Table of Contents
Advertisement
In this example, this means:
● Without position tracking, the position for +/- 4 encoder revolutions around r2521 = 0 LU
can be reproduced.
● With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions
with load gear) can be reproduced (p2721 = 24).
Practical example:
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
This means that +/- 131072 encoder revolutions or load revolutions can be reproduced.
For a rotary axis, a value for p2721 = p0421 is set for an encoder.
Configuration of the load gear (p2720)
The following points can be set by configuring this parameter:
● p2720.0: Activation of position tracking
● p2720.1: Setting the axis type (linear axis or rotary axis)
Here, a rotary axis refers to a modulo axis; the modulo offset can be activated from a
higher-level control or EPOS. With a linear axis, position tracking is mainly used to extend
the position area (see section: Virtual multiturn encoder (p2721)).
● p2720.2: Reset position
The position values stored in a non-volatile fashion are reset for the following events:
– If encoder replacement is detected.
– If the configuration of the encoder data set (EDS) is modified.
– If the absolute encoder is re-calibrated.
Note
If position tracking of the load gear is activated with parameter p2720.0 = 1 (Load gear
activate position tracking) after the encoder has been adjusted (p2507 = 3), then the
adjustment is reset.
Further adjustment of the encoder while the position tracking is activated will cause the load
gear position to be reset (overflow).
The permissible range of position tracking is mapped to the reproducible EPOS encoder
range.
It is possible to activate position tracking for several DDS.
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
Functions, monitoring and protective functions
9.4 Extended functions
639
Advertisement
Table of Contents
