Encoder evaluation

INFORMATION

Note that when acknowledging an encoder fault, the modulo reference can be lost.

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 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

External encoders

Define external encoders via sliders. The number of sliders displayed depends on the number of subordinate axis group members.

Index: 50010.60-50010.63

IEC name: Controller.Config.EnableExternalEncoder.xAGMember1-4

Motor encoder (only visible in expert mode)

Specify the motor encoder via the slider. The number of sliders displayed depends on the number of subordinate axis group members.

Index: 50010.65-50010.68

IEC name: Controller.Config.EnableMotorEncoder.xAGMember1-4

Encoder source of skew balancing

 

INFORMATION: Only visible in the "Skew with/without overload guard" operating mode.

  • Motor encoder
  • Mean position value for the motors
  • External encoders
  • Mean position value for the external encoders
  • Motor encoders and external encoders
  • Mean position value for the motors and external encoders

Index: 50011.16

IEC name: Controller.MAC.Config.SkewLeveling.eEncSelector

Speed source for calculating the overload guard

 

INFORMATION: Only visible in expert mode and in the "Skew with overload guard" operating mode.

SEW‑EURODRIVE recommends the "Motor encoder" setting if there is a positive connection, otherwise a variant with an external encoder is recommended.

  • Motor encoder
  • Actual speed of the motors
  • External encoders
  • Actual speed of the external encoders
  • Motor encoders and external encoders
  • Actual speed, motors and external encoders combined
  • External encoders filtered
  • Actual speed of the external encoder filtered by the time constant of encoder evaluation (lrInputFilterTime_ExtEnc).

Index: 50011.17

IEC name: Controller.MAC.Config.SkewLeveling.eOverloadGuard_EncSelector