Keba ServoOne User Manual

l P 543[0] - ENC_CH1_MultiT=Numberofmulti-turnbits:0..14
DuetothedesignofthecyclicalSSIinterfaceasamotorfeedbackinterface,
thenumberofmulti-turnbitsislimitedto14(nolimitto14bitsinthecaseofa
SinCosinterfacewithSSIone-timereading).
l P 545[0] - ENC_CH1_Code=SSIdecoding:BINARY(0)orGRAY(1)
Graydecodingwillbeselectedbydefault.Theotheroptionistousebinary
decoding.
l P 546[0] - ENC_CH1_Mode=AvailableSSIauxiliarysettings
Thisparameterhasa16-bithexvalue.Withthedefaultsetting(0000h),SSI
wirebreakmonitoringwillbeenabled.Avalueof0001hwilldisableSSIwire
breakmonitoring,meaningthatonebitlesswillberead.
Followingisalistofwhatsomeofthetermsinthetablebelowstandfor:

o
Data=Sequenceofalldatabits

o
EncObs=Wirebreakbit

o
Nothing=Nobit

o
POdd=Oddparitybit

o
PEven=Evenparitybit

o
Free=Afreebit
ID Value Name
546  ENC_CH1_Mode 
 0000h Data_EncObs Default:withwirebreak
 0001h Data_Nothing 
   
 0002h Data_POdd_EncObs ODDParity
 0003h Data_Free_POdd_EncObs 
 0004h Data_POdd 
 0005h Data_Free_POdd 
   
 0006h Data_Free_EncObs 
 0007h Data_Free_Free_EncObs 
   
 000Ch Data_PEven_EncObs EVENParity
Table 6.14: SSI mode parameters (all other values are reserved)
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
72
6 Encoder
ID Value Name
 000Dh Data_Free_PEven_EncObs 
 000Eh Data_PEven 
 000Fh Data_Free_PEven 
   
 001Fh Data_Free Extradatareading
 0020h Data_Free_Free 
 0021h Data_Free_Free_Free 
 0022h Data_Free_Free_Free_Free 
Table 6.14: SSI mode parameters (all other values are reserved) (continue)
P616[0] - ENC_CH1_CycleCount = Sampling cycle in: n x 125µs (microseconds):
ENC_CH1_CycleCount can be used to slow down the timing for the cyclical SSI
encoder evaluation. By default, ENC_CH1_CycleCount = 1, i.e. the default setting
corresponds to 125µs sampling and cycles for the encoder evaluation. Different
settings must be viewed as special cases and must only be used when necessary.
Monitoring the position difference
With SSI encoders, the position difference is monitored automatically. The limit value
is based on the maximum speed with reference to one scanning step (125µs). The
position difference between two scanning steps is restricted to this limit value. In the
event of an EMC disturbance, this limits the (incorrectly detected) tracking error and
the response of the controller.
6.5.7Encodergearing
NOTE
l Pleasereadthegeneralinformationonencodergearingfoundin
Section"Introduction"onpage52beforehand.
Encoder channels Ch1 to Ch3 each feature their own encoder gearing, while
encoder channel Ch4 (virtual encoders) does not feature any encoder gearing.

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English