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Indexed actual value acquisition
The indexed actual position value acquisition permits, e.g. length measurements on parts as
well as the detection of axis positions by a higher-level controller (e.g. SIMATIC S7) in
addition to the position control, e.g. of a belt conveyor.
Two more encoders can be operated in parallel with the encoders for actual value
conditioning and position control in order to collect actual values and measured data.
The indexed acquisition of actual values can preprocess a position actual value at each of
the three encoder outputs. The parameter p2502[0...3] is used to select the encoder
evaluation for position control.
The parameters of the indexed actual value acquisition are indexed four times. Indices 1...3
are assigned to the encoder evaluations 1...3. The index 0 is assigned to position control.
The parameter r2521[0...3] can be used to retrieve the current actual values of all connected
encoders. For example, the position actual value for position control in r2521[0] is identical
with the value r2521[1] if the position control uses encoder evaluation 1. The signal source
for a position offset can be set via parameter p2516[0..3].
The absolute encoder adjustment is initiated via p2507[0...3].2, and its successful completion
is reported via p2507[0...3].3. The signal source "Reference point coordinate for the position
controller" p2598[0] is interconnected with p2599 during basic positioning. The other signal
sources are not interconnected in the standard configuration.
The measuring probe evaluation can be enabled for the encoder evaluation x, which is not
assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3],
the edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in
the status word for encoder x (encoder 0: r2526.0...9, encoder1: 2627.0...2, encoder2:
r2628.0...2, encoder3: r2529.0...2), the "Valid measured value" bit has been set.
The actual position values of the different encoders can be read out using parameter
r2521[0...3]. These position actual values can be corrected with a signed value from
p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3].
In addition, the velocity actual value (r2522[0...3]) and the position offset for absolute
encoders p2525[0...3] can be processed for each encoder by the higher-level controller.
Load gear position tracking
Position tracking enables the load position to be reproduced when using gears. It can also
be used to extend the position area.
Position tracking for load gear functions in the same way as position tracking for the
measuring gear (see Chapter "Measuring gearbox (Page 604)"). Position tracking is
activated using parameter p2720.0 = 1. However, position tracking of the load gear is only
relevant for the motor encoder (encoder 1). The load gear ratio is entered via parameters
p2504 and p2505. Position tracking can be activated with rotary axes (modulo) and linear
axes.
Position tracking for the load gear can only be activated once for each motor data set MDS.
Enclosed Drives
Operating Instructions, 12/2018, A5E36652151A
Functions, monitoring and protective functions
9.4 Extended functions
637
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