FBTYPE

ASCII - Command	FBTYPE
Syntax Transmit	FBTYPE [Data]
Syntax Receive	FBTYPE <Data>	Available in
Type	Variable rw	MMI	Yes
ASCII Format	Integer8	CANBus Object Number	353B (hex)
DIM	-	PROFIBUS PNU	1659 (dec) IND = 0000xxxx (bin)
Range	0 .. 20	DPR	59 (dec)
Default	0
Opmode	All	Data Type Bus/DPR	Integer8
Drive State	Disabled + Reset (Coldstart)	Weightning
Start Firmware	1.20
Configuration	Yes	Revision	2.0
Function Group	Feedback	EEPROM	Yes
Short Description	Selection of Encoder or Resolver

Description

The FBTYPE command is used to select the type of feedback device. The type of encoder that is set is only initialized when the amplifier is switched on, which means that the amplifier must be switched off and then on again after every change of this variable.

The encoder parameters can be altered by using the appropriate ASCII command (in brackets) and then saved in the encoder EEPROM, using the HSAVE command. The encoder commands (HISOFFS, HICOFFS, HIFACT1, HSAVE) are only available when communication with the connected encoder has been established.

If communication with the encoder is not possible, then the error message ENCODER FAULT F04 is displayed.

When the data are loaded from the encoder, the setting for the motor number in the encoder is compared with the internal setting (MNUMBER). If the numbers are different, then an attempt is made to load a motor data set from the internal motor database that has the same motor number as that stored in the encoder. At the same time, the warning NEW MOTOR DATA SET n12 is displayed.

In order to prevent a warning being generated at the next power-on, the latest MNUMBER setting should be saved in the EEPROM, using the SAVE command. If it was not possible to load a valid motor number from the encoder (for instance, when an encoder is used for the first time), then no motor data will be loaded. However, the n12 warning will still be generated. The HSAVE command can be used to save the preset setting for the motor number (MNUMBER) in the encoder, so that no warning will be produced at the next power-on.

When using an encoder without a parameter channel (FBTYPE=7/16), and thus without the facility for storing parameters, the offset values HISOFFS / HICOFFS / HIFACT1 will be saved in the serial EEPROM of the amplifier. After an alteration, these values can be permanently stored by using the SAVE command.

Status	Type of Feedback System	Description
FBTYPE = 0	Resolver	Data is loaded from the drive EEPROM.
FBTYPE = 2	Hiperface (Stegmann)	In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are: Offset compensation Sine (HISOFFS) Offset compensation Cosine (HICOFFS) Amplitude scaling (HIFACT1) Motor number (MNUMBER) Motorphase (MPHASE)
FBTYPE = 3	Resolver, EnDAT oder Hiperface	Automatic selection of the feedback device. First the drive tries to communicate with an EnDAT device (FBTYPE=4). If there is no reply, the drive tries to communicate with an Hiperface device (FBTYPE=2). If there is also no communication, the drive selects resolver feedback (FBTYPE=0) and starts to work. The setting of FBTYPE=3 is not effected by this search. There is a possibility to read the selected type by the command "M FBTYPE".
FBTYPE = 4	EnDAT (Heidenhain)	In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are: Offset compensation Sine (HISOFFS) Offset compensation Cosine (HICOFFS) Amplitude scaling (HIFACT1) Motor number (MNUMBER) Motorphase (MPHASE)
FBTYPE = 6	Sine/Cosine Encoder	Sine/Cosine encoder without parameter channel. MPHASE is stored in the drive EEPROM. HISOFFS, HICOFFS, HIFACT1 is also stored in the drive EEPROM.
FBTYPE = 7	Sine/Cosine Encoder	Sine/Cosine encoder without parameter channel. Automatic detection of MPHASE by Wake&Shake mode. HISOFFS, HICOFFS, HIFACT1 is also stored in the drive EEPROM. If the 24V are switched on or the drive has got a COLDSTART, a warning n14 is present. After enabling the drive, a wake & shake mode is activated, to get the commutation angle. The motor is doning a short move to do that. After that, the n14 is cleared.
FBTYPE=8	RS422 & Wake&Shake	This setting can only be used, if GEARMODE=3 and ENCMODE=0 (see ENCLINES). If FPGA=1 the position output at X5 (Drive 400 X4) gives the position information of the incremental encoder.
FBTYPE=9	RS422 Feedback Device MPHASE is loaded out of the EEPROM	This setting can only be used, if GEARMODE=3 and ENCMODE=0 If FPGA=1 the position output at X5 (Drive 400 X4) gives the position information of the incremental encoder.
FBTYPE=10	Without Feedback Device (sensorless)
FBTYPE=11	Sine encoder feedback with hall's
FBTYPE=12	RS422 feedback device (A quad B) with hall's
FBTYPE=13	Hall's only	The hall sensor is used as only feedback. In this case, the drive can be operated in torque and also velocity mode (OPMODE = 1,2 or 3,4). The performance at low speed is poor. To extend the low speed performance, use MVR to enable the speed estimation at low speed.
FBTYPE = 16	Start-up with resolver (commutation), then switch over to Sine/Cosine encoder (FBTYPE=7)	Commutation information read by resolver feedback. The switch-over to sine/cosine is done after a switch-on delay time together with the encoder simulation.