Encoder monitoring
The drive can be stopped independent of the control with the function encoder
monitoring when the speed measurement fails.
The function can be parameterized via the following objects:
If an encoder is adjusted for the appropriate channel (ec16 encoder type or ec16
encoder type B unequal 0), the parameterized error response (e.g. warning or error
reaction ramp) is triggered as soon as the speed measurement is no longer possi-
ble without error. (i.e. as soon as the encoder interface indicates an error in ec00).
Since channel A is used as standard for speed and position control, the default
value for pn34 E. encoder A stop mode is 0 "fault (92: ERROR encoder A“ is trig-
gered) and for pn35 E. encoder B stop mode 7 "off“ (no response).
If a control mode is selected which requires an encoder (cs00 control mode = 1
"encoder without model“ or 2 "encoder, with model“) an error is always triggered,
even if value 7 "off“ is selected in the encoder monitoring. Then the error type is 96
"encoder missing". When the encoder monitoring is switched off (or programming
only to warning), it can only be reached, that the drive in operating modes which do
not require an encoder, do not change into malfunction. This allows eventually an
emergency operation.
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