Encoder coupling

INFORMATION

The configured values are only relevant if an external encoder has been selected as the source. The coupling-monitored encoders (motor encoders and external encoders) must have the same user unit and the same modulo limits.

Monitoring for positive encoder coupling (motor encoder and external encoder):

Use the parameters of the absolute error and warning windows. The configured values of these windows should be greater than the sum of encoder noise, encoder delay, and slack and spring movements.

Monitoring for frictional (slipping) encoder coupling (motor encoder and external encoder):

In addition to the absolute error and warning windows, set the slip error and slip warning window and slip period parameters for couplings with slip.

Parameter designation

Description

Coupling monitoring

Absolute error window

Permitted difference between the mean position value of all motor encoders and the mean position value of all external encoders (in user units). To deactivate monitoring of the absolute error window, enter "0". For the configuration, it is recommended to perform a measurement run and read out the maximum value of the coupling error.

Default value: 0

Index: 50013.21

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.lrAbsoluteErrorDistanceWindow

Absolute warning window

Permitted difference between the mean position value of all motor encoders and the mean position value of all external encoders (in user units). To deactivate monitoring of the absolute warning window, enter "0".

Default value: 5 motor revolutions (in user units)

Index: 50013.22

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.lrAbsoluteWarningDistanceWindow

Slip error window

Allowed slip relative to the movement of the motor encoder up to the error message. To deactivate monitoring of the slip error window, enter "0".

Default value: 0%

Index: 50013.23

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.lrSlipRelationErrorWindow

Slip warning window

Allowed slip relative to the movement of the motor encoder up to the warning message. To deactivate monitoring of the slip warning window, enter "0".

Default value: 5%

Index: 50013.24

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.lrSlipRelationWarningWindow

Slip period

When the slip period has ended, the calculated current slip is reset. If the "Slip warning window" or "Slip error window" parameters are used, the slip period must be greater than 0. The recommended value is one tenth of a travel cycle (in user units).

The slip period is important in order to limit the maximum coupling error caused by slip.

See Monitoring of encoder couplings.

Default value: 50 motor revolutions (in user units)

Index: 50013.25

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.lrSlipDistancePeriod

Reset on restart

 

INFORMATION: Only visible in expert mode.

  • On: The encoder difference is reset when the MOVI-C® CONTROLLER is started up.
  • Off: The encoder difference must be reset manually via the "Reset encoder difference" button or via the process data of the higher-level controller (PD 10 Bit 12).

Index: 50013.26 Bit 0

IEC name: Controller.EncoderEvaluation.Config.CouplingObserver.xDeleteDistanceWithEnableEdge