ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 89
With an EnDat 2.1 encoder, additional information can be displayed thanks to the following monitorings:
12.3.3 TTL encoders (K79=1 and K79=7)
TTL encoders measure the motor position with two phase-shifted TTL signals. Each change of state of one of
the signals corresponds to a position increment. Parameters K70 to K73 are not used.
This formula gives the TTL encoder resolution, which is the smallest distance measured by the encoder, but
it concerns the encoder only, not the resolution obtained in the controller:
The real position reading resolution is given in the controller by parameter K55 (refer to §12.3
).
The encoder resolution, which is the smallest distance measured by the encoder, is given by the following
formula:
TTL special filter: With a TTL encoder, oscillations may happen when the motor stops and stays on a position.
When the motor moves, they disappear. They are due to the encoder weak resolution. A special speed filter,
also named “smooth filter” has been created to reduce them. It can be tuned via parameter K11.
Parameter K11 filter is taken into account only when the real speed is equal to 0. As soon as the real speed is
different from 0, parameter K11 filter is deactivated.
Remark: The difference between K79=1 and K79=7 is the type of the secondary encoder. With K79=1, the
secondary encoder, which can be used only on a DSC2P and DSC2V, is a 1 Vptp analog encoder.
With K79=7 which can be used only on a DSC2P and DSC2V, the secondary encoder is an EnDat
2.1 encoder giving an absolute position.
12.3.4 Stepper in open loop (K79=20, 21, 23 and 24)
Refer to §12.13 for more information about the stepper in open loop.
M Name Comments
M145 Encoder type Gives the type of EnDat 2.1 encoder (linear or rotary and single or multi-turn)
M146 EnDat measuring step Gives the number of measuring step per turn (for rotary encoder) or in [mm] (for linear encoder)
M147 EnDat period number Gives the number of encoder period per turn (for rotary encoder) or in [mm] (for linear encoder)
M148 EnDat pulse number Gives the number of pulse
M149 EnDat turn number Gives the number of turn
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Name Comment
K11 TTL speed smooth filter TTL encoder special filter on the speed (K79=1).
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Signal TTL1 (UA1)
Signal TTL1 (UA1)
Encoder resolution [m]
Encoder period [m]
4
------------------------------------------
=
TTL encoder resolution [m]
Encoder period [m] 16
⋅
1024 2
K69
⋅
----------------------------------------------------
=
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