POSICON positioning control – Supplementary manual for series SK 200E and SK 250E-FDS
30 BU 0210 en-3117
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4.2.2.2 Referencing an absolute encoder
Similarly to an incremental encoder, absolute encoders can be set to the value "0" or to the value
which is set in parameter P609 [-02] "Offset Position" via the function "Reference point run"
( Section 4.2.1.1 "Approach reference point") and "Reset Position“ ( Section 4.2.1.2 "Residual
position").
However, the precision of resetting the encoder position greatly depends on the actual speed of
movement, the bus load, the baud rate and the type of encoder. Therefore it is urgently recommended
that absolute encoders are only reset when they are at a standstill.
If both an incremental encoder and an absolute encoder are connected to the frequency inverter, both
encoders are reset by performing the functions "Reference Point Run" or "Reset Position".
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4.2.2.3 Manual commissioning of the CANopen absolute encoder
Normally, configuration of the encoder is carried out via the parameterisation of the frequency
encoder.
Alternatively, the configuration can be carried out via a CAN bus master, which must be additionally
integrated into the bus system.
If the encoder is set to the "Operational" state via this CAN bus master, the following settings can be
made.
Function Parameter Note
Cycle time 6200h Recommendation: Value ≤ 20 ms (this setting influences the
response speed of the positioning control)
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