8.13 Encoder Emulation - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

8-54
Functions
Instruction
0100
0101
0102
0103
0104
0105
0106
0120
0121
0200
0201
0202

8.13 Encoder Emulation

Incremental Encoder Emulation
Absolute Encoder Emulation
Example Program:
Command Command Contents
MOM 1 020 040 00.00.0 400
POA 1 000250.000 999
VCC 1 +000200 100 1 1
PFA 1 +000300.000 100 010 Movement to positive stop until position
JMP 0200
BCE 0120 I0.00.7 1
JMP 0105
PSA 1 +000000.000 999
JST 0100
AEA Q0.01.2 1
PSA 1 +000000.000 999
JST 0000
Fig. 8-31: PFA Command Example
It is possible, with the help of encoder emulation, to generate positions in
both of the standard formats
• TTL format with incremental encoder emulation
• SSI format with absolute encoder emulation.
Using these formats, encoder signals (Connector X9) can be sent to other
devices.
Incremental encoder emulation means the simulation of a real
incremental encoder by a driver controller.
The emulated incremental encoder signals are used to relay
information about the traversing velocity of the motor that is connected to
the controller to a higher-ranking numeric control (NC) device.
"Absolute encoder emulation" means that the drive controller has the
option of simulating a real absolute encoder in SSI data format. The drive
controller thus offers the possibility of transmitting the position in SSI data
format to a higher-level device. Pertinent Parameters
• C014, Encoder emulation type
• C015, Encoder emulation resolution
• C010, Homing, set absolute position
For incremental encoder emulation, the following parameter is also
used:
• C016, Marker pulse offset
With absolute encoder emulation, the following parameter is used:
C011, Reference distance
ECODRIVE03-FL*-04VRS
Comment
Torque Limitation
To positive stop 20% At positive stop 40%
Initiate movement at maximum speed.
Wait until position +200 with v=10% is
reached.
+300 is reached.
Jump if positive stop not recognized.
Positive stop recognized. Jump if input is 1.
Wait until input becomes 1.
Return to position +0
Jump with stop according to instruction
0100 (wait for next cycle)
Set output.
Return to position +0
Jump with stop according to instruction
0000.
DOK-ECODR3-FL*-04VRS**-FK01-EN-P