Keba ServoOne User Manual

The software versions required to run the EnDat encoder interface are the standard
software versions for the ServoOne and ServoOnejunior.
NOTE
l PleasenotethelimitationsthatapplywhenrunningEnDatand
SSIencoders(seeSection"LimitingforEnDatandSSI"onpage
52).
When using linear encoders, P554[0] - ENC_CH1_DigitalResolution is used
instead of P543[0] - ENC_CH1_MultiT and P544[0] - ENC_CH1_SingleT (which
are used for rotary encoders). The values will be read from the EnDat encoder and
written to the aforementioned parameters.
l P 543[0] - ENC_CH1_MultiT
Thenumber"n"ofmultiturnbitsdefinesthemeasuringrangein2
n

incrementsperencodershaftrevolution;maximumtraveluntiloverflow;
maximumtravelwithinwhichtheabsolutevalueinitializationcanbe
unambiguous.Inthecaseofsingle-turnencoders,MultiT=0.
l P 544[0] - ENC_CH1_SingleT
Thenumber"n"ofsingle-turnbitscorrespondstotheencoder’sdigital
resolutionin2
n
incrementsperencodershaftrevolution.
l P 554[0] - ENC_CH1_DigitalResolution
Thisisthelengthofanincrement,innanometres,oftheencoder’sdigitally
transmittedpositionvalue.ThisvalueisreadfromtheEnDatlinearhead.
In the case of linear encoders, the number n of transmitted position bits from the
encoder will be found in SingleT only! 2
n
* DigitalResolution yields the maximum
travel in nanometres (for the encoder head).
P640 - ENC_ENDAT is intended for additional information, but is normally not
needed. This parameter does not have a Ch1 or Ch3 prefix for the encoder channel
in the name, as it applies to both encoder channels. Although usually not needed,
the parameter is helpful or required in the following cases:
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
63
6 Encoder
1. Special EnDat encoder with diagnostics for evaluation
Inthiscase,thevaluationnumbersfromtheencoderarereadcyclicallyvia
additionalinformation.Onlythevaluationnumbersthattheencodersupports
willberead.Duringtheinitializationprocess,thesystemwillreadthe
encodertodeterminewhichvaluationnumbersitsupports.WhenP 640[0] -
ENDAT_Select=1,thefunctionwillbeenabledinthecontrollerandthe
internaldiagnosticsintheEnDaTencoderwillbeenabledaswell.The
EnDatencoderwillkeepthissettingevenafterbeingpoweredoff.To
explicitlydisabletheinternaldiagnosticsintheEnDatencoder,setP 640[0] -
ENDAT_Selectto2.
2. Evaluation of internal warnings
Inthisscenario,certaininternalwarningsfromtheencoderwillbereadfrom
theencoderviaadditionalinformation.Onlythewarningsthatboththe
encoderandtheServocontroller’ssoftwaresupportwillberead.Duringthe
initializationprocess,thesystemwillreadtheencodertodeterminewhich
warningsitsupports.WhenP 640[0] - ENDAT_Select=3,thefunctionwill
beenabledinthecontroller.
ID Index Name Unit Description
505 0 ENC_CH1_Sel=4  =ENDAT(4)
543 0 ENC_CH1_MultiT  NumberofMultiTurnbits(absoluteencoder)
544 0 ENC_CH1_SingleT  NumberofSingleTurnbits(absoluteencoder)
547 0 ENC_CH1_MTBase  Definitionofpointofdiscontinuityinmulti-turn
range
548 0 ENC_CH1_MTEnable  1:UseMulti-turnencoderasasingle-turn
encoder
616 0 ENC_CH1_CycleCount  Positionencodersamplingcycle(nx125
µsec)
598 0 ENC_CH1_Position inc Positionencoderchannel1
554 0 ENC_CH1_
DigitalResolution
nm Lengthofoneincrement(linearabsolute
encoder)
640  ENC_ENDAT  EnDatadditional(additionalinformation)
640 0 ENDAT_Select 0=off EnDatfunctionselection,1/2=diagnosis
on/off,3=warnings,FF=lock
640 1 ENDAT_DiagCount u16 countnewdiagnosisblockheader
640 2 ENDAT_BWZ_1 lowbyte vn1:incrementaltrack
640 3 ENDAT_BWZ_3 lowbyte vn3:absolutetrack
Table 6.8: Channel 1 encoder configuration (X7) - EnDat parameters

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English