Keba ServoOne junior Device Help

ID Index Name Unit Description
507 0 ENC_CH3_Sel=1  EncoderselectionsettoSINCOS(1)
514 0 ENC_CH3_Num  Encodergearing:Numerator
515 0 ENC_CH3_Denom  Encodergearing:Denominator
570 0 ENC_CH3_Abs  Absolutevalueinterfaceselection(one-time
reading)
572 0 ENC_CH3_Lines  NumberofLines(Sin/Cos/TTLencoders)
573 0 ENC_CH3_MultiT  NumberofMultiTurnbits(absoluteencoder)
574 0 ENC_CH3_SingleT  NumberofSingleTurnbits(absoluteencoder)
575 0 ENC_CH3_Code  Codeselection(SSIencoder)(binary,gray)
576 0 ENC_CH3_Mode  Modeselection(SSIencoder)
584 0 ENC_CH3_MTBase  Definitionofpointofdiscontinuityinmulti-turn
range
585 0 ENC_CH3_MTEnable  EnableMultiTurnuse(negativelogic,1=MToff)
586 0 ENC_CH3_Corr  Signalcorrectiontype
587 0-4 ENC_CH3_CorrVal  Signalcorrectionvalues
577 0 ENC_CH3_EncObsMin  Encodermonitoringminimum,sqrt(a^2+b^2)
581 0... ENC_CH3_AbsEncStatus  Errorandstatuscodes(absoluteencoder)
582 0 ENC_CH3_PeriodLen nm Lengthofsignalperiod(Sin/Coslinearencoder)
583 0 ENC_CH3_
DigitalResolution
nm Lengthofoneincrement(linearabsoluteencoder)
580 0 ENC_CH3_Info  Encoderinformation
636 0 ENC_CH3_CycleCount 
Sampling cycle in: n x 125 μ (microseconds)
639 0 ENC_CH3_
NominalincrementA
Sign.
per.
NominalincrementA(distancecodedabs.
encoder)
631 0 ENC_CH3_
NominalincrementB
Sign.
per.
NominalincrementB(distancecodedabs.
encoder)
637 0 ENC_CH3_AbsInitMode  Modeabsolutevalueformation
Table 6.25: Parameters for channel 3 (X8) - SinCos encoder
Some parameters (e.g. Sel, Num, Denom, Abs, Lines, MultiT, SingleT, CorrVal) are
self-explanatory.
The Code and Mode parameters are described in Section "SSI (cyclical)X7" on
page 70.
l P 584[0] - ENC_CH3_MTBase=MinimumMultiTurnposition
TheMTBaseparameterisusedtosetapositioninthemulti-turnencoder’s
travelpaththatdefinesthepointofdiscontinuity(overflow/underflow)forthe
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
87
6 Encoder
absolutevalueinitialization(thatis,the“multi-turnbasis”).Assuminga
bipolarencodermeasuringrange,allpositionvaluesthatfallbelowMTBase
willbeshifted“up”(thewholeMTrangewillbeaddedtothemonce).This
methodmakesitpossibletoplacethepointofdiscontinuityatanypoint
withintheencoder’sentiremeasuringrange.Bydefault,MTBasewillbeset
tothelowestpossiblevaluefortheparameter,i.e.reliablyoutsideofthe
encoder’svaluerange:Inthiscase,thefullbipolarrangewillremain
unaffected,asvalueswillneverfallbelowthisMTBasethreshold(see
Section"Channel3:InterfaceX8(optional)"onpage78aswell).
l P 585[0] - ENC_CH3_MTEnable=MultiTurnasSingleTurn
TheMTEnableparametermakesitpossibletousemulti-turnencodersas
single-turnencodersfortestpurposes.Negativelogic:DefaultMTEnable=0
means"MultiTurn-EnableON".
l P 586[0] - ENC_CH3_Corr=Signalcorrectiontype:
TheGPOCroutineusedfortracksignalcorrectionpurposesforsine/cosine
signalsisusedtocompensateforsystematicerrors.Theroutineiscontrolled
withtheCorrandCorrValparameters(seeSection"SignalcorrectionGPOC
(GainPhaseOffsetCorrection)"onpage75).
l P 577[0] - ENC_CH3_EncObsMin=Encodermonitoringminimum,sqrt
(a^2+b^2)
TheparameterEncObsMinisusedtoscaletheSinCoswirebreak
monitoringandrepresentsthe“downwardsthreshold”foranerrormessage.
Thedefaultsettingis0.2,correspondingtoapprox.20%ofthetracksignals’
amplitude(approx.80%correspondstoapprox.1Vss).IfEncObsMinissetto
0,SinCoswirebreakmonitoringwillbedisabled(alsoseeSection"Channel
3:InterfaceX8(optional)"onpage78).
l P 581[0] - ENC_CH3_AbsEncStatus=Errorandstatuscodes(absolute
encoder)
l P 582[0] - ENC_CH3_PeriodLen=SinCoslinearencoderand
P 583[0] - ENC_CH3_DigitalResolution=linearabsoluteencoder
arethelengthofananalogueSinCossignalperiodinnanometresandthe
lengthofadigitalincrementofthepositionfromtheabsolutevalueinterface
innanometres.BothparametersareusedforlinearEnDatencoders(instead
ofMultiTandSingleTbits(rotary)).Incontrast,linearSSIencodersare

Keba ServoOne junior Specifications

General

Brand	Keba
Model	ServoOne junior
Category	Controller
Language	English