Encoder
WARNING: It is important that the number of encoder pulses per revolution is entered
correctly. If this information is not correct, the controller may not be able to brake the
motor effectively.
To configure the encoder:
1. Enter the resolution pulses/rev at 6090
h
.
2. Check whether the encoder requires controller pull ups enabled (e.g. open-collector type)
and enable pull-ups if needed at 4630
h
. The default setting is no pull-ups, which is suitable
for current source encoder types.
3. Select the required encoder supply voltage (10V or 5V) at 4630
h
.
To change the encoder polarity (if required) change the setting at 607E
h
(reverses the forward
and reverse speed measurements).
Refer to the instructions in sections Motor speed sensor (encoder) (page 5-11) and Motor
commutation sensor (page 5-12) for more information regarding encoder configuration.
Stall detection can be configured at 4626
h
. This can disable the torque in the event of a stalled
motor or a failed incremental encoder.
NOTE: Configurable internal pull-up is only available with inputs dedicated to AB encoder. UVW
inputs always have internal pull-up present.
Digital inputs
The state of the digital inputs can be read at object 6800
h
.
NOTE: Digital inputs are either all active low (switch return to battery negative) or all active high
(switch return to battery positive). A mixture of active low and active high inputs is not possible.
The default setting is active low.
To configure digital inputs:
Set active high/low logic at 4680
h
.
Set wire off protection at 4681
h
. Any two digital inputs can be configured with wire-off
protection. See Table 2 Connector A pin out and wiring information on page 3-19 (pins 14
and 15) for more details.
Set digital input polarity at 6802
h
. This is used to configure normally closed/open switches.
Analogue inputs
The analogue input voltages can be read at object 6C01
h
. Voltages are 16-bit integer values with
a resolution of 1/256 V/bit.
Although each input is usually assigned a specific task by default, any of the inputs can accept a
variable voltage or a potentiometer. Analogue inputs can also be used as additional digital
inputs.
The following table summarises the analogue inputs and any special features:
To Next Page
Loading...
