5 Motor control (MCTRL)
5.11 Encoder/feedback system
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Lenze · 8400 HighLine · Reference manual · DMS 12.0 EN · 06/2017 · TD23
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5.11.4 HTL encoder at DI6/DI7
Low speeds with edge counting
The speed measurement is evaluated at the digital terminals DI6/DI7 with the edge-counting
procedure and a fixed scanning time that can be set in C00425/2
.
The minimum speed that can be measured and
the quantisation error of speed measurement in the
edge-counting procedure depend on the scanning time that can be set in C00425/2
and the
encoder resolution.
Depending on accuracy and the requirements with regard to the dynamic performance, the
respective scanning time must be selected and set in C00425/2
:
Maximum speeds with edge counting
Due to the lower input frequency (max. 10 kHz) compared to the terminals DI1/DI2, operation with
maximum speed at the terminals DI6/DI7 is limited. Digital input terminals
( 323)
Note!
Single-track evaluation of the digital DI6/DI7 terminals as speed feedback (C0115/2 =1
or 3) is not possible. Hence, a single-track encoder cannot be used for speed control at
the digital DI6 terminal!
Encoder
resolution
(Number of
increments)
Scanning time [ms]
1 2 5 10 20 50 100 200 500 1000
Min. measurable speed in [rpm]
8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9
16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9
32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5
64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2
128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12
256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06
512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03
1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01
Encoder
resolution
(Number of
increments)
Max. measurable speed in [rpm]
8 No restrictions
16 37500
32 18750
64 9375
128 4688
256 2344
512 1172
1024 586
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