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MPH-02, MPB-02, MPD-02
Absolute Encoders for Kit
Motors and External Encoders
Establishing Axis-Related
Absolute Distance
Pertinent Parameters
Signal Specification for Position
and Homing Signals
Absolute Encoder Range and
Absolute Encoder Evaluation
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Motor, Mechanical Axis System, Measuring Systems
For kit motors or directly at the mechanical axis system, the following
measuring systems, that can be evaluated in absolute form, can be used:
• EnDat linear encoders (Heidenhain) for linear motors or linear axes
• rotary EnDat encoders (Heidenhain) or Rexroth single-turn or Rexroth
multi-turn encoders for rotary kit motors or rotary axes
The actual position values of an absolute encoder first only relate to the
encoder itself. Due to the mostly undefined mounting situation of the
encoder to motor or mechanical axis system, it is necessary to determine
the position offset between encoder and axis zero point once at the initial
commissioning (see also "Establishing the Position Data Reference:
Establishing Position Data Reference for Absolute Measuring Systems" in
chapter "Drive Functions").
• S-0-0115, Position feedback 2 type
• S-0-0277, Position feedback 1 type
• S-0-0278, Maximum travel range
• S-0-0378, Absolute encoder range of motor encoder
• S-0-0379, Absolute encoder range of optional encoder
Hardware Requirements
For the signal specification for the position signals of third-party encoders
with regard to amplitude and phase angle, please see the Project
Planning Manual for the control sections.
Note:
Rexroth
encoders
specification!
Functional Description
Absolute encoders can only display a limited position range in absolute
values. For encoders that can be evaluated in absolute form, the drive,
depending on the connection of the encoder or the encoders to the axis
and on the position data scaling, calculates the travel range of the axis
that can be displayed in absolute actual position values.
The following parameters indicate the maximum extent of the travel range
that can be selected so that an absolute motor encoder can be evaluated
in absolute form:
• S-0-0378, Absolute encoder range of motor encoder
• S-0-0379, Absolute encoder range of optional encoder
On the user side, the travel range of the axis is fixed:
• S-0-0278, Maximum travel range
When the travel range is smaller than the absolute encoder range
determined by the drive, the respective control encoder (motor encoder or
external encoder; according to the selected operating mode) can be
evaluated as an absolute encoder.
This is displayed in the respective bits of the following parameters:
• S-0-0277, Position feedback 1 type
• S-0-0115, Position feedback 2 type
correspond
to
the
required
5-63
signal
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