Def / Type
FbEq 16b / 32b
DescriptionName / Range /
Selection
No.
Yes / uint16Enables/disables detection of encoder drift, ie. slippage
between the encoder and the shaft. The function is
designed to detect erroneous feedback in static
operating conditions.
However, because of limitations in estimating the
motor speed, drift detection must be disabled or will
be internally ignored in the following circumstances:
• Motor model is not operative (drive is not
modulating, ID run is in progress, or motor is
coasting)
• Estimated motor speed has not settled (motor
start time delay has not elapsed).
• Estimated motor speed is below 50 rpm
• Speed error (encoder speed - estimated motor
speed) is below 100 rpm, and
• During high dynamic motion with the speed
reference changing rapidly.
Enable motor
encoder drift
detection
90.47
0Drift detection disabled.No
1Drift detection enabled.Yes
100.00 rpm / int32Defines a supervision limit for the difference between
actual load encoder speed (scaled to motor axis as
rpm) and actual motor speed. If the difference remains
above this limit for longer than the time set in 90.98
Load speed supervision delay, the drive trips on 73A1
Load position feedback, and the motor stops according
to 31.54 Fault action.
Load speed
supervision delta
90.97
1 rpm / 1 = 1 rpmLimit for encoder/motor speed difference.0.00 ... 3000.00 rpm
300 ms / int32Defines a delay for encoder/motor speed difference
supervision. See 90.98 Load speed supervision delay.
Load speed
supervision delay
90.98
1 ms / 1 = 1 msSpeed difference supervision delay.0...10000 ms
488 Parameters
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