Step 4: Activate combined encoder evaluation

  • If several encoders are configured in the drive train, only one of them may be used for position control.
  1. Deactivate the "Position control" setting under [Drive trains] > [Drive train 1] > [Motor encoder] > [Usage].
  2. Activate the "Position control" setting under [Drive trains] > [Drive train 1] > [Distance encoder] > [Usage].
    • The distance encoder is used for position control.
  3. Activate the "Combined encoder evaluation" function under [Drive trains] > [Drive train 1] > [Distance encoder] > [Combined encoder evaluation].
    • The suggested value of 100 ms can be used as the time constant of the combined encoder evaluation. If the result is not satisfactory, adjust the time constant under [Drive trains] > [Optimization DT1] > [Combined encoder evaluation], see Step 5: Check configuration values.
  4. Transfer the parameterization of the drive train to the inverter using the [Apply changes] button.
    • Combined encoder evaluation is active. If necessary, perform referencing again after transferring the drive train.
  5. Use the suggested value as the P gain of the position controller.
    • If the result is not satisfactory, adjust the value under [Drive trains] > [Optimization DT1] > [Advanced settings] > [Position controller], see Step 5: Check configuration values.