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Diagnostics Optimization CT MODBUS RTU Technical Data
232 E300 Design Guide
Issue Number: 1
If Position Feedback Initialize (C18) is set to one any position feedback devices connected to the drive position feedback interfaces or any position
feedback category option modules will be re-initialized.
Position Feedback Initialized Indication (C19) contains flags that represent the initialization state of position feedback devices connected to the drive
position feedback interfaces or position feedback interfaces on position feedback category option modules. One indicates that the interface is
initialized and zero indicates that the interface is not initialized.
The flags are assigned as shown below.
If no option module, or an option module other than a position feedback category module, is installed in an option module slot then the relevant flag is
always set to one. If an attempt is made to enable the drive when any of the flags are zero the drive initiates an Encoder 7 trip. If a drive reset is
initiated, the bits in Position Feedback Initialized Indication (C19) are checked, and if any position feedback devices are not initialized an attempt is
made to initialize them.
The table below shows the initialization process for different position feedback devices that can be connected to the drive.
C18 Position Feedback Initialize
Mode RFC-A, RFC-S
Minimum 0 Maximum 1
Default 0 Units
Type 1 Bit Volatile Update Rate Background read
Display Format Standard Decimal Places 0
Coding RW, NC
C19 Position Feedback Initialized Indication
Mode RFC-A, RFC-S
Minimum
0
(Display: 0000000000)
Maximum
1023
(Display: 1111111111)
Default
0
(Display: 0000000000)
Units
Type 16 Bit Volatile Update Rate Background write
Display Format Binary Decimal Places 0
Coding RO, NC, PT
Bit Position feedback interface
0Drive
2 Option slot 1
4 Option slot 2
6 Option slot 3
Encoder types Initialization process
AB, FD, FR None. Initialization is immediate and is always successful. The position feedback is set to zero on initialization.
AB Servo
FD Servo
FR Servo
SC Servo
The absolute position used to control a motor can only be defined accurately after two different changes of state of the UVW
commutation signals. Initialization resets the system that ensures that the UVW signals alone will be used to define the motor
position until the encoder has moved through two valid commutation signal state changes. Initialization is immediate and is
always successful. The position feedback is set to zero on initialization.
SC
The SINCOS interpolation system must be initialised. Initialization is immediate and is always successful. The position feedback
is set to zero on initialization.
SC Hiperface
SC EnDat
SC SSI
Auto-configuration if required except SC SSI.
The absolute position must be obtained via comms. This may cause a large change in position feedback.
The SINCOS interpolation system must be initialized. This may have a small effect on the position feedback.
EnDat
BiSS
SSI
Auto-configuration if required except SSI.
The absolute position must be obtained via comms. This may cause a large change in position feedback.
SC SC
The absolute position used to control a motor is obtained from the sine and cosine signals provided for one revolution until the
marker pulse occurs. The position obtained from the marker pulse is assumed to be a position of zero. Once a marker has
occurred the incremental position is used and the single turn sine wave signals are ignored. When the position feedback device
is initialised the single turn sine wave signals are used again until another marker event occurs. No part of the initialization
process affects the position feedback seen in parameters, except that the SINCOS interpolation system must be initialized which
may have a small effect on the position feedback. Initialization is immediate and is always successful.
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