Parameter
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Parameter
x.00
Parameter
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Advanced parameter
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Menus 15 to 17
SM-Uni Enc Pl
Unidrive SP Advanced User Guide 229
Issue Number: 7 www.controltechniques.com
These parameters effectively give the position with a resolution of 1/2
32
ths of a revolution as a 48 bit number as shown below.
Provided the set-up parameters are correct, the position is always converted to units of 1/2
32
ths of a revolution, but some parts of the value may not
be relevant depending on the resolution of the feedback device. For example a 1024 line digital encoder produces 4096 counts per revolution, and so
the position is represented by the bits in the shaded area only.
When the feedback device rotates by more than one revolution, the revolutions in Pr x.04 increment or decrement in the form of a sixteen bit roll-over
counter. If an absolute position feedback is used the position is initialised at power-up with the absolute position. If a multi-turn absolute encoder is
used the revolution counter is also initialised with the absolute revolutions at power-up.
An incremental digital encoder may have a marker channel and when this channel becomes active (rising edge in the forward direction and falling
edge in reverse) it may be used to reset the encoder position and set the marker flag (Pr x.07 = 0), or just to set the marker flag (Pr x.07 = 1). When
the position is reset by the marker, Pr x.05 and Pr x.06 are reset to zero.
x.04 Revolution counter
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111 1
Range
Open-loop, Closed-loop vector, Servo,
Regen
0 to 65,535 revolutions
Update rate 4ms write
x.05 Position
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111 1
Range
Open-loop, Closed-loop vector, Servo,
Regen
0 to 65,535 (1/2
16
ths of a revolution)
Update rate 4ms write
x.06 Fine position
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
1 111 1
Range
Open-loop, Closed-loop vector, Servo,
Regen
0 to 65535 (1/2
32
ths of a revolution)
Update rate 4ms write
47 32 31 16 15 0
Revolutions Position Fine position
47 32 31 20 19 16 15 0
Revolutions
Position Fine position
x.07 Marker position reset disable
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default
Open-loop, Closed-loop vector, Servo,
Regen
0
Update rate Background read
x.08 Marker flag
Drive modes Open-loop, Closed-loop vector, Servo, Regen
Coding
Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
111
Default
Open-loop, Closed-loop vector, Servo,
Regen
0
Update rate 4ms write
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