Configuring the sensors The parameters (configuration, alignment, etc.) of each feedback are determined by Auto setup and stored in the following objects: Object Feedback Description 3380h Sensorless Contains measurement and configuration values for sensorless control 3390h Hall sensor (digital) contains configuration values for the Hall sensors 33A0h Incremental encoder 1 contains configuration values for the first incremental encoder 33B0h SSI encoder 1 contains configuration values for the first SSI encoder 33B1h SSI encoder 2 contains configuration values for the second SSI encoder. You can read how to activate the function of the specified pins in Defining input and output assignments. Note: It is not possible to determine the resolution of encoders without index or with more than one index per motor revolution. In this case, you must enter and store the parameters in the corresponding objects (see 3204h, 60E6h and 60EBh) (category Tuning, see Saving objects). For external sensors that are not mounted directly on the motor shaft, you must set and store the gear ratio according to the constructive features (objects 60E8h and 60EDh) and/or the feed constant (objects 60E9h and 60EEh) (category Application). Example An encoder with a resolution of 2000 increments/mm was connected that is to be used in the field directly at the process for a high-precision position measurement. The constructive design was realized as follows: Motor Gearbox Process Encoder Rotary Rotary | Rotary Rotary | Translational Translational 1 i=4 Diameter 40 mm | 125.6637... mm/revolution 2000 incr./mm (62831.85 incr. per motor revolution) You must set the resolution, gear ratio and feed constant as follows: Object Value 60E6h Additional Position Encoder Resolution - Encoder Increments 1256637 60EBh Additional Position Encoder Resolution - Motor Revolutions 20 60E8h Additional Gear Ratio - Motor Shaft Revolutions 4 60EDh Additional Gear Ratio - Driving Shaft Revolutions 1 60E9h Additional Feed Constant - Feed 2513274 incr. (corresponds to 1256.637 mm) 60EEh Additional Feed Constant - Driving Shaft Revolutions 10 You must still set the unit for the position to millimeters or other unit of length, see chapter User-defined units. In object 3203h you can set which of the present feedbacks the controller takes into account for each controller (current controller/commutation, velocity controller, position controller) in closed-loop or the determination of the actual position and actual speed in open-loop. See also chapter Closed-Loop and Assignment of the feedbacks to the control loops. Note: The value "0" in a subindex of the object 60E6h means that the respective feedback is not connected and is not used. Thus, it is possible, for Example, to switch off the sensorless function to save computing time. This can be helpful if a NanoJ program needs the computing time. If a value is not equal to "0" in a subindex, the controller checks the corresponding sensor when switching on. In case of an error (signal not present, invalid configuration/state), the error bit is set in the statusword and an error code stored in object 1003h.
Configuring the sensors The parameters (configuration, alignment, etc.) of each feedback are determined by Auto setup and stored in the following objects: Object Feedback Description 3380h Sensorless Contains measurement and configuration values for sensorless control 3390h Hall sensor (digital) contains configuration values for the Hall sensors 33A0h Incremental encoder 1 contains configuration values for the first incremental encoder 33B0h SSI encoder 1 contains configuration values for the first SSI encoder 33B1h SSI encoder 2 contains configuration values for the second SSI encoder. You can read how to activate the function of the specified pins in Defining input and output assignments. Note: It is not possible to determine the resolution of encoders without index or with more than one index per motor revolution. In this case, you must enter and store the parameters in the corresponding objects (see 3204h, 60E6h and 60EBh) (category Tuning, see Saving objects). For external sensors that are not mounted directly on the motor shaft, you must set and store the gear ratio according to the constructive features (objects 60E8h and 60EDh) and/or the feed constant (objects 60E9h and 60EEh) (category Application). Example An encoder with a resolution of 2000 increments/mm was connected that is to be used in the field directly at the process for a high-precision position measurement. The constructive design was realized as follows: Motor Gearbox Process Encoder Rotary Rotary | Rotary Rotary | Translational Translational 1 i=4 Diameter 40 mm | 125.6637... mm/revolution 2000 incr./mm (62831.85 incr. per motor revolution) You must set the resolution, gear ratio and feed constant as follows: Object Value 60E6h Additional Position Encoder Resolution - Encoder Increments 1256637 60EBh Additional Position Encoder Resolution - Motor Revolutions 20 60E8h Additional Gear Ratio - Motor Shaft Revolutions 4 60EDh Additional Gear Ratio - Driving Shaft Revolutions 1 60E9h Additional Feed Constant - Feed 2513274 incr. (corresponds to 1256.637 mm) 60EEh Additional Feed Constant - Driving Shaft Revolutions 10 You must still set the unit for the position to millimeters or other unit of length, see chapter User-defined units. In object 3203h you can set which of the present feedbacks the controller takes into account for each controller (current controller/commutation, velocity controller, position controller) in closed-loop or the determination of the actual position and actual speed in open-loop. See also chapter Closed-Loop and Assignment of the feedbacks to the control loops. Note: The value "0" in a subindex of the object 60E6h means that the respective feedback is not connected and is not used. Thus, it is possible, for Example, to switch off the sensorless function to save computing time. This can be helpful if a NanoJ program needs the computing time. If a value is not equal to "0" in a subindex, the controller checks the corresponding sensor when switching on. In case of an error (signal not present, invalid configuration/state), the error bit is set in the statusword and an error code stored in object 1003h.
