Programming D-38
890CS Common Bus Supply - Frames B & D; 890CD Common Bus Drive and 890SD Standalone Drive - Frames B, C & D
Parameter Descriptions
This parameter defines the type of encoder being used.
Enumerated Value : Type
0 : QUADRATURE single-ended pulse encoder
1 : CLOCK/DIR single-ended pulse encoder
2 : CLOCK single-ended pulse encoder
3 : QUADRATURE DIFF differential pulse encoder
4 : CLOCK/DIR DIFF differential pulse encoder
5 : CLOCK DIFF differential pulse encoder
6 : SINCOS INC sin/cos encoder
7 : ABS ENDAT ST single turn endat absolute encoder
8 : ABS ENDAT MT multi-turn endat absolute encoder
9 : RESOLVER absolute encoder
Note that if an absolute endat encoder is used, the encoder MUST be wired exactly as specified. If not, it will fail to calibrate
the absolute position and an
error will result when the drive is started. Its status can be viewed via the parameter CALIBRATN
STATUS.
PMAC motor control needs to work with an absolute position. Using absolute encoders is preferred but using relative encoder
is possible with heavy constraints:
- at each power up, an init sequence is needed to align the Zero encoder position to the motor Back EMF. For this
purpose, the motor should be free of rotation, without any load or friction on its shaft.
As described, absolute encoders are :
- single turn or multi turn endat encoder
- resolver
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