Feedback Configuration Attributes
The Feedback Configuration attributes determines how the various available feedback channels are used to implement the selected Control Mode.
Feedback Configuration
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - All | Set/GSV | USINT | 0 (B, F) 1 (E) 2 (XC) | 0 | 15 | Enumeration: 0 = No Feedback 1 = Master Feedback 2 = Motor Feedback 3 = Load Feedback 4 = Dual Feedback 5-7 = Reserved 8 = Dual Int Feedback 8-15 = Reserved Bits 4-7:Reserved |
When configured, this attribute also sets the initial value for Feedback Mode. This attribute contains a 4-bit enumerated value that determines how the various logical feedback channels are used to implement the selected Control Mode for this axis instance.
Feedback Configuration enumerations provide support for multi-feedback device control functionality for the various active device Control Modes, for example, where the device is actively controlling the motor based on feedback. In these active device Control Modes it is assumed that logical channel, Feedback 1, is attached directly to the motor while Feedback 2 is attached to the load side of the mechanical transmission. Commutation signals for a PM motor are always derived from the Feedback 1, except in the case of an active redundant feedback source.
This table describes the Feedback Configuration enumerations:
Bit | Usage | Name | Description |
|---|---|---|---|
0 | R/S | No Feedback | No Feedback is selected when sensorless open loop or closed loop control is desired. When performing open loop control, no feedback signal is required. In closed loop control, the required feedback signal is estimated by a sensorless control algorithm based on motor phase voltage and current signals. |
1 | R/N | Master Feedback | Master Feedback assigns an uncommitted feedback channel to this device axis instance to serve as a master feedback source when the device is configured for No Control mode |
2 | R/C | Motor Feedback | When Motor Feedback is selected, then commutation, acceleration, velocity, and position feedback signals are all derived from motor mounted Feedback 1 |
3 | O/C | Load Feedback | When Load Feedback is selected, then motor-mounted Feedback 1 is only used for PM motor commutation while load-side Feedback 2 is used for position, velocity, and acceleration. |
4 | O/P | Dual Feedback | When Dual Feedback is selected, then motor mounted Feedback 1 is used for commutation, acceleration, and velocity, and load-side Feedback 2 is used strictly for position. |
5-7 | - | Reserved | - |
8 | O/P | Dual Integrator Feedback | Dual Integral Feedback means that motor-mounted Feedback 1 is used for commutation, acceleration, velocity, and position proportional control, and load-side Feedback 2 is used only for integral position control. This optimizes the stiffness of the control loop at low frequency. |
9-15 | - | Reserved | - |
Feedback Mode
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - XED (Derived from Feedback Configuration) | Get/SSV | USINT | 0 | 0 | 15 | Bits 0-3: Feedback Mode Enumeration 0 = No Feedback 1 = Master Feedback 2 = Motor Feedback 3 = Load Feedback 4 = Dual Feedback 5-7 = Reserved 8-15 = Vendor Specific 8 = Dual Int Feedback Bits 4-5: Feedback Data Type Enumeration 0 = DINT (32-bit integer) 1 = LINT (64-bit integer) 2-3 = Reserved Bits 6-7 = Reserved |
* Indicates the attribute cannot be set while the drive power structure is enabled (Power Structure Enable bit in CIP Axis Status is true). | ||||||
The Feedback Mode attribute determines how the various available feedback channels are used to implement the selected Control Mode. This attribute is transferred to the device as part of the Cyclic data block. Currently bits 0-3 are used to enumerate the Feedback Mode configuration. Bits 4-5 are used to select the position feedback data type. Bit 5-7 are reserved for future use.
This attribute contains the 4-bit enumerated Feedback Mode field derived from the Feedback Configuration attribute that determines how the various logical feedback channels are used to implement the selected Control Mode for this axis instance. The attribute also contains a 2-bit enumerated field, Feedback Data Type, which determines the Actual Position data type that is to be included in the Device-to-Controller connection Cyclic Data Block, with options for 32-bit or 64-bit signed integer representations. The Feedback Data Type field value is determined by the Extended Position Feedback bit (bit 20) of the Axis Features attribute, and is not user configurable in this implementation.
Feedback Mode field enumerations provide support for multi-feedback device control functionality for the various active device Control Modes, for example, where the device is actively controlling the motor based on feedback. In these active device Control Modes it is assumed that logical channel, Feedback 1, is attached directly to the motor while Feedback 2 is attached to the load side of the mechanical transmission. Commutation signals for a PM motor are always derived from the Feedback 1, except in the case of an active redundant feedback source.
Bit | Usage | Name | Description |
|---|---|---|---|
0 | R/!E | No Feedback | No Feedback is selected when sensorless/encoderless open loop or closed loop control is desired. When performing open loop control, no feedback signal is required. In closed loop control, the required feedback signal is estimated by a sensorless control algorithm based on motor phase voltage and current signals |
1 | R/E | Master Feedback | Master Feedback assigns an uncommitted feedback channel to this device axis instance to serve as a master feedback source when the device is configured for No Control mode. |
2 | R/XC | Motor Feedback | When Motor Feedback is selected, commutation, acceleration, velocity, and position feedback signals are all derived from motor mounted Feedback 1. |
3 | O/C | Load Feedback | When Load Feedback is selected, then motor-mounted Feedback 1 is only used for PM motor commutation while load-side Feedback 2 is used for position, velocity, and acceleration. |
4 | O/P | Dual Feedback | When Dual Feedback is selected, then motor mounted Feedback 1 is used for commutation, acceleration, and velocity, and load-side Feedback 2 is used strictly for position. |
5-7 | - | Reserved | - |
8 | O/P | Dual Integrator Feedback | Dual Integral Feedback means that motor-mounted Feedback 1 is used for commutation, acceleration, velocity, and position proportional control, and load-side Feedback 2 is used only for integral position control. This optimizes the stiffness of the control loop at low frequency. |
9-15 | - | Reserved | - |
When modified programmatically, using SSV, only the Feedback Mode field value can be changed, all other bits are ignored by the instruction. Furthermore, the Feedback Mode field value, cannot be set to an enumeration that the Feedback Configuration cannot support. Attempting to do so results in the SSV instruction generating a Minor Fault. For example if the Feedback Configuration is set for Motor Feedback, the Feedback Mode cannot be changed to Load Feedback since that feedback channel has not been configured.
Feedback Mode SSV Promotion Rules
The following table describes valid Feedback Modes.
Feedback Configuration | Valid Feedback Modes |
|---|---|
No Feedback | No Feedback |
Master Feedback | Master Feedback |
Motor Feedback | Motor Feedback No Feedback |
Load Feedback | Load Feedback Dual Feedback Motor Feedback No Feedback |
Dual Feedback | Dual Feedback Load Feedback Motor Feedback No Feedback |
Feedback Master Select
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - NE | Set/GSV | USINT | 1 | - | - | Enumeration: 0 = (Reserved) 1 = Feedback 1 2 = Feedback 2 2-255 = (reserved) |
The Feedback Master Select attribute determines what Logical channel is assigned to this axis instance when the Feedback Mode is set to Master Feedback. Default is Feedback 1.
Feedback Unit Ratio
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional -E PV only | Set/GSV | REAL | 1 Eq 6 | - | - | Feedback 1 Units per Feedback 2 Units |
The Feedback Unit Ratio attribute is the number of Feedback 1 Units per Feedback 2 Units. This value is used to convert from feedback 2 units or counts to feedback 1 units or counts when configured for dual loop or load side feedback operation. The Feedback Ratio block that applies the Feedback Unit Ratio scaling factor appears in the Position Loop and Torque Reference block diagrams.
Feedback n Resolution Unit
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | USINT | 0 CU | - | - | Enumeration 0 = Cycles/Unit (R) 1 = Units/Cycle (O) (linear only) 2 = Bits/Unit (O) (rotary only) 3-127 = (reserved) 128-255 = (vendor specific) |
The Feedback n Resolution Unit attribute is the unit of measure for feedback resolution used by Feedback n Cycle Resolution attribute. Default selection is Cycles/Unit where resolution is expressed in feedback cycles per revolution for rotary feedback devices or per meter for linear feedback devices. If Units/Cycle is selected then Feedback n Cycle Resolution shall be expressed in Nanometers/Cycle for linear feedback devices. This selection is not applicable to rotary devices. If Bits/Unit is selected then Feedback n Cycle Resolution is expressed as 2n Cycles per revolution of a rotary feedback device, where n is the number of bits in the binary position representation of the device. This selection is not applicable for linear devices.
Feedback n Unit
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E | Set | USINT | 0 DB | - | - | Enumeration 0 = Rev 1 = Meter 2-127 = Reserved 128-255 = Vendor Specific |
The Feedback n Unit attribute is a unit of measure for the designated feedback device. The Feedback Unit for Feedback 1 and any redundant feedback device for Feedback 1 shall be the same as the configured Motor Unit.
If the Motor Unit is set to Rev, Feedback 1 Unit shall be set to Rev. If Motor Unit is set to Meter, Feedback 1 Unit shall be set to Meter. Feedback devices with a Feedback Unit of Rev are considered “rotary” devices, while Feedback devices with a Feedback Unit of Meter are considered “linear” devices.
Feedback n Port Select
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | USINT | 0 FC | - | - | Enumeration 0 = Unused (R) 1-255 = Feedback Port ID (0) |
The Feedback n Port Select attribute maps the logical Feedback Channel “n” to a physical Feedback Port ID. A Feedback Port ID is assigned to each feedback interface port of the device by the drive vendor. If the drive does not support this attribute, the drive vendor shall hard-code the feedback port mapping to the logical Feedback Channels for each axis instance. Supporting the Feedback n Port Select attribute allows flexibility to map the logical Feedback Channels to different Feedback Ports.
Default Feedback n Port Select = 0. A value of 0 indicates that Feedback n Channel is unmapped, hence unused.
Feedback n Type
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E | Set/GSV | USINT | 0 DB | - | - | Enumeration 0 = Not Specified (R) 1 = Digital AqB (O) 2 = Digital AqB with UVW (O) 3 = Digital Parallel (O) 4 = Sine/Cosine (O) 5 = Sine/Cosine with UVW (O) 6 = Hiperface (O) 7 = EnDat Sine/Cosine (O) 8 = EnDat Digital (O) 9 = Resolver (O) 10 = SSI Digital (O) 11 = LDT (O) 12 = Hiperface DSL (O) 13 = BiSS Digital (O) 14 = Integrated (O) 15 = SSI Sine/Cosine (O) 16 = SSI AqB (O) 17 = BiSS Sine/Cosine (O) 18-127 = Reserved 128-255 = Vendor Specific 128 = Tamagawa Serial (O) 129 = Stahl SSI (O) 130 = Track Section (O) 131 = Track Mover (O) 132 = Nikon Serial(O) |
The Feedback n Type attribute Identifies the type of feedback interface of the associated Feedback device channel. Drive support for any individual feedback type is left to the discretion of the device manufacturer. However, if a specific feedback type is supported, attributes associated with that type are generally required in the implementation.
The “Integrated” Feedback Type is specified for CIP Motion compliant devices with an integral feedback transducer function, for example, a CIP Motion encoder.
In the case of a motor mounted feedback device, if Motor Data Source is Motor NV or Drive NV, the Feedback 1 Type might not be known to the controller but is known by the drive, so the drive can operate in this case without specifying the Feedback 1 Type.
If the optional Commutation Startup Method attribute is not supported by the device, or the Commutation Startup Method is set to From Feedback Type, the Feedback 1 Type can be used to implicitly specify the commutation startup method. For example, by selecting the Feedback 1 Type with or without UVW commutation signals the device applies the UVW commutation startup method or the Self-Sense startup method, respectively. In this case, UVW commutation signals can be derived from UVW tracks integral to the feedback device or via separate Hall sensors in the motor. All other Feedback 1 Type selections would apply the Digital commutation startup method.
In the case of a motor mounted feedback device, if the Motor Data Source is Controller NV, an unspecified Feedback 1 Type, when received by the drive device during configuration, indicates that the motor feedback configuration has not been defined and therefore results in a General Status error of Invalid Attribute Value.
Feedback n Polarity
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | USINT | 0 | - | - | Enumeration 0 = Normal 1 = Inverted 2-225 = Reserved |
The Feedback n Polarity attribute is an enumerated value used to establish the direction of change in the feedback counter in response to positive motion of the associated feedback device. Normal polarity is defined as that which results in increasing feedback counts when the feedback device is hooked up and moved in the positive direction according to the devices published specifications.
Inverted polarity internally switches the polarity of the feedback accumulator so that the feedback counts decrease when the feedback device moves in the positive direction. This attribute can be used to make the direction of travel agree with the user's definition of positive travel and can be used in conjunction with the Motor Polarity bit to provide negative feedback, when this feedback channel is used for closed loop control.
Feedback n Startup Method
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E N/A for X | Set | USINT | Default Startup Method DB | - | - | Enumeration 0 = Incremental (R) 1 = Absolute (O) 2-255 = Reserved |
The Feedback n Startup Method attribute determines how the device applies the feedback count value during drive startup. In Incremental mode, the device zeros the feedback count accumulator at power-up. The first Actual Position value sent to the controller in the Cyclic Data Block of the Device-to-Controller connection at power-up is zero. This is an indication to the controller that the drive is power-cycled and the drive axis needs to be homed to establish a machine reference position.
In Absolute mode, the device initializes the feedback count accumulator at power-up to the absolute feedback position value read from the feedback device. When the absolute position range of the feedback device is less than the 32-bit signed integer representation of the feedback count accumulator, the absolute position is sign extended to a 32-bit signed value. Digital AqB, and Sine/Cosine do not support Absolute startup.
Some device vendors tie the Feedback Start-up Method to the Feedback Type selection. In these cases, an attempt by the controller to incorrectly configure the Feedback Startup Method shall generate a General Status error of Invalid Attribute Value.
The default Feedback Startup Method value depends on the associated Feedback Type according to the following table:
Feedback Type | Default Feedback Startup Method |
|---|---|
Digital AqB | Incremental |
Digital Parallel | Absolute |
Sine/Cosine | Incremental |
Hiperface | Absolute |
EnDat Sine/Cosine | Absolute |
EnDat Digital | Absolute |
Resolver | Absolute |
SSI Digital | Absolute |
LDT | Absolute |
Hiperface DSL | Absolute |
BiSS Digital | Absolute |
Integrated | Absolute |
SSI Sine/Cosine | Absolute |
SSI AqB | Absolute |
BiSS Sine Cosine | Absolute |
Tamagawa Serial | Absolute |
Nikon Serial | Absolute |
Stahl SSI | Absolute |
Track Section | N/A |
Track Mover | Absolute |
Feedback n Cycle Resolution
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E Not LT | Set | UDINT | Default Feedback Resolution DB | 1 | max dint | Cycles/Unit (Rotary): Feedback Cycles/Rev Cycles/Unit (Linear): Feedback Cycles/m Unit/Cycle (Linear): nm/Feedback Cycle Bits/Unit (Rotary): 2 n Cycles/ Rev (Rotary) where n = #Bits |
The Feedback n Cycle Resolution attribute determines the resolution capability of the associated feedback device. Units for this attribute are determined by the Feedback n Resolution Unit and the rotary or linear Feedback n Unit as shown in the Semantics column. For rotary feedback devices, this value is expressed as the number of Feedback Cycles per Revolution of the device, or alternatively by the number of bits in the binary position representation of the device per Revolution. For linear feedback devices, this value represents the either the number of Feedback Cycles per Meter (m), or the number of nanometers (nm) per Feedback Cycle.
Cycles for a Digital AqB device represent the 'line' resolution of the encoder. Cycles for a Sin/Cos device represent the sinusoidal 'cycle' resolution of the encoder. Cycles for a Resolver is the 'pole' count of the device. For digital serial (for example, SSI) or parallel absolute feedback devices, Cycles represent the 'step' or 'count' resolution of the device.
The default Feedback Resolution value used for the Feedback Cycle Resolution attributes depends on the associated Feedback Type and Feedback Unit selection according to the following table:
Default Feedback Resolution vs. Feedback Type and Feedback Unit
Feedback Type | Feedback Resolution
Feedback Unit = Revs | Feedback Resolution
Feedback Unit = Meters |
|---|---|---|
Digital AqB | 1024 cycles/rev | 4096 cycles/m |
Digital Parallel | 1024 cycles/rev | 4096 cycles/m |
Sine/Cosine | 1024 cycles/rev | 4096 cycles/m |
Hiperface | 1024 cycles/rev | 4096 cycles/m |
EnDat Sine/Cosine | 2048 cycles/rev | 8192 cycles/m |
EnDat Digital | 131072 cycles/rev | 655360 cycles/m |
Resolver | 2 cycles/rev | 8 cycles/m |
SSI Digital | 524288 cycles/rev | 2097152 cycles/m |
LDT | - | - |
Hiperface DSL | 131072 cycles/rev | 655360 cycles/m |
BiSS Digital | 524288 cycles/rev | 2097152 cycles/m |
Integrated | 131072 cycles/rev | 2097152 cycles/m |
SSI Sine/Cosine | 1024 cycles/rev | 4096 cycles/m |
SSI AqB | 1024 cycles/rev | 4096 cycles/m |
BiSS Sine Cosine | 1024 cycles/rev | 4096 cycles/m |
Tamagawa Serial | 131072 cycles/rev | 655360 cycles/m |
Nikon Serial | 131072 cycles/rev | 655360 cycles/m |
Stahl SSI | 1024 cycles/rev | 4096 cycles/m |
Track Section | - | 100,000,000 cycles/m |
Track Mover | - | 100,000,000 cycles/m |
Feedback n Cycle Interpolation
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E Not LT | Set | UDINT | 4 DB | 1 | max dint | Feedback Counts / Feedback Cycle |
The Feedback n Cycle Interpolation attribute is the number of interpolated Feedback Counts per Feedback Cycle. For a Digital AqB device the device’s feedback interface hardware can generally support interpolation values of 1, 2, or 4. For a Sin/Cos, Hiperface, EnDat, or Resolver feedback device the number is generally much larger and determined by the interpolation capability of the device feedback interface hardware. A value of 1024 is typical in this case. For digital serial (e.g. SSI) or parallel absolute feedback device interfaces, this value is always 1 since there is no opportunity of device-based interpolation. The effective resolution of the feedback device in Feedback Counts per Feedback Unit is determined by combination of Feedback Cycle Resolution and Feedback Cycle Interpolation attribute values. .
Feedback n Turns
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E Rotary Absolute | Set | UDINT | 1 DB | 1 | max dint | Feedback Units (Rev) |
The Feedback n Turns attribute is the maximum number of shaft turns specified for a rotary absolute feedback device to maintain its absolute position reference. Typical rotary absolute feedback devices specify an absolute number of turns that typically range from 1 to 4096 in powers of 2. This attribute can be used by the control system to determine the maximum Feedback Count range of the absolute feedback device, this being the product of the feedback cycle resolution, interpolation, and turns.
Feedback n Length
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E Linear Absolute | Set | REAL | 1 DB | 0.001 |  | Feedback Units (Meters) |
The Feedback n Length attribute is the specified length of a linear absolute feedback device. Typical linear absolute feedback devices specify length in meters. This attribute can be used by the control system to determine the maximum travel range of absolute feedback device in Feedback Counts, this being the combination of the feedback cycle resolution, interpolation, and length.
For a Track Section (TS) feedback type this attribute represents the length of the track section.
For a Track Mover (TM) feedback type this attribute represents the length of the entire track.
Feedback n Data Length
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E TP, SS | Set | USINT | 16 | 8 | 32 | # of Bits |
The Feedback n Data Length attribute is the number of feedback data bits transferred over the digital serial or parallel data interface channel of a feedback device.
Feedback n Data Code
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E TP, SS | Set | USINT | 0 | - | - | Enumeration 0 = Binary 1 = Gray 2-255 = Reserved |
The Feedback n Data Code attribute is the type of feedback data bit encoding used by designated serial or parallel data interface channel of a feedback device.
Feedback n Resolver Transformer Ratio
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E RS | Set | REAL | 1 | - | - | - |
The Feedback n Resolver Transformer Ratio attribute is the Transformer Ratio specification of the designated resolver feedback device.
Feedback n Resolver Excitation Voltage
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E RS | Set | REAL | 0 | - | - | Volts (RMS) |
The Feedback n Resolver Excitation Voltage attribute sets the sinusoidal excitation voltage applied to the rotor of the designated resolver feedback device.
Feedback n Resolver Excitation Frequency
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E RS | Set | REAL | 4000 | - | - | Hertz |
The Feedback n Resolver Excitation Frequency attribute is the frequency of sinusoidal excitation signal applied to the designated resolver feedback device. Valid frequency range or values for this attribute depends on the specific device hardware interface.
Feedback n Resolver Cable Balance
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E RS | Set | REAL | 100 | 0 | | % |
The Feedback n Resolver Cable Balance attribute adjusts the relative amplitude of the Sine and Cosine signals from the resolver to compensate for impact of resolver cable.
Feedback n LDT Type
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E LT | Set | USINT | 0 | | Enumeration: 0 = PWM 1 = Start/Stop Rising 2 = Start/Stop Falling 3-255 = (reserved) |
The Feedback n LDT Type attribute determines the LDT type. The attribute options are Start/Stop and PWM. Start/Stop transducers receive an input (interrogate) signal to start the measurement cycle and respond with two pulses on the return line. Timing is either Rising or Falling edge. The time between pulses is proportional to the position. PWM transducers respond to the interrogate signal with a single long pulse on the return line. The pulse width is proportional to the position.
Feedback n LDT Recirculations
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Required - E LT | Set | USINT | 0 | | # Recirculations |
The Feedback n LDT Recirculations attribute determines the number of recirculations for a PWM type LDT transducer. Use multiple recirculations to increase the resolution of the LDT and increases the sample period.
Feedback n Loss Action (valid for n = 1 or 2 only)
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | USINT | 0 | - | - | Enumeration 0 = Set Exception (R) 1 = Switch to Sensorless Fdbk (O) 2 = Switch to Redundant Feedback (O) 3-255 = Reserved |
The Feedback n Loss Action attribute specifies the action taken in the event of a loss of Feedback 1 signal. Valid actions are to simply handle as an Exception, or automatically switch to Sensorless operation where feedback is estimated based on motor current and voltage signals, or automatically switch to a scaled version of a redundant feedback device. In the case of redundant feedback, Feedback 1 is called the primary feedback source and the redundant channel is the called the secondary feedback source.
Feedback n Scaling Ratio (valid for n = 3 or 4 only)
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | LREAL | 0 | | Scaled Feedback Counts per Feedback n Count. |
The Feedback n Scaling Ration attribute is the number of Scaled Feedback Counts per Feedback n Count. This value is used to convert between secondary feedback n counts to the resolution of the associated primary feedback channel to support dynamic switching between feedback channels.
Feedback n Velocity Filter Taps
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | UINT | 1 | 1 | maxint | Delay Taps (>= 1) |
The Feedback n Velocity Filter Taps attribute determines the number of delay taps used in the FIR Filter differencing algorithm to estimate velocity from Feedback n. A simple difference of 1 sample period is equivalent to a 1 delay tap.
Feedback n Accel Filter Taps
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | UINT | 1 | 1 | maxint | Delay Taps (>= 1) |
The Feedback n Accel Filter Taps attribute determines the number of delay taps used in the FIR Filter differencing algorithm to estimate acceleration from Feedback n. The Acceleration FIR filter can be implemented as two cascaded FIR filters each configured according to the Feedback n Acceleration Filter Tap setting. A simple difference of 1 sample period is equivalent to 1 delay tap.
Feedback n Velocity Filter Bandwidth
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | REAL | 0 FD | 0 | | Radians/sec |
The Feedback n Velocity Filter Bandwidth attribute controls the bandwidth of the Low Pass Filter applied to the raw velocity signal from Feedback n. A value of 0 for this attribute disables this feature.
Feedback n Accel Filter Bandwidth
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E | Set | REAL | 0 | 0 | | Radians/sec |
The Feedback n Accel Filter Bandwidth attribute controls the bandwidth of the Low Pass Filter applied to the raw acceleration signal from Feedback n. A value of 0 for this attribute disables this feature.
Feedback n Battery Absolute
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E TG, NK | Set | USINT | 0 | - | - | Enumeration 0 = No 1 = Yes |
The Feedback n Battery Absolute attribute determines if battery is included in battery-backed absolute feedback device such as Tamagawa or Nikon Serial encoders. This allows the drive to qualify Feedback Battery Loss and Feedback Battery Low exception conditions.
Feedback n Calibration Offset
Usage | Access | Data Type | Default | Min | Max | Semantics of Values |
|---|---|---|---|---|---|---|
Optional - E TM | Set/SGSV | REAL | 0 | -5 | 5 | Millimeters |
The Feedback n Calibration Offset attribute determines the offset to apply to the axis position for a track mover axis to compensate for variations in position feedback sensor location. Use this attribute to calibrate axis position feedback reported by the mover axis of both the track section device and controller with the actual position of the mover as measured on the machine.
Provide Feedback