Keba ServoOne User Manual

6.5.5.2SinCosencoder
Ch1: SINCOS(1) - SinCos signals
SinCos encoders can ...
a. Bepureincrementalencoderswithoutanabsolutevalueinterface.Inthis
case,P 540[0] - ENC_CH1_AbsmustbesettoOFF(0).
b. Beincrementalencoders▸withanabsolutevalueinterface.Inthiscase,
P 540[0] - ENC_CH1_AbsmustbeaccordinglysettoSSI(1),EnDat(2),
HIPER(3)or,inspecialcases,SSI_CONT(4)sothatitwillbepossibletoread
theabsoluteencoderpositionfortheabsolutevalueinitializationroutine
onceduringtheinitializationphase.
6.5.5.2.1PurelySinCosincrementalencoders
To run these encoders as purely incremental encoders with a zero pulse on encoder
channel Ch1 (without an absolute value interface), the approach is basically the
same as for purely TTL operation (see Section "TTL encoder" on page 64). The
same parameters apply.
However, there are the following differences:
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).
6.5.5.2.2LinearSinCosincrementalencoders
Linear SinCos encoders are operated as rotary encoders. For linear motor
operation, P542[0] - ENC_CH1_Lines and the encoder gearing (see Section
"Encoder gearing" on page 91) are used to establish the ratio for the linear motor’s
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
66
6 Encoder
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.
Moreover, P553[0] - ENC_CH1_PeriodLen is not used in this case.
6.5.5.2.3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 Ch1 with P549[0] - ENC_CH1_Corr and
P550[0] - ENC_CH1_CorrVal. For details see Section "Signal correction GPOC
(Gain Phase Offset Correction)" on page 75
6.5.5.2.4SinCosincrementalencoderswithabsolutevalueinter-
face
The following table lists the parameters for cyclical SinCos operation on encoder
channel Ch 1 with one-time reading of the absolute encoder position via the
absolute value interface, i.e. without a zero pulse:
ID Index Name Unit Description
505 0 ENC_CH1_Sel=1  EncoderselectionsettoSINCOS(1)
510 0 ENC_CH1_Num  Encodergearing:Numerator
511 0 ENC_CH1_Denom  Encodergearing:Denominator
540 0 ENC_CH1_Abs  Absolutevalueinterfaceselection(one-time
reading)
542 0 ENC_CH1_lines  NumberofLines(Sin/Cos/TTLencoders)
543 0 ENC_CH1_MultiT  NumberofMultiTurnbits(absoluteencoder)
544 0 ENC_CH1_SingleT  NumberofSingleTurnbits(absoluteencoder)
545 0 ENC_CH1_Code  Codeselection(SSIencoder)(binary,gray)
546 0 ENC_CH1_Mode  Modeselection(SSIencoder)
547 0 ENC_CH1_MTBase  Definitionofpointofdiscontinuityinmulti-turn
range
548 0 ENC_CH1_MTEnable  EnableMultiTurnuse(negativelogic,1=MToff)
Table 6.10: Parameters for channel 1 (X7) - SinCos encoder

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Brand	Keba
Model	ServoOne
Category	Controller
Language	English