July 2013 6.11 Monitoring functions 897
Difference between
position at switch-
on and shutdown
When the control is switched off, the actual position of the axes is saved with
an absolute encoder. During switch-on it is compared with the position values
read by the encoder.
If the positions differ by more than the difference defined in MP1146.x, a pop-
up window appears with both positions. The new position must be confirmed
with a soft key. If it is not confirmed, the error message Check the position
encoder <axis> appears.
Special case: Absolute multiturn rotary encoder
The control stores an overflow (more than 4096 revolutions of the encoder)
internally. Additionally, the number of traversed sectors (1 sector = 256
revolutions) is stored. After the drives are switched on, the current sector is
compared to the stored sector.
If the motor is farther from the switch-off position than two complete sectors
when it is switched on (further than the sector "after next"), the error message
Switch-off pos. <axis> unequal ENDAT is displayed immediately after the
drives are switched on.
The pop-up window may appear, stating that the positions at switch-on and
shutdown differ by more than MP1146.x. If the motor is located at the correct
position, you can confirm the message with the YES soft key.
MP1146.x Difference between the position at shutdown and the
position read in via the EnDat interface
Input: 0.0000 to 300.0000 [mm] or [°]
0: No difference permitted
Switch-off position in
this sector
1 sector
(= 256 revolutions)
Error!Error!
The error must then be corrected!
After the control has been restarted, it is assumed that the number of
revolutions is correct again.
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