The multi-turn encoder can store up to 65535 revolutions if it has an external backup battery.
The encoder battery is inserted into the battery box on the cable between the motor and the drive.
If the cable between the motor and battery box is disconnected, or if the encoder cannot receive
battery or drive voltage, the encoder will lose multi-turn revolutions; but the single-turn absolute
position will be retained.
The following commands are used to configure and enable a multi-turn absolute encoder.
Table 6-7
IGNOREBATTFLT=1 is to prevent the multi-turn absolute encoder from issuing
faults caused by dead, disconnected or missing spare batteries, so that the
encoder is used as a single-turn absolute encoder.
Replacement of battery of multi-turn encoder
The battery voltage level is measured only during the power-up sequence. If the battery
voltage drops below the specified value during operation, no warning or fault will be issued before
restarting.
⚫ If the battery power drops below 3.15V, the encoder will issue a low battery warning.
The battery should be replaced as soon as possible.
When replacing the battery, keep the drive powered so that the multi-turn position is
maintained in memory during the replacement process. Remove the old battery and insert the new
battery.
⚫ If the battery power drops below 3.0V, the encoder will issue a battery dead fault (r40);
the drive detects the fault and disables the motor. Multi-turn data is no longer reliable.
To replace the battery: power off the drive. Remove the old battery and insert the new battery.
Power on the drive. Issue the MTTURNRESET command to reset the multi-turn encoder position
counter. The MTTURNRESET command will also clear the fault.
6.5.4 BiSS-C interface
BiSS is an open interface for sensors and actuators. The BiSS-C standard allows suppliers of
such feedback devices to define a small set of commands that require the feedback devices to
perform specific functions. BiSS-C execution in the drive is bidirectional.
The following commands are used to configure and monitor the BiSS-C feedback device.
Table 6-8
Set the number of bits of the position information transmission configuration in
the BiSS-C packet and the effective number of bits. It is suitable for both rotary
and linear encoders.
The value used by the command variable comes from the data table information
provided by the encoder manufacturer.
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