HARDWARE INTERFACE PARAMETERS 7-9
SB1391 Hardware and Setup Guide - Document revision no. 1.14
Examples:
Set CAN Node ID to 60: SNI60<cr>
Report CAN Node ID: RNI<cr> displays result: Can Node ID 60
7.3. Encoder 1 and Encoder 2
Warning
Facilities for overspeed protection are not provided in the control unit.
Therefore, when facilities for overspeed protection are required for the end-
product, they will have to be provided separately by the end-user.
The control module supports the following types of incremental encoder signals:
• Two-phase quadrature plus index.
• UP-DOWN plus index.
• CLOCK-DIR plus index.
• Two adjacent bits (C0, C1) of an up-down counter plus index.
The primary encoder feedback type and speed is governed by the Encoder Type (ET) parameter.
The maximum edge count speed can be up to 20 million counts per second (when ET is in the
range 1 to 6) or 40 million counts per second (when ET is in the range 100 to 106).
The secondary encoder feedback behavior can be programmed with the 2nd Encoder Type (Et)
parameter.
For more information, see the "Reference" section of the ACSPL Software Guide.
7.4. Hall Sensors
When an encoder with Hall sensors (or equivalent) is used for position feedback and
commutation, the Hall inputs are used for (trapezoidal) commutation during the first movement of
the motor. When the encoder index is passed, the controller automatically switches to full
sinusoidal commutation, which is based on the encoder feedback.
The Hall sensor must be connected such that as the encoder counts up, the Hall counter ($HA)
cycles, i.e., it counts 0, 1, 2, 3, 4, 5, 0, 1, 2 etc.
7.5. Input/Output Ports and Motion Monitoring
This section describes the functions of the control module's input and output ports and how to
work with them using ACSPL.
Further information
This section covers the programming interface for I/O. For information about
the electrical interface for the I/O, refer to Section 4.4.5, "I/O + Safety
Connector."
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