Encoder evaluation

INFORMATION

Note that the modulo reference may be lost when acknowledging an encoder error.

Parameter designation

Description

Position controller

Encoder source

 

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

Selection of the encoder source:

  • 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

External encoder settings

Type

 

INFORMATION: Only visible if the encoder source is "Position controller" or the encoder source of the skew compensation is "External encoder" or "Motor encoder and external encoder".

Select whether the external encoder on the inverter is read via an option card or via the MOVIKIT® EncoderInterface:

  • Encoder 2 connected to the inverter
  • EtherCAT® encoder

Source EtherCAT encoder members 1-4

Selection of the name of the EncoderInterface that is to be considered the encoder source of the respective member. If the EtherCAT®encoder is only required for the position controller, it is sufficient to connect the source EtherCAT® encoder member 1.

New initialization of encoder when changing encoder source

 

INFORMATION: Only visible in expert mode. For further information, refer to chapter New initialization of encoder when changing encoder source.

Activate new initialization of encoder 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 source.

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 in expert mode and if neither "Motor encoder" nor "High-resolution EtherCAT® encoder" is selected as the encoder source.

Dead time of 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