Basic functions
7.20 Tolerant encoder monitoring
Drive functions
376 Function Manual, 11/2017, 6SL3097-4AB00-0BP5
● Under unfavorable conditions, if the drive oscillates around the zero mark for one
revolution, a zero mark error can occur with the rough order of magnitude of the zero
mark width.
● This behavior can be avoided using the appropriate value of parameter "p4686 zero mark
minimum length". You can assign ¾ of the zero mark width to parameter p4686 in order
to achieve the most rugged behavior possible.
● In order that the drive, for small inaccuracies, does not output fault F3x100 (N, A)
"Encoder x: Zero mark distance error"
1)
a small, adjustable deviation of the zero mark
distances is permitted:
"p4680 zero mark monitoring tolerance permissible"
This parameter makes the system less sensitive to issuing F3x100
1)
, if p0430.22 = 0 (no
pole position adaptation) and p0437.2 = 0 (no pulse number correction for faults) are set.
1)
x = encoder number (x = 1, 2 or 3)
For example, for a dirty encoder disk, the drive adds the missing pulses to the pole position
using the zero mark that is cyclically received in order to correct the pole position error. If, for
example EMC interference causes too many pulses to be added, then these will be
subtracted again every time the zero mark is crossed.
1. Set parameter p0430.22 = 1 to activate the "pole position adaptation" function.
When the pole position adaptation is activated, the incorrect pulses on the A/B track are
corrected in the pole position for commutation. The tolerance bandwidth for the zero mark is
±30° electrical. The rate of correction is ¼ of an encoder pulse between two zero marks; this
means that sporadically missing or superfluous pulses are corrected.
Note
When the "Commutation with zero mark" function (p0404.15
= 1) is activated, then the
system waits until fine synchronization has
been completed before making a correction
= 1).
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