6 Assi
nin
Parameters to the Control and the PLC Pro
ram
6
03.96
6.9 Axes and spindles
6-121
Siemens AG 2000 All Rights Reserved
SINUMERIK 840D Installation and Start-Up Guide (IAD) – 04.00 Edition
6.9.6 Parameterization of absolute measuring systems
(EnDat interface)
In order to adapt the absolute encoder to the real data of the machine, the en-
coder must be matched in a similar fashion to a rotary or linear incremental en-
coder.
The following additional axis machine data must be noted with respect to abso-
lute encoders:
Table 6-13 Axis machine data for absolute encoders
Rotary absolute encoder Linear absolute en-
coder
MD Mounted on motor Mounted on machine Mounted on machine
1005: ENC_RESOL_MOTOR Marks/rev.
(2048 on standard motor)
*)
– –
1007: ENC_RESOL_DIRECT – Marks/rev. Scale graduations in [nm]
1011: ACTUAL_VALUE_CONFIG Bit 3
*)
– –
1030: ACTUAL_VALUE_CON-
FIG_DIRECT
– Bit 3 Bit 3 + Bit 4
34200: ENC_REEP_MODE [n]:
0...max. no. encoders -1
0 0 0
34220: ENC_ABS_TURNS_MO-
DULO [n]: 0...max. no. encoders -1
Multiturn resolution
(4096 on standard motor)
Multiturn resolution –
*)
Measuring system parameter has been set automatically after motor selection.
To set up the encoder, the offset between the machine zero and the absolute
encoder zero is determined and stored in the SRAM of the NC module.
The adjusted state is identified by the control through MD 34210:
ENC_REFP_STATE = 2.
References: /FB/, R1, “Reference Point Approach”
The absolute encoder must be set once the axes are ready to traverse during
machine start-up. However, it may also be necessary to re-adjust the encoder at
a later point in time, e.g.
S after dismantling/installing the encoder or the motor with absolute encoder
or,
S generally: if the mechanical connection between the encoder and the load
has been separated and an unacceptable deviation remains when the two
are joined together again, or
S if data are lost in the NC SRAM, battery voltage failure, PRESET,
S after gear stage changeover between load and absolute encoder the setting
in MD 34210: ENC_REFP_STATE is deleted.
Precondition
Setting up the
absolute encoder
Readjustment
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