6encoder/feedback system – Lenze 8400 TopLine User Manual
Page 329
Lenze · 8400 TopLine · Reference manual · DMS 6.0 EN · 06/2014 · TD05/TD14
329
6
Encoder/feedback system
6.3
Multi-Encoder (X8)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Initialisation process
During initialisation, the controller requests different information from the encoder. The process of
this data transfer is as follows:
1. Reading the encoder status
The encoder can provide up to 4 error codes which are displayed in
version
14.00.00
.
2. Reading the encoder type (display of the TypeCode in
)
3. Reading the absolute position
A constant encoder position is assumed to initiate the position value correctly. An initialisation
is not permissible when the encoder is rotating.
4. Processing the read position data and linking the SinCos-based position and speed detection to
the absolute position of the encoder.
Encoders detected automatically
The following encoder types are detected and set automatically by the controller:
• Regarding the saving of position information, it is distinguished between:
Singleturn: Saving within one revolution
Multiturn: Saving within a number of revolutions
• In case of encoders with an extended electronic nameplate (TypCode = "0xFF"), the encoder
settings currently cannot be read automatically out of the encoder and thus have to be
executed manually. See the instruction "
How to parameterise an absolute value encoder with
an unknown type code
" in the following "Parameter setting" subchapter.
• The encoder settings for all other encoders (TypeCode = "0x00") have to be made manually as
well. See the instructions "
How to parameterise an absolute value encoder with an unknown
type code
" in the following "Parameter setting" subchapter.
Type
Increments/
revolution
Absolute
revolutions
Bits
Singleturn
Bits
Multiturn
Bits
SinCos track
Type code
AM1024-8V-H (SRM50)
1024
4096
(Multiturn)
15
12
10
0x27
AM1024-8V-H (SRM60)
AM1024-8V-H (SRM64)
AM512-8V-H (SCM60)
512
14
12
9
0x07
AM512-8V-H (SCM70)
AM128-8V-H (SKM36)
128
12
12
7
0x37
AM16-8V-H (SEL37)
16
9
12
4
0x47
AM16-8V-H (SEL52)
AS1024-8V-H (SRS50)
1024
1
(Singleturn)
15
0
10
0x22
AS1024-8V-H (SRS60)
AS1024-8V-H (SRS64)
AS512-8V-H (SCS60)
512
14
0
9
0x02
AS512-8V-H (SCS70)
AS128-8V-H (SKS36)
128
12
0
7
0x32
AS16-8V-H (SEK37)
16
9
0
4
0x42
AS16-8V-H (SEK52)