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Digitax ST User Guide 67
Issue: 5
* This feedback device provides very low resolution feedback and should not be used for applications requiring a high level of performance.
7.3.3 Restriction of encoder number of lines per revolution
Although Pr 3.34 can be set to any value from 0 to 50,000 there are restrictions on the values actually used by the drive. These restrictions are
dependent on the software version as follows:
Software version V01.06.01 and later
Table 7-4 Restrictions of drive encoder lines per revolution with software version V01.06.01 and later
At power-up Pr 3.48 is initially zero, but is set to one when the drive encoder and any encoders connected to any Solutions Modules have been
initialized. The drive cannot be enabled until this parameter is one.
Encoder initialization will occur as follows:
• At drive power-up
• When requested by the user via Pr 3.47
• When trips PS.24V, Enc1 to Enc8, or Enc11 to Enc17 trips are reset
• The encoder number of lines per revolution (Pr 3.34) or the number of motor poles (Pr 5.11 and Pr 21.11) are changed (software version
V01.08.00 and later).
Initialization causes an encoder with communications to be re-initialized and auto-configuration to be performed if selected. After initialization
Ab.SErVO, Fd.SErVO and Fr.SErVO encoders will use the UVW commutations signals to give position feedback for the first 120° (electrical) of
rotation when the motor is restarted.
Absolute SSI communications only encoder, or
Absolute Sincos encoder with SSI
Encoder type Pr 3.38
SSI (10) for a SSI communications only encoder
SC.SSI (11) for a Sincos encoder with SSI
Encoder power supply voltage Pr 3.36
5 V (0), 8 V (1) or 15 V (2)
If Ab encoder voltage is greater than 5 V, then the termination resistors must be disabled Pr
3.39
to 0
Encoder number of lines per
revolution. (SC.SSI only)
Pr 3.34 Set to the number of sine waves per revolution of the encoder.
SSI binary format select Pr 3.41 OFF (0) for gray code, or On (1) for binary format SSI encoders
Encoder turn bits Pr 3.33 Set to the number of turn bits for the encoder (this is usually 12 bits for a SSI encoder)
Encoder single turn comms resolution Pr 3.35 Set to the single turn comms resolution for the encoder (this is usually 13 bits for a SSI encoder)
Encoder comms baud rate Pr 3.37 100 = 100 k, 200 = 200 k, 300 = 300 k, 500 = 500 k, 1000 = 1 M, 1500 = 1.5 M, or 2000 = 2 M
Encoder error detection level Pr 3.40
0 = Error detection disabled
1 = Wire break detection on Sin and Cos inputs (SC.SSI only)
2 = Phase error detection (SC.SSI only)
3 = Wire break detection and phase error detection (SC.SSI only)
4 = SSI power supply bit monitor
5 = SSI power supply bit monitor and wire break detection (SC.SSI only)
6 = SSI power supply bit monitor and phase error detection (SC.SSI only)
7 = SSI power supply bit monitor, wire break detection and phase error detection (SC.SSI only)
UVW commutation signal only encoders*
Encoder type Pr 3.38 Ab.servo
Encoder power supply voltage Pr 3.36 5 V (0), 8 V (1) or 15 V (2)
Encoder number of lines per
revolution
Pr 3.34 Set to zero
Encoder error detection level Pr 3.40 Set to zero to disable wire break detection
Position feedback device Equivalent Lines per revolution used by the drive
Ab, Fd, Fr, Ab.SErVO, Fd.SErVO,
Fr.SerVO, SC
The drive uses the value in Pr 3.34.
SC.HiPEr, SC.EndAt, SC.SSI
(rotary encoders)
If Pr 3.34 ≤1, the drive uses the value of 1.
If 1< Pr 3.34 <32,768, the drive uses the value in Pr 3.34 rounded down to nearest value that is a power of 2.
If Pr 3.34 ≥32,768, the drive uses the value of 32,768.
SC.HiPEr, SC.EndAt, SC.SSI
(linear encoders
The drive uses the value in Pr 3.34.
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