Pilz PMCprotego D.48 - 4.3.7 Encoder emulation

Function Description
Operating Manual PMCprotego D.48, PMCprotego D.72
1001735-EN-04
65
4.3.7 Encoder emulation
Output signals for additional devices are generated from signals from the resolver or a Sin-
Cos encoder, e.g. for control systems or PMCprotego D. The position of the motor shaft is
calculated in the servo amplifier from the cyclical-absolute signals from the resolver or Sin-
Cos encoder:
} Signals are incremental encoder compatible
} Signals for the SSI interface
Output of incremental encoder signals:
Functions:
With this encoder emulation, a total of six tracks are generated from the existing output sig-
nals from the resolver or SinCos encoder; a higher level control system uses these tracks
for positioning. These six tracks are track A, B and NI (zero pulse) and their inverted signals
A\, B\ and NI\.
Setting the parameters:
The following can be set in the “Encoder Emulation” window in the commissioning software:
} Position of the zero pulse within one mechanical revolution (NI-OFFSET parameter)
} Resolution (before multiplication) in counts/revolution
} Default count direction: Upwards (facing the motor axis when rotating clockwise)
Parameter
ENCMODE
Encoder type
FBTYPE Resolution Zero pulse
9 = Incremental en-
coder => X1
0 = Resolver 32 … 4096 (2
8
... 2
12
) One per revolution
(only when
A=B=1)
>0 = SinCos encoder
etc.
256 … 524288 (2
8
…
2
19
)
INFORMATION
Binary resolutions (2
x
) can be used if a safety card is built in.