Commissioning
Setting of the feedback system for position and speed control
Absolute value encoder as position encoder and resolver as speed encoder
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EDBCSXM064 EN 11.0
6.7.6 Absolute value encoder as position encoder and resolver as speed encoder
Danger!
Valid when using an operating software up to and including V7.0:
When absolute value encoders are used, uncontrolled movements of the drive
are possible!
If an absolute value encoder is disconnected from the axis module during
operation, the fault OH3−TRIP occurs. If the absolute value encoder now is
connected to X8 again and a TRIP−RESET is carried out, the drive may start up in
an uncontrolled manner with a high speed and a high torque. A SD8−TRIP will
not occur, as would be expected.
Possible consequences:
ƒ Death or severe injuries
ƒ Destruction or damage of the machine/drive
Protective measures:
ƒ If a fault (trip) occurs during commissioning when an absolute value
encoder is used, check the history buffer C0168. If an Sd8−TRIP is at the
second or third place, a reinitialisation is absolutely necessary
. For this
purpose, switch off and on again the 24−V supply of the control electronics.
An absolute value encoder Hiperface® interface connected to X8 can be configured as a
position encoder with a resolver connected to X7 being used as a speed encoder.
Observe the following setting sequence:
1. Select absolute value encoder as position encoder.
– Single−turn encoder: C0490 = 3
– Multi−turn encoder: C0490 = 4
2. Select resolver as speed encoder.
– C0495 = 0
3. Select an absolute value encoder.
– Single−turn encoder: C0419 = 307 ... 311
– Multi−turn encoder: C0419 = 407 ... 411
The encoder data (C0420, C0421, C0427) is set automatically in accordance with the
selection.
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