Encoder Phasing - Aerotech Ensemble Epaq Hardware Manual

Ensemble Epaq Hardware Manual

2.3.1.3. Encoder Phasing

Incorrect encoder polarity will cause the system to fault when enabled or when a move command is issued.
Figure 2-19 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.
However, if this axis is configured for dual loop with two feedback devices (one for position and one for
velocity feedback), invert the sign of only the parameter associated with the incorrectly phased feedback
device. For dual loop systems, the velocity feedback encoder is displayed in "Auxiliary Encoder Input" in the
Diagnostic display.
0° 90°
COS
COS-N
0° 90°
SIN
SIN-N
0° 90°
MRK
MRK-N
Figure 2-19:
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
38
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 2-19.
Chapter 2
Installation and Configuration
Figure 2-20). 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)
Positive MOVE
(Clockwise)
Motor Mounting
Flange (Front View)
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