Incremental Encoder; Sine Encoder; Endat 2.1, Endat; Biss - Kollmorgen AKD PDMM series User Manual

AKD PDMM User Guide | 7.2.2.2 Incremental Encoder

7.2.2.2 Incremental Encoder

The incremental encoder is a non-plug and play device. Incremental encoders are available in a variety of
line counts. If you select an incremental encoder option, the encoder resolution must be entered into the
Rotary Encoder Resolution box. The units for this field are in counts per revolution, which is post-quad-
rature (multiplies the lines per revolution by 4).

7.2.2.3 Sine Encoder

Sine encoders are offered with different data communication protocols. These include Endat, BiSS, Hip-
erface, and others. A standard sine-cosine encoder with simple analog communication is not a plug and
play device. As with the incremental encoder, the line count is entered in the Rotary Encoder Res-
olution box.

7.2.2.4 Endat 2.1, Endat 2.2

Endat-based sine are plug and play compatible, and the system will properly recognize these encoders.
With the AKD PDMM set in Auto, this encoder type is detected and the feedback and motor parameters
are loaded automatically.

7.2.2.5 BiSS

BiSS will be plug and play in a future release. Currently, the device is programmed with the motor and feed-
back information and once selected will sets up the feedback and motor parameters in the AKD PDMM.

7.2.2.6 Hiperface

Hiperface is a plug and play device that will be supported in a future release.

7.2.2.7 Resolver

The resolver feedback option is not plug and play. When selecting the resolver option, three specific
parameters are set by default for the standard AKM resolver: phase lag, transformation ratio, and feed-
back poles. Currently,the AKD PDMM does not support non-Kollmorgen™ standard resolver options.

7.2.2.8 SFD

Smart Feedback Device (SFD) is Kollmorgen™'s most popular plug and play device. SFD allows for
quick and easy setup from the Auto mode, which automatically configures the drive with the motor and
feedback parameters.

7.3 Non-Plug and Play Feedback Devices

To set up a AKD PDMM drive with a non-plug and play feedback device (for example a resolver or an
encoder), you must select a motor from the list of standard or custom motors or enter the motor param-
eters manually. Once the motor data is entered into KAS IDE, an initial set of parameters can be cal-
culated and downloaded to the drive.

7.3.1 Parameters

The following parameters can be initialized to their default values or calculated from user-supplied motor
data:
IL.KP
IL.KFFACC
IL.KBUSFF
IL.FRICTION
46 Kollmorgen™ | December 2012
IL.LIMITN
IL.LIMITP
IL.PWMFREQ
IL.KVFF
VL.KP PL.KI = 0 (Default Value)
VL.KI PL.INTINMAX = 0.419 (Default
Value)
VL.LIMITN PL.INTOUTMAX = 0.419
(Default Value)
VL.LIMITP MOTOR.IPEAK