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6.5.4.2.2 Linear Sin/Cos
incremental encoders
Linear Sin/Cos encoders are operated as rotary encoders. For linear motor
operation, P 542[0] - ENC_CH1_Lines and the encoder gearing (see Section
"Encoder gearing" on page 89) are used to establish the ratio for the linear motor’s
pole pair subdivision (North-North) for commutation. 1 x North-North corresponds to
one revolution from Lines. In this case, the motor pole pair number must be set to 1.
Moreover, P 553[0] - ENC_CH1_PeriodLen is not used in this case.
6.5.4.2.3 Signal correction (GPOC)
The GPOC (gain phase offset correction) routine used for track signal correction
purposes for sine/cosine signals is used to compensate for systematic errors. The
routine is controlled in encoder channel Ch1 with P 549[0] - ENC_CH1_Corr and
P 550[0] - ENC_CH1_CorrVal. For details see Section "Signal correction GPOC
(Gain Phase Offset Correction)" on page 74
6.5.4.2.4 Sin/Cos incremental encoders with absolute
value interface
The following table lists the parameters for cyclical Sin/Cos operation on encoder
channel Ch 1 with one-time reading of the absolute encoder position via the
absolute value interface, i.e. without a zero pulse:
ID Index Name Unit Description
505 0 ENC_CH1_Sel = 1 Encoder selection set to SINCOS(1)
510 0 ENC_CH1_Num Encoder gearing: Numerator
511 0 ENC_CH1_Denom Encoder gearing: Denominator
540 0 ENC_CH1_Abs Absolute value interface selection (one-time
reading)
Table 6.9: Parameters for channel 1 (X7) - Sin/Cos encoder
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help 65
6 Encoder
ID Index Name Unit Description
542 0 ENC_CH1_lines Number of Lines (Sin/Cos / TTL encoders)
543 0 ENC_CH1_MultiT Number of MultiTurn bits (absolute encoder)
544 0 ENC_CH1_SingleT Number of SingleTurn bits (absolute encoder)
545 0 ENC_CH1_Code Code selection (SSI encoder) (binary, gray)
546 0 ENC_CH1_Mode Mode selection (SSI encoder)
547 0 ENC_CH1_MTBase Definition of point of discontinuity in multi-turn
range
548 0 ENC_CH1_MTEnable Enable MultiTurn use (negative logic, 1=MToff)
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 6.9: Parameters for channel 1 (X7) - Sin/Cos 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
page 69.
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