Keba ServoOne User Manual

Signal correction (GPOC)
GPOC is a special KEBA online process for improving the quality of SinCos signals
before they are used to calculate a position. If “SINCOS(1)” is selected as the “main
interface,” this process may be useful. For details see Section "Signal correction
GPOC (Gain Phase Offset Correction)" on page 75.
6.7.1MainparametersforencoderchannelCh3
The following table lists the most important parameters for the Ch3 encoder channel.
These parameters are described in the chapters that go over selecting the various
encoders with P507[0] - ENC_CH3_Sel and P570[0] - ENC_CH3_Abs.
The Lines, MultiT und SingleT parameters are self-explanatory.
Code and Mode are used to set SSI modes. If Mode=1, wire break monitoring (if any)
will be disabled, for example. If Mode=0, it will be enabled instead (default).
In the case of linear encoders, PeriodLen and DigitalResolution will be needed
instead of MultiT and SingleT.
P No. Index Name / Setting Unit Description
507 0 ENC_CH3_Sel  MainselectiononencoderchannelCh3
570 0 ENC_CH3_Abs  Absolutevalueinterfaceforone-timereading
572 0 ENC_CH3_Lines  NumberofanalogueSin/Coslinesperrevolution
(TTLlinesaswell)
573 0 ENC_CH3_MultiT  Numberofmulti-turnbitsforthedigitalinterface
574 0 ENC_CH3_SingleT  Numberofsingle-turnbitsforthedigitalinterface
575 0 ENC_CH3_Code  Codeselection(forSSIencoders)(binary,Gray)
576 0 ENC_CH3_Mode  Modeselection(forSSIencoders)
583 0 ENC_CH3_
DigitalResolution
nm Linearencoders:Lengthofadigitalincrementin
nm(nanometres)
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)
636 0 ENC_CH3_CycleCount  Samplingcyclein:nx125μ(microseconds)
Table 6.21: Main parameters for encoder channel Ch3
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
82
6 Encoder
l P 577[0] - ENC_CH3_EncObsMin
IfyousetEncObsMinto0,SinCoswirebreakmonitoringwillbedisabled.
Thedefaultvalueis0.2(20%)andstandsforacalculatedamplitudevalue
(calculatedusingthetwoSinCossignals)ofx=sqrt(a²+b²).IftheSinCos
signalsareequaltoapprox.1Vsswhencompared,approx.0.8willbe
calculatedhere(approx.80%magnitudeattheA-Dconverters;approx.0.25
VssSinCoswillyieldapprox.0.2here(20%magnitudeattheA-D
converter)).TheerrorthresholdcanadjustedwithEncObsMin.
l P 584[0] - ENC_CH3_MTBase
Whenusedwithitsdefaultsetting,thisparameterwillensurethatthe
absolutevalueinitialization“startsupwithplus-minus”.I.e.theencoder’s
multi-turnvaluerangefrom0tomaxwillbemappedto-½maxto+½max.
Therangefrom+½maxtomaxwillbeinitializedasnegative;inthiscase,the
pointofdiscontinuitywillbefoundat½max.Thiscanbechangedwith
MTBase.WhenMTBase=0,theabsolutevalueinitializationwill,for
example,“startupwithzerotomax”.I.e.theencoder’smulti-turnvaluerange
from0tomaxwillbemappedto0tomax.Therangefrom+½maxtomaxwill
beinitializedaspositive;inthiscase,thepointofdiscontinuitywillbefound
at0.
l P 585[0] - ENC_CH3_MTEnable 
IfyousetMTEnableto1,youcanuseanavailablemulti-turnrotaryencoder
asasingle-turnrotaryencoder,whichcancomeinhandyfortesting
purposes.
NOTE
l AstherearevariousprotocolmodesavailableforSSIencoders
(with/withoutwirebreakmonitoring,with/withoutparitybit,etc.),
consultwithyourprojectsupervisorortheHelplineprovidedby
KEBAbeforeusinganyspecialSSIprotocolmodes.
As the functionality of the parameters for encoder channel Ch3 is predominantly
identical to that of the parameters for encoder channel Ch1, it is recommended to
read the description for the Ch1 encoder channel parameters.

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English