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Commissioning
5.6 MCO Basic Settings
5.6.1 32-0* and 32-1*, Encoder 2
Parameters
The 32-0* and 32-1* parameters configure the interface for
encoder 2.
32-00 Incremental Signal Type (0x1234)
Slave Denominator (Subindex 02)
This parameter specifies the type of incremental encoder
connection to Encoder 2 interface (X55 and X62 if a CAN encoder
is used).
Option:
[0]
None
[1]
RS422 (5 V TTL)
*
[2]
Sinusoidal 1 Vpp
[3]
CAN encoder
32-01 Incremental Resolution
Range:
Function:
1024
[1073741823] The encoder resolution is used to
*
calculate velocity in RPM (revolutions per
minute) as well as time-out for detection
of the zero pulse with homing. Set the
resolution of the incremental encoder
connected to Encoder 2 interface (X55 and
X62 if a CAN encoder is used). The
encoder resolution can be found on the
encoder nameplate or datasheet.
If parameter 32-00 Incremental Signal Type
is set to:
•
•
•
MG33R302
Operating Instructions
Function:
No incremental encoder is
used.
Digital incremental encoder
with an interface according
to RS422 is connected.
Analog incremental encoder
with 1 V peak-peak signal is
connected.
CAN encoder is used.
[0] Digital incremental encoder,
the resolution must be set in
pulses per revolution.
[1] Analog incremental encoder,
the resolution must be set in
sinusoidal signal periods per
revolution.
[2] CAN encoder and the CAN
encoder is an incremental
encoder, the resolution must be
set in pulses per revolution. If
the CAN encoder is an absolute
encoder, the resolution must be
set in (pulses per revolution)/4.
Danfoss A/S © 04/2014 All rights reserved.
NOTICE
The parameters for the incremental resolution (32-01 or
32-31) are always used, even if the CAN encoder is an
absolute encoder. But a quarter of the encoder
resolution must be set for a CAN absolute encoder. The
reason is the internal calculation, which uses 4 times the
number of counts, because an incremental encoder
returns 4 times more quad counts than its counts. An
absolute encoder only returns this real resolution as a
maximum value.
NOTICE
When [3] Motor Control is selected in parameter 32-50
Source Slave, the resolution can be set with this
parameter. The resolution value must be a second
power, otherwise rounding errors lead to positioning
drifts. The maximum frequency of the encoder signal
must not exceed 410 kHz. The parameter is only visible
when parameter 32-00 Incremental Signal Type is not set
to [0] None.
32-02 Absolute Protocol
This parameter specifies the type of absolute encoder connected
to Encoder 2 interface (X55 and X62 if a CAN encoder is used).
Option:
Function:
[0]
None
No absolute encoder is connected.
*
[1]
HIPERFACE
HIPERFACE absolute encoder is connected.
The selection includes the default settings
encoder ID 1 and encoder parity even.
[4]
SSI
An absolute encoder with SSI interface is
connected
[5]
SSI with filter An absolute encoder with SSI interface is
connected and the communication/ signal is
unstable.
A leap in the position data is detected if it is larger than
the encoder resolution/2. The correction is made with an
artificial position value, which is calculated from the last
velocity. If the error continues for more than 100 readouts
(>100 ms), there is no further correction, which then leads
to a position error (error 108).
32-03 Absolute Resolution
Range:
Function:
8192
[1 to
The encoder resolution is used to
*
1073741823]
calculate the velocity in RPM
(revolutions per minute).
Set the resolution of the absolute
encoder connected to Encoder 2
interface (X55/X62) in positions per
revolution. The encoder resolution can
be found on the encoder nameplate or
datasheet.
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