6.9Redundantencoder
It is possible to set the position difference between the positioning encoder and a
redundant encoder. To do this, the channel of the redundant position encoder must
be specified in P524[0] - ENC_EncRedPos and the maximum position tracking error
must be specified, in increments, in P597[0] - ENC_RedPos_DiffMax. Monitoring is
not active if P524[0] = 0 and the drive has been referenced. It is reset when the
associated error is acknowledged or homing is executed again.
P No. Index Name Unit Description
524 0 ENC_EncRedPos Selectionofthechannel(1-3)withwhichthe
positionencoderistobeevaluated.
597 0 ENC_RedPos_DiffMax inc Maximumpositiontrackingerrorsetting
Table 6.35: Parameters for monitoring the position difference
ID No.: 0842.26B.5-01Date: 09.2020
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6 Encoder
6.10Axiscorrection
The position value delivered by the encoder system and the actual position value on
the axis may vary for a number of reasons. Such non-linear inaccuracies can be
compensated by axis error correction (using position- and direction-dependent
correction values). For this, a correction value table is filled with values for each of
the two directions. The respective correction value is produced from the current axis
position and the direction of movement by means of cubic, jerk-stabilized
interpolation. The position value is adapted on the basis of the corrected table. Both
tables contain 250 interpolation points.
The correction range is within the value range delimited by parameters P591-
ENC_ACOR_PosStart "Start position" and P592-ENC_ACOR_PosEnd "End
position correction". The start position is preset on the user side; the end position is
determined on the drive side.
Possible cause of deviations
l Inaccuracyofthemeasuringsystem
l Slackinmechanicalelementssuchasthegearing,coupling,feedspindle
etc.
l Thermalexpansionofmachinecomponents.
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