description
583 0 ENC_CH3_
DigitalResolution nm Length of one increment (linear absolute encoder)
584 0 ENC_CH3_MTBase Definition of point of discontinuity in multi-turn
range
585 0 ENC_CH3_MTEnable Enable MultiTurn use (negative logic, 1=MToff)
586 0 ENC_CH3_Corr Signal correction type
587 0..4 ENC_CH3_CorrVal Signal correction values
588 0 ENC_CH3_EncObsAct Amplitude of analog signals (vector length)
589 0 ENC_CH3_HallLayout Hall pattern selection
600 0 ENC_CH3_Position inc Position encoder channel 3
602 0 ENC_CH3_Period ms Maximum period of interpolation (ttl encoder)
609 0 ENC_CH3_EncOnsActTF ms Filter time constant for amplitude of analog
signals
630 0 ENC_CH3_
NominalincrementA
Sign.
per.
Nominal increment A (distance coded abs.
encoder)
631 0 ENC_CH3_
NominalincrementB
Sign.
per.
Nominal increment B (distance coded abs.
encoder)
636 0
ENC_CH3_CycleCount
Position encoder sampling cycle (n x 125 µsec)
637 0 ENC_CH3_AbsInitMode Mode absolute value formation
640 0..29 ENC_ENDAT EnDat additional
641 0 ENC_Warning Encoder warning (e.g. from encoder internal
memory)
642 0 ENC_Warning Encoder warning reset (e.g. in encoder internal
memory)
643 0 ENC_Error Encoder error (e.g. from encoder internal
memory)
644 0 ENC_ErrorReset Encoder error reset (e.g. in encoder internal
memory)
1900 0 ENC_ETS ETS mode, electronic nameplate
1902 0 ENC_ETS_CTRL ETS control, electronic nameplate
1903 0..15 ENC_ETS_STAT ETS status, electronic nameplate
1904
0..511
ENC_ETS_DATA ETS data, electronic nameplate
2824 0 ENC_CH3_TTL_
SignalType TTL signal type selection
Table 6.21: Encoder configuration channel 3 (X8) parameters (continue)