30 EM-ABS-01 for ACU 03/12
6.1.1 Information on use
fter mains on, an initialization may have to be performed dependin
on the encoder
type. This may take up to 5 seconds, dependin
on the encoder type. This time can
be eliminated by powerin
the basic device and the encoder usin
an external
DC 24 V supply.
When the encoder or motor (including motor encoder) are replaced, re-calibration will
typically be required for the absolute position. This applies typically to the encoder-
internal value (dependin
on the encoder type used, this value cannot be chan
ed),
position angle
Offset 1188 and, in positioning applications (configuration x40), refe-
rencing
Home-Offset 1131. After encoder replacement, always check the position
angle
Offset 1188 and carry out a referencin
operation in the case of positionin
applications (configuration x40).
Note: When an absolute value encoder is used, referencing is not required after
encoder or motor replacement to ensure correct function of the ACU
device. Adjustments of
Home-Offset 1131 are applied directly.
fter encoder or motor replacement, correct function of the system is
achieved by performing a referencing operation or offset adjustment.
The signals provided by the encoder are used in the EM-ABS-01 for various plausibility
checks. This makes the system more fail-safe and less prone to unwanted interfe-
rence.
During operation, the encoders and communication with the encoder are monitored.
Critical conditions are reported via device errors. Most error evaluations will only be
performed when the power output stage is activated.
Danger! Some absolute value encoder types enable to “zero” or change the posi-
tion transmitted by the encoder. Do not use this function, as this will
change the commutation angle in synchronous motors for
Offset 1188
and correct speed control is not guaranteed.
Changing the value while the system is in operation can result in signifi-
cant failures of the system.
Attention!
ia parameter Change Sense of Rotation 1199, you can change the di-
rection of rotation of the motor system. In the case of absolute value
encoders, a change of
Change Sense of Rotation 1199 will result in an
actual value jump. Upon the time of changeover, slave drives in an elec-
tronic gear must be switched off.
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