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Diagnostics Optimization CT MODBUS RTU Technical Data
222 E300 Design Guide
Issue Number: 1
Mode: RFC A, RFC-S
Drive Encoder Type (C01) should be set up to match the device connected to the Drive position feedback interface. The table below gives the position
feedback types supported by the Drive position feedback interface.
Position feedback type
Incremental
Position devices that provide incremental feedback do not give absolute position feedback. The position is zero at power-up and accumulates the
change of position from that point on. These devices are suitable for motor control in RFC-A mode. They can also be used for RFC-S mode, but some
form of phasing auto-tune is required each time the position feedback is initialized.
Absolute commutation signals with incremental
Position devices with commutations signals are intended to provide absolute position feedback for motor control in RFC-S mode. If one of these
devices is used for RFC-A mode the commutation signals are ignored. The position information given in Drive Encoder Revolutions (J52), Drive
Encoder Position (J53) and Drive Encoder Fine Position (J54) appears as though the position feedback device is an incremental type in that it is
initialized to zero at power-up and then accumulates the change of position from that point on. The commutation signals are used directly by the
C01 Drive Encoder Type
Mode RFC-A, RFC-S
Minimum 0 Maximum 16
Default 0 Units
Type 8 Bit User Save Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, Txt
Value Text
0AB
1FD
2FR
3 AB Servo
4FD Servo
5FR Servo
6SC
7 SC Hiperface
8EnDat
9SC EnDat
10 SSI
11 SC SSI
12 SC Servo
13 BiSS
15 SC SC
16 Commutation Only
Drive Encoder Type
(C01)
Signals Position feedback type Communications
0: AB Quadrature Incremental None
1: FD Frequency and direction Incremental None
2: FR Forward and reverse Incremental None
3: AB Servo Quadrature and commutation Absolute commutation signals with incremental None
4: FD Servo Frequency and direction, and commutation Absolute commutation signals with incremental None
5: FR Servo Forward and reverse, and commutation Absolute commutation signals with incremental None
6: SC SINCOS Incremental SINCOS None
7: SC Hiperface SINCOS and Hiperface comms Absolute comms with incremental SINCOS Hiperface
8: EnDat EnDat comms Absolute comms
EnDat 2.1
EnDat 2.2
9: SC EnDat SINCOS and EnDat comms Absolute comms with incremental SINCOS EnDat 2.1
10: SSI SSI comms Absolute comms SSI
11: SC SSI SINCOS and SSI comms Absolute comms with incremental SINCOS SSI
12: SC Servo SINCOS and commutation Absolute commutation signals with incremental None
13: BiSS BiSS comms Absolute comms BiSS
15: SC SC
SINCOS and single sine and cosine signals
per revolution
SINCOS with absolute position from single sine and
cosine signals
None
16: Commutation Only Commutation only Absolute commutation signals only None
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