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Diagnostics Optimization CT MODBUS RTU Technical Data
224 E300 Design Guide
Issue Number: 1
Drive Encoder Type (C01): SC Hiperface, SC EnDat, EnDat, BiSS
If auto-configuration has not been disabled (i.e. Drive Encoder Auto Configuration Select (C02) is not 0) then during position feedback initialization the
encoder is interrogated and the following parameters are set up based on information from the encoder:
The following actions are also taken to set up the timing for the encoder.
Once these parameters have been set up it should be possible for the drive to operate correctly with the encoder. Auto-configuration occurs as part of
the position interface initialization if selected, and so if the auto-configuration fails (i.e. communications cannot be established) then initialization will
not be completed. If initialization has not been completed successfully by the time the drive is enabled an Encoder 7 trip occurs. For SC Hiperface
and BiSS encoders the drive must identify the encoder model number to perform auto-configuration. If communications is established, but the drive
cannot recognise the encoder model, an Encoder 12 trip is produced immediately.
If auto-configuration is disabled ((i.e. Drive Encoder Auto Configuration Select (C02) = 0) then none of the above actions are carried out except for the
line delay measurement.
Drive Encoder Type (C01): All other device types
Drive Encoder Auto Configuration Select (C02) has no effect.
Drive Encoder Type (C01): AB, AB Servo
Drive Encoder Rotary Lines Per Revolution (C03) should be set to the number of lines per revolution for the encoder connected to the Drive position
feedback interface.
Drive Encoder Type (C01): FD, FR, FD Servo, FR Servo
Drive Encoder Rotary Lines Per Revolution (C03) should be set to the number of lines per revolution for the encoder connected to the Drive position
feedback interface divided by 2.
Drive Encoder Type (C01): SC, SC Servo, SC Hiperface, SC EnDat, SC SSI, SC SC
Drive Encoder Rotary Lines Per Revolution (C03) should be set to the number of sine waves per revolution for the encoder connected to the Drive
position feedback interface.
Drive Encoder Type (C01): Any other device type
Drive Encoder Rotary Lines Per Revolution (C03) has no effect.
Value Text
0Disabled
1 Enabled
Rotary
Drive Encoder Rotary Turns Bits (C07)
Drive Encoder Rotary Lines Per Revolution (C03)
Drive Encoder Comms Bits (C08)
Comms Protocol Actions taken
EnDat 2.1
Drive Encoder Calculation Time (C24) = From the encoder
Drive Encoder Recovery Time (C25) = 30 μs
Line delay measured and result written to Drive Encoder Line Delay Time (C26)
EnDat 2.2
Drive Encoder Calculation Time (C24) = From the encoder
Dr
ive Encoder R
ecovery Time (C25) = 4 μs and the recovery time within the encoder is set up to the shortest value of 3.75
μs if the Drive Encoder Comms Baud Rate (C06) is 1M or more.Line delay measured and result written to Drive Encoder
Line Delay Time (C26)
BiSS
Drive Encoder Recovery Time (C25) = 12 μs
Line delay measured and result written to Drive Encoder Line Delay Time (C26)
C03 Drive Encoder Rotary Lines Per Revolution
Mode RFC-A, RFC-S
Minimum 0 Maximum 100000
Default 1024 Units
Type 32 Bit User Save Update Rate Background read, auto-configuration write
Display Format Standard Decimal Places 0
Coding RW
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