Keba ServoOne junior Device Help

ID Index Name Unit Description
507 0 ENC_CH3_Sel=3  EncoderselectionsettoTTL(3)
514 0 ENC_CH3_Num  Encodergearing:Numerator
515 0 ENC_CH3_Denom  Encodergearing:Denominator
570 0 ENC_CH3_Abs  Selectionofabsolutevalueinterface
571 0 ENC_CH3_NpTest  ENCCH1,TEST-MODE:Indexpulsesignal(s)toScope
572 0 ENC_CH3_Lines  Numberoflines(Sin/Cos/TTLencoders)
2842 0 ENC_CH3_TTL_SignalType  Channel3:TTLsignalselection
602 0 ENC_CH3_Period  Maximumperiodofinterpolation(ttlencoder)
636 0 ENC_CH3_CycleCount  Samplingcyclein:nx125μ(microseconds)
Table 6.24: Parameters for Channel 3 (X8) - TTL encoder
6.7.6.2SinCosencoder
Ch3: SINCOS(1) - SinCos signals
SinCos encoders can ...
a. Bepureincrementalencoderswithoutanabsolutevalueinterface.Inthis
case,P 570[0] - ENC_CH3_AbsmustbesettoOFF(0).
b. Beincrementalencoders▸withanabsolutevalueinterface.Inthiscase,
P 570[0] - ENC_CH3_AbsmustbeaccordinglysettoSSI(1)orEnDat(2)so
thatitwillbepossibletoreadtheabsoluteencoderpositionfortheabsolute
valueinitializationroutineonceduringtheinitializationphase.
6.7.6.2.1PurelySinCosincrementalencoders
To run these encoders as pure incremental encoders with a zero pulse on encoder
channel Ch3 (without an absolute value interface), the approach is basically the
same as for pure TTL operation (see Section "TTL encoder" on page 85). The same
parameters apply.
However, there are the following differences:
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
86
6 Encoder
a. TherearenodifferentsignaltypesfortheSinCossignal(always1Vssfor
cosineandsine).
b. ThezeropulseistheanaloguezeropulsetypicalofSinCosencoders(see
the“Connectionforhigh-resolutionencoders”sectionintheServoOne
OperationManualSingle-AxisSystem,forexample).
6.7.6.2.2LinearSinCosincrementalencoders
Linear SinCos encoders are operated as rotary encoders. For linear motor
operation, P572[0] - ENC_CH3_Lines and the encoder gearing (see Section
"Encoder gearing" on page 91) are used to establish the ratio for the linear motor’s
pole pair subdivision (North-North) for commutation. 1 x North-North corresponds to
one revolution from Lines. In this case, the motor pole pair number must be set to 1.
P582[0] - ENC_CH3_PeriodLen is not used in this case.
6.7.6.2.3Signalcorrection(GPOC)
The GPOC (gain phase offset correction) routine used for track signal correction
purposes for sine/cosine signals is used to compensate for systematic errors. The
routine is controlled in encoder channel Ch3 with P586[0] - ENC_CH3_Corr and
P587[0] - ENC_CH3_CorrVal. For details see Section "Signal correction GPOC
(Gain Phase Offset Correction)" on page 75.
6.7.6.2.4SinCosincrementalencoderswithabsolutevalueinter-
face
The following table lists the parameters for cyclical SinCos operation on encoder
channel Ch 3 with one-time reading of the absolute encoder position via the
absolute value interface, i.e. without a zero pulse:

Keba ServoOne junior Specifications

General

Brand	Keba
Model	ServoOne junior
Category	Controller
Language	English