Encoder evaluation

INFORMATION

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

Parameter designation

Description

External encoders (can only be configured in expert mode)

External encoders are determined based on the lower-level member or set via sliders. The number of sliders displayed depends on the number of lower-level 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

Balance controller

Encoder source of skew balancing

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

  • 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 calculation of overload guard

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

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 the encoder evaluation.

Index: 50011.17

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

Settings of external encoders (only visible in expert mode)

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

INFORMATION: Only visible if the type is "EtherCAT encoder".

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. 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 "Motor encoder" is not selected as the encoder source.

Integral time for encoder adjustment in [s]

The time constant can be determined by measuring the period duration of an oscillation in the actual speed or in the torque.

Default value: 0.1

Index: 50013.3

IEC name: Controller.EncoderEvaluation.Config.lrInputFilterTime_ExtEnc

Dead time

INFORMATION: Only visible in expert mode and if "Motor encoder" is not 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