Encoder evaluation

INFORMATION

Please note that the modulo reference may be lost when acknowledging an encoder fault.

Parameter name

Description

Encoder evaluation

Encoder type

 

INFORMATION: If the encoder type "Motor encoder and external encoder" or "External encoder" is selected, referencing of the external encoders via "FCB 12 Reference travel" is not possible.

INFORMATION: An encoder that has a lower resolution than a motor encoder for the same distance is referred to as a low-resolution or external encoder. An encoder that has a resolution similar to a motor encoder for the same distance is referred to as a high-resolution encoder.

Encoder type selection:

  • Motor encoder
  • External encoder
  • Motor encoder and external encoder
  • Motor encoder and low-resolution EtherCAT® encoder
  • High-resolution EtherCAT® encoder
  • Low-resolution EtherCAT® encoder
  • High and low-resolution EtherCAT® encoders

Index: 50013.1

IEC name: Controller.EncoderEvaluation.Config.eActPos_EncSelector

New initialization of encoder when changing encoder source

Activate encoder re-initialization when changing encoder source

  • Yes
  • No

Index: 50013.6

IEC name: Controller.EncoderEvaluation.Config.xDontInitializeAtEncSelectorChange

Time constant

INFORMATION: Only visible if neither "Motor encoder" nor "High-resolution EtherCAT® encoder" is selected as the encoder type.

Integral time for encoder adjustment in [s]

Default value: 0.1

Index: 50013.3

IEC name: Controller.EncoderEvaluation.Config.lrInputFilterTime_ExtEnc

Dead time

INFORMATION: Only visible if neither "Motor encoder" nor "High-resolution EtherCAT® encoder" is selected as the encoder type.

Dead time of the external encoder in [s]

Contact SEW‑EURODRIVE or the manufacturer of the external encoder to obtain the relevant value.

Default value: 0

Index: 50013.4

IEC name: Controller.EncoderEvaluation.Config.lrDeadtime_ExtEnc

Source of the low-resolution EtherCAT® encoder

INFORMATION: Only visible if "Motor encoder and low-resolution EtherCAT® encoder", "Low-resolution EtherCAT® encoder" or "High- and low-resolution EtherCAT®" has been selected as encoder type.

Selection of the name of the EncoderInterface to be used as low-resolution EtherCAT® encoder.

Index: 50013.10

IEC name: –

Source of the high-resolution EtherCAT® encoder

INFORMATION: Only visible if "High-resolution EtherCAT® encoder" or "High- and low-resolution EtherCAT® encoder" has been selected as encoder type.

Selection of the name of the EncoderInterface to be used as high-resolution EtherCAT® encoder.

Index: 50013.11

IEC name: –