Parameter For Encoder Monitoring And Rotational Speed Measuring - Festo CAMC-G-S3 Manual

2 Product description of safety module CAMC-G-S3
It is not yet possible to use a safe EnDat encoder (in preparation).
Formally, "Angle encoder 1 = EnDat" is parameterised when a safe EnDat encoder is used.
Only one incremental encoder at [X10] can be additionally analysed as angle encoder 2.
Please note
During homing of drives with ENDAT multiturn encoders, which save the zero point shift
in the encoder, a jump in the actual position occurs during saving. This jump causes
acceleration monitoring in the safety module to respond, leading to an error of the
safety module.
This homing need only be carried out once during machine setup.
Parameter for position encoder at [X10]
The [X10] connection is intended for digital incremental encoders with A/B/N square wave signals. The
position is detected using quadrature counter inputs of the microcontroller of the safety module.
The incremental encoder [X10] is ideally used as the second position measurement system. This is
always the case if, in the Standard parameters tab, "Incremental encoder (X10) = [5]" was selected.
During data transfer / parameterisation, the number of digital angular counting steps is set (corres­
ponding to 4 x division marks per motor revolution of, for linear motors, per 2ô
2.3.4

Parameter for encoder monitoring and rotational speed measuring

Fig. 2.5 shows the structure of encoder analysis and monitoring:
Position Sensor 1
Evaluation
Position
32
2
n
Sensor 1 2
n bits Gear
Position Sensor 2
Evaluation
Position
Sensor 2
Fig. 2.5 Calculation of the speed and acceleration
Festo – GDCP-CAMC-G-S3-EN – 1406NH – English
d /
dt
Z
d
/
dt
N
Speed + Position from 2nd μC
T n_act
Acceleration
Comparator
T n_act
1
-n_min n_min
Position 1 / 2
Comparator
+
Speed 1 / 2
Comparator
μC1-μC2
Position
Comparator
+
Speed
Comparator
).
p
ACTUAL_ACC.
[55-8] Imperm. Accel.
ACTUAL_SPEED
SPEED = 0
ACTUAL_POSITION
[56-8] Sensor 1-2
[55-0] Act. Value invalid
POSITION +
&
SPEED VALID
[56-9] Sensor μC1-μC2
43