Group 6.1 Encoder - Encoder Explained
Parameter Number | Parameter Name | Units | Default | Available Settings | Access | Change During Run | Scaling | Size (Bytes) | CAN Register | CAN Sub Index | Modbus Register |
|---|---|---|---|---|---|---|---|---|---|---|---|
P6-01 | Reserved | - | - | - | - | - | - | - | - | - | - |
P6-02 | Encoder Feedback Direction | N/A | 0: Clockwise Direction | 0: Clockwise Direction 1: Anti-Clockwise Direction | RW | N | N/A | 1 | 2259h | 0 | 602 |
P6-03 | Encoder Pulses Per Revolution | N/A | 2048 | 256 ... 65535 | RW | N | N/A | 2 | 225Ah | 0 | 603 |
P6-04 | Encoder Type | N/A | 0: None | 0 ... 12 | RW | N | N/A | 1 | 225Bh | 0 | 604 |
P6-05 | Encoder Feedback Enable | N/A | 0: Encoder Feedback Disabled | 0: Encoder Feedback Disabled 1: Encoder Feedback Enabled | RW | N | N/A | 1 | 225Ch | 0 | 605 |
Changes the direction of the incremental signals of the encoder feedback signal.
Setting | Function |
|---|---|
0 | A leads B when an Up command is given (Clockwise Direction) |
1 | B leads A when an Up command is given (Anti-Clockwise Direction) |
Sets the number of Pulses Per Revolution for the encoder according the Encoder nameplate/datasheet. This value must be set correctly to guarantee proper operation of the drive when Encoder feedback mode is enabled (P6-05 = 0).
Typically values for Incremental encoders are 512, 1024, 2048, 4096
Note
With an EnDat type encoder the drive reads from the encoder and populates this parameter value automatically.
Setting | Encoder Type |
|---|---|
0 | No encoder type selected |
1 | Incremental TTL- Differential (A,/A,B,/B) |
2 | Incremental HTL-Differential (A,/A,B,/B) |
3 | SinCos with C/D lines |
4 | Endat with Incremental signals |
5 | Incremental TTL- Differential (A,/A,B,/B, Z,/Z) |
6 | Incremental TTL (A,B) |
7 | Incremental TTL (A,B, Z) |
8 | Incremental HTL- Differential (A,/A,B,/B, Z/Z) |
9 | Incremental HTL (A,B) |
10 | Incremental HTL (A,B,Z) |
11 | EnDat without Incremental signals |
Note
For settings 6,7,9,10 where a single ended encoder is used (e.g. A and B) the unused channels of the encoder module must be connected to 0V.
Enables or disables encoder feedback. When the encoder is disabled referred to as open loop and when the encoder is enabled it is referred to as closed loop.
Setting | Function |
|---|---|
0 | Encoder Feedback Disabled |
1 | Encoder Feedback Enabled |
Note
Even if P6-05 is set to 0 (Encoder Feedback Disabled) encoder feedback can still be monitored (P0-19) providing P6-03 and P6-04 have been set correctly. Encoder feedback Errors are disabled in this mode of operation.