Encoder breakage recognition
The encoder signals, which shall be evaluated via ec16 are tested after switched
on and cyclically in operation, whether they correspond to the specifications (e.g.,
RS485 or 1Vss).
A warning is triggered, if deviations from the specifications are detected. An error
message is triggered in ec00, if these deviations occur too often.
Whether the axis module changes into error state through this error message of
the encoder interface depends on the programming of the pn parameters and the
used control mode (cs00).
Pure digital encoder evaluations (ec16 = Endat digital, BiSS and SSI) recognize an
interrupted signal line of 10 ms and lower.
The disconnecting time is depending on the adjusted encoder type, the signal lev-
els, signal frequency and position for the evaluation of analog signals.
In an extreme case (e.g.) if a COS line is interrupted at a position where the signal
would have a signal difference of 0V, no encoder breakage can be recognized at
all!
6.1.6.3 Speed smoothing
The total speed deceleration is calculated by:
ec26 speed scan time / 2 + ec27 speed PT1-time
Speed scan time ec26 speed scan time
This parameter determines the time between the measured positions wherefrom
the speed is generated.
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