Infranor CD1-k - Page 21

21
CD1-k – User Guide
Chapter 5 – Troubleshooting & maintenance
 Check that the following conditions are answered for taking into account the maximum value of the encoder
pulse frequency at the maximum motor speed value :
Max. motor speed (rpm) < 60 x 10
6
/ Number of encoder pulses per revolution.
Max. motor speed (rpm) < 60 x Encoder pulse frequency limit (Hz) / Number of encoder pulses per revolution.
 Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct.
 Check that the number of encoder pulses between two successive Z marker pulses is equal to the Motor
encoder resolution value multiplied by the Zero mark pitch parameter value. If this condition is not fulfilled,
the encoder counting protection must be disabled in order to cancel the Counting fault. The encoder counting
protection can be disabled by means of the parameter Zero mark pitch set at 0.
 For a linear motor with only one marker pulse over the entire motor travelling range, the parameter Zero
mark pitch must be set at 15. In this case the encoder counting protection is checking that the measured
encoder position has always got the same value when the marker pulse is activated (no position
measurement drift).
Note
: In the TTL incermental encoder configuration without HES, the motor Phasing procedure must be
executed again after a Counting fault release.
For the Sin/Cos encoder configuration:
 Check for the correct encoder supply voltage value
 Check for the correct encoder-amplifier-motor ground and shield connections with regard to the
recommendations of chapter 4 of the CD1-k Installation Guide.
 Check for the correct encoder A channel, B channel and R reference signal waveforms.
A
A/
B
B/
R
R/
A
A/
B
B/
R
R/
Forward direction Reverse direction
 Check that the Motor encoder resolution and the Zero mark pitch parameter values are correct.
 Check that the number of encoder pulses between two successive R reference signals is equal to the Motor
encoder resolution value multiplied by the Zero mark pitch parameter value. If this condition is not fulfilled,
the encoder counting protection must be disabled in order to cancel the Counting fault. The encoder counting
protection can be disabled by means of the parameter Zero mark pitch set at 0.
 For a linear motor with only one R reference signal over the entire motor travelling range, the Zero mark
pitch parameter must be set at 15. In this case the encoder counting protection is checking that the encoder
measured position has always got the same value when the R reference signal is activated (no position
measurement drift).
When the encoder counting protection has been disabled, the amplifier is only checking that the
encoder pulses frequency is lower than 1.5 times the maximum encoder frequency. The maximum
encoder frequency is calculated into the amplifier according to the Motor encoder resolution
parameter value and the Maximum speed parameter value. In this case, encoder pulse noise at a
frequency lower than 1.5 times the maximum encoder frequency may involve uncontrolled motor
movements that may be dangerous for operator and machine.
!