Configuration of the incremental encoder
If you use an incremental encoder, configure it with the following CoE parameters:
Index (hex) | Name | Unit |
|---|---|---|
8008:01 | Invert feedback direction | - |
8008:02 | Enable power supply | - |
8008:05 | Enable ENC C input | - |
8008:11 | mV | |
8008:12 | - | |
8008:13 | inc/rev |
0x8008:11 "Supply voltage output"
In this parameter, set the magnitude of the supply voltage for the encoder in millivolts. The value range is 2…24 V.
Switch on the supply voltage output by setting parameter 0x8008:02 "Enable power supply" to TRUE.
0x8008:12 "Encoder type"
In this parameter, set the signal type of the encoder.
An encoder must be connected if the value of this parameter is not "disabled". Otherwise, an error will be reported in the Diag History.
"HTL single ended" is set in the factory settings.
Signal type | Specification | Comment |
|---|---|---|
disabled | Incremental encoder interface disabled |
|
RS422 differential | 5 V between the differential inputs |
|
TTL single ended | 5 V referred to ground |
|
HTL differential | 24 V between the differential inputs |
|
HTL single ended | 24 V referred to ground |
|
RS422 differential - | 5 V between the differential inputs | For applications in which the encoder signals are too weak |
TTL single ended - | 5 V referred to ground - input filter switched off | Higher signal frequency possible. More sensitive to interference |
Open collector | 5 V referred to module-internal pull-up resistor | Encoder switches to ground |
Max. input frequency | Signal type |
|---|---|
5 million inc/s | All RS422, |
1 million inc/s | TTL single ended |
250 k inc/s | Open collector |
0x8008:13 "Encoder Increments per Revolution"
Multiply the number of increments of the encoder by a factor of four. Enter the result in this parameter.
If you are using a magnetic encoder with interpolation, calculate the number of increments according to the following equation:
Example:
