Encoder evaluation

INFORMATION

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

Parameter designation

Description

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

Position controller

Encoder source

Selection of the encoder source:

  • Motor encoder
  • External encoder
  • Motor encoder and external encoder

Index: 50013.1

IEC name: Controller.EncoderEvaluation.Config.eActPos_EncSelector

Settings of external encoders

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
  • INFORMATION: When using an EtherCAT® encoder via the MOVIKIT® EncoderInterface, the user unit and scaling of the EtherCAT® encoder and motor encoder must be identical.

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 "Source of EtherCAT® encoder axis group member 1".

New initialization of encoder when changing encoder source

 

INFORMATION: Only visible in expert mode.

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 the 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