Risk of serious injury or death!
Swapping motor phases to change direction of rotation could result in
serious injury or death.
LE04 Sample Rate for Encoder 1
This parameter is used to adjust the sample time of the encoder feedback for calculation
of the actual motor speed value. With certain motors or encoders, it may be beneficial to
use a time other than the factory setting. Lower values lead to higher bandwidth and
faster response times of the motor. However, lower values also increase the systems
susceptibility to electrical noise on the encoder signal. Therefore, on some systems
having higher noise levels, lower values may not be suitable. If this electrical noise is a
problem, the motor will produce an audible noise or vibration while running. If this is the
case, try increasing the rate by one step (e.g., from 4ms to 8ms) to filter electrical noise.
LE05 Encoder 1 Multiplier
This parameter can be used to increase the resolution of encoders with analog
sine/cosine tracks. The encoder types are EnDat, SIN/COS, SSi, and Hiperface. For
incremental encoders, the value will be set to a value of 2 due to the TTL pulse tracks.
• Default Setting (Gearless modes) = 8
• Default Setting (Geared modes) = 2
The value corresponds to the multiplier using the following relation:
Actual Encoder Resolution = Encoder base ppr (LE02) x 2^(LE05)
Example:
EnDat encoder with base resolution of 2048 ppr.
With LE05 = 8 the actual measured resolution is:
2048 x 2^8 = 524288 counts / rev
Higher values give better resolution especially for gearless applications. However,
values too high may make the system more susceptible to disturbances due to
noise. Therefore, the actual value which can be used will ultimately be limited by
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