Encoder coupling

 

Note that the configuration menu is only displayed if the function "Combined encoder evaluation" is activated in the "Basic settings" configuration menu under "Additional functions".

For more information on the operating principle, refer to the Online Support of SEW-EURODRIVE in the MOVIKIT® MultiAxisController manual.

Parameter designation

Description

Coupling monitoring between external encoder [A] and motor encoder [B]

Mechanical connection type

Select the connection type of the encoder coupling. Depending on the selected value, additional settings fields are displayed.

  • No connection type
  • Form closure
    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 dead time, and backlash and spring movements.
  • Friction contact
    In addition to the absolute error and warning windows, for couplings with slip, set the parameters for the slip error and slip warning window as well as for the slip period.

Index: 50013.27

IEC name: –

Absolute error window [1]

Permitted difference between the mean position value of all motor encoders and the mean position value of all external encoders. 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.

(in user units)

Index: 50013.21

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

Absolute warning window [2]

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

(in user units)

Index: 50013.22

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

Slip error window [3]

INFORMATION: Only visible if the mechanical connection type is "friction contact".

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".

(in %)

Default value: 0

Index: 50013.23

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

Slip warning window [4]

INFORMATION: Only visible if the mechanical connection type is "friction contact".

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".

(in %)

Default value: 5.000

Index: 50013.24

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

Slip period [5]

INFORMATION: Only visible if the mechanical connection type is "friction contact".

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.

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

(in user units)

Index: 50013.25

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

Reset on restart

INFORMATION: Only visible in expert mode and when the mechanical connection type is "friction contact".

  • 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, Bit0

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