the noise being picked up on the encoder cable. In gearless applications, very low
values will sacrifice resolution and may cause audible electrical noise from the
motor. A setting of is typical for absolute encoders (e.g. EnDat).
LE06 Encoder 1 Pole Position
This parameter displays the position of the encoder in relation to one of the motor poles.
This may often be referred to as the encoder position.
The parameter is only applicable to PM synchronous motors.
Risk of excessive current draw, loss of control and slippage!
The pole position must be known for proper operation of a PM
synchronous motor. Failure to learn the pole position may result in
excessive current draw and may result in loss of control.
If the encoder A/B channel phasing is swapped, there would be a
different corresponding Encoder Pole Position and should be
relearned.
The pole position represents an encoder offset in relation to the rotor
aligned to a motor pole. If at any time this physical relationship is
changed (e.g., encoder replaced/removed, encoder slippage), the pole
position must be re-established for proper operation. If the encoder
position is relearned and found to be more than 2,000 from the
previous value, this is an indication of encoder mounting issues. Even if
the encoder appears to be mounted tight to the motor shaft, a small
amount of slippage may accumulate over time or even distance;
likewise, encoder mounting issues may appear due to changes in
direction.
LE07 Rotor Detection Mode
This parameter determines when the drive will automatically determine the pole position
for a PM synchronous motor.
For incremental encoders, there is no way to determine whether the rotor position has
changed after the pole position has been learned if the encoder has been powered down
since the encoder only provides generic pulses instead of a unique position. In this case,
it is mandatory that the pole position at least be determined before the first run after every
power cycle.
Refer to parameters LX22 Encoder Deviation, LX23 Encoder Deviation Enable,
and Special Functions Parameters (LX), for additional rotor detection functionality.
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