Encoder Phasing - Aerotech Ensemble CL Hardware Manual

Installation and Configuration

2.3.1.5. Encoder Phasing

Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued.
Figure 2-20 illustrates the proper encoder phasing for clockwise motor rotation (or positive forcer movement
for linear motors). To verify, move the motor by hand in the CW (positive) direction while observing the
position of the encoder in the diagnostics display (see
used if the motor can not be moved by hand. If the program causes the Position Feedback to count more
negative, swap the connections to the controllers SIN and the SIN-N encoder inputs.
For dual loop systems, the velocity feedback encoder is displayed in the diagnostic display
0° 90°
SIN
SIN-N
0° 90°
COS
COS-N
0° 90°
MRK
MRK-N
Figure 2-20:
N O T E : Encoder manufacturers may refer to the encoder signals as A, B, and Z. The proper phase rela-
tionship between signals is shown in
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180° 270° 360° 450° 540° 630° 720°
180° 270° 360° 450° 540° 630° 720°
180° 270° 360° 450° 540° 630° 720°
Positive MOVE (Clockwise)
Encoder Phasing Reference Diagram (Standard)
Figure 2-20.
Chapter 2
Figure 2-21). The MotorVerification.ab program can be
810°
LINEAR MOTOR
Forcer Wires
Magnet Track Forcer
810°
1V
pk-pk
ROTARY MOTOR
810°
Motor Shaft
CW Rotation
(Positive Direction)
Ensemble CL
(Figure 2-21).
Positive MOVE
(Clockwise)
Motor Mounting
Flange (Front View)
33