Encoder Adjustment, Calibrating The Axes - Siemens Sinumerik 840D sl Function Manual

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SUM[0]. Further, if they do not match the associated drive parameters, Alarm

27036 "Axis %1 encoder parameterization MD %2[%3] was adapted" is output.

Just the same as for all encoder data, the NCK machine data for the DRIVE--CLiQ

encoder are not incorporated directly in the crosswise data comparison with the

drive, as in these components, a corresponding equivalent does not always exist.

However, they are indirectly secured through the crosswise actual value compari-

EnDat 2.2 converter

When using the EnDat 2.2 protocol, a delay is incurred when providing the actual

value information as a result of its serial data transfer.

If an EnDat 2.2 converter is used in a 2--encoder system, then as a consequence,

a velocity--dependent position difference is obtained. This must be taken into consi-

deration in the parameterization. In the SI service screen, using entry "Maximum

position tolerance NCK/drive" users can determine the position differences that

occur, and make the appropriate position tolerance setting in

$MA_SAFE_POS_TOL.

This value includes the deviation as a result of the mechanical system, as well as

also the maximum difference resulting from the EnDat 2.2 delay.

Encoder adjustment, calibrating the axes

Adjusting the motor encoder

Generally, for 1--encoder systems, the integrated encoder is an integral component

of the motor (the encoder is adjusted to match the motor). Data relating to

distance, speed and rotor position (for synchronous drives) is obtained from one

encoder. It is no longer possible to adjust the encoders in motor measuring

systems in the conventional sense.

SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition

Basics on the safety functions integrated in the system/drive

5.4 Actual value conditioning

Sinamics s120