A117 Encoder Difference Monitoring; A118 Absolute Encoder Monitoring Window - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

ECODRIVE03-FL*-04VRS

A117 Encoder Difference Monitoring

A118 Absolute Encoder Monitoring Window

DOK-ECODR3-FL*-04VRS**-FK01-EN-P
000
000 = no monitoring
If Measuring Wheel Mode is active, the motion of the motor and the
measuring wheel is monitored. As soon as the difference between the two
encoders during one measuring wheel revolution is greater than the
monitoring window entered, the drive is shut down and the error message
"F- 02 13 – Measuring Wheel Difference" or "F- 02 36 – Excessive
Position Feedback Difference" is issued.
Dangerous movements! Risk of death, serious
bodily injury or equipment damage due to
unintentional motor movements!
When the measuring wheel is activated, turning off
DANGER
Measuring Wheel Difference is only intended for initial
start-up or for verifying the motion sequence.
⇒ In any case, activate Measuring Wheel Difference
Monitoring with a value > 0.
0001.000
Window Size in IU
Following a restart or after exiting Parameter Mode, the actual position
stored the last time the control voltage was switched off is compared with
the current initialized actual position of the absolute measuring system by
the absolute encoder monitoring function.
If the difference is greater than the value set in Parameter A118,
Absolute Encoder Monitoring Window, the error message "F276 –
Absolute Encoder out of allowed Window" is generated. This can
happen when the axis has been moved with the power off, or after a
motor has been replaced.
If the parameter entered in A118, 'Absolute Encoder Monitoring Window'
is set to 0, the absolute encoder monitoring function is deactivated. As a
standard value, 0.1 motor revolutions (= 36 degrees in reference to the
motor shaft) can be programmed if the axis has a holding brake or is self-
locking.
Window size: Conversion of motor shaft data (in degrees) to load-
referenced window size (in IU)
Window Size [ IU
Fig. 9-6: Absolute Encoder Monitoring Window
Input min.: 0
Input max.: 9999.999
Monitoring window in ‰ (per thousand)
referencing C007 (Function of Encoder 2
(A100) Measuring Wheel Mode)
Monitoring window in ‰ (per thousand)
referencing A101 (Function of Encoder 2
(A100) Direct Measurement)
Degrees ( Motor Shaft
=
]
i ( Gear ratio
[IU]
[IU]
9-15
Parameters
×
) FC ( A 101 )
×
) 360