Config

INFORMATION

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

Variable name

Description

eActPos_EncSelector

Data type: E_ENCODEREVALUATION

Source for actual position:

  • MotorEncoder – Motor encoder
  • ExternalEncoder – External encoder
  • MotorAndExternalEncoder – Motor encoder + external encoder
  • MotorAndLowResolutionEC_Encoder – Motor encoder and low-resolution EtherCAT® encoder
  • HighResolutionEC_Encoder – High-resolution EtherCAT® encoder
  • LowResolutionEC_Encoder – Low-resolution EtherCAT® encoder
  • HighAndLowResolutionEC_Encoder – High-resolution and low-resolution EtherCAT® encoder

xDontInitializeAtEncSelectorChange

Data type – BOOL

  • TRUE – Initialize modulo and all filters when changing encoder selection
  • FALSE – Do not initialize modulo and all filters when changing encoder selection (required for on-the-fly changes)

lrInputFilterTime_ExtEnc

Data type – LREAL – Floating-point number

Integral time for encoder adjustment in [s]

lrDeadtime_ExtEnc

Data type – LREAL – Floating-point number

Dead time of the external encoder in [s]

Dead time required by the sensor for measuring. Other dead times of the inverter are considered automatically.

xInterpolationFilterOn

Data type – BOOL

  • TRUE – Filter external and low-resolution encoders
  • FALSE – Do not filter external and low-resolution encoders