Configuration of the feedback system

The feedback serves to determine the relative position and velocity for the internal control. Determination of the absolute position is not possible with the feedback.

Operation without feedback is also possible. In this case, the counter-electromotive force of the motor is used as feedback. This operation mode is called "sensorless operation".

Select the feedback system according to the requirements of the application.

Feedback system

Recommended use cases

No feedback
"Six-Step sensorless"

  • Constant high velocity
  • No positioning tasks

Hall sensors
"Six-Step hall"

  • High-speed applications such as:
    • Fan
    • Pumps
    • Conveyor belts
  • Coarse positioning tasks

Field-oriented control with incremental encoder
"FOC with incremental encoder" (factory setting)

Positioning tasks in which high synchronism is required

Field-oriented control with incremental encoder and hall sensors
"FOC with incremental encoder and hall"

Permissible combinations of feedback and operation mode

Operation mode

Feedback

Incremental encoders

Incremental encoder + Hall sensors

Hall sensors only

No feedback

CSTCA

Yes

Yes

No

No

CST

Yes

Yes 1)

No

No

CSV

Yes

Yes

Yes

Yes

CSP

Yes

Yes

Yes

Yes

DMC

Yes

Yes

Yes

Yes

1) Enable with 0x8010:54 "Feature bits" = 0x100

Configure the feedback as described in the following chapters and observe the following notes on changes to the CoE directory.

Notice

Risk of damage to the device!

We strongly advise not to change settings in the CoE objects while the axis is active, since this could impair the control.

Notice

Changes in the CoE directory (CAN over EtherCAT), program access

When using/manipulating the CoE parameters observe the general CoE notes in chapter "CoE interface" of the EtherCAT system documentation:

Further Information