0x8F00-01 – Encoder feedback configuration

INFORMATION

When using closed loop control, a "commutation detection" must always be carried out after the system starts. Otherwise you will receive an error message.

INFORMATION

The motor axis must be able to rotate freely during the commutation detection. There must be no external torque to counteract this. Activate "0x8D00-04 – Move stepper clear before commutation detection" before commutation detection.

Index-Sub

Type

RW

Default

Range of values

Unit

Description

0x8F00-01

U32

R/W

0

0 – 5

Encoder – Feedback configuration

This object is used to activate the encoder inputs.

0x8F00-01

Loop type

Supported operating modes

0

 

Open loop

  • PtP position profile Speed profile Reference travel (homing) Synchronous positioning
  • 0 is output under "0x8F00-02 – Actual encoder value". No encoder is used.

 

1

 

Open loop

  • PtP position profile Speed profile Reference travel (homing) Synchronous positioning

 

The current encoder value is output under "0x8F00-02 – Actual encoder value". The encoder value is not used for control.

 

3

 

Closed loop

  • PtP position profile Speed profile Reference travel (homing)
  • Torque control
  • Synchronous positioning
  • Commutation detection

The current encoder value is output under "0x8F00-02 – Actual encoder value". The encoder value is used for field-oriented control (FOC).

5

 

Pseudo closed loop

  • PtP position profile Reference travel (homing)

The current encoder value is output under "0x8F00-02 – Actual encoder value". The encoder value is used for control.