Motor Feedback page

Use the
Motor Feedback
 page to configure the CIP Axis feedback information when
Feedback Configuration
 on the
General page
 is set to
Motor Feedback
.
TIP:
To open the Motor Feedback page:
  1. In the
    Controller Organizer
    , expand the
    Motion Groups
     folder, and double-click an axis.
  2. From the
    Axis Properties
     dialog box, in
    Categories
    , select
    Motor Feedback
    .
Parameters
Description
Device Function
Displays the feedback device function as
Motor Mounted Feedback
.
Feedback Channel
Displays the CIP motion feedback as channel 1.
Type
Select the type of feedback device.
Each feedback device has slightly different configuration parameters. Only the parameters applicable to the feedback device are available for selection.
Available types:
  • Not Specified
  • Digital AqB
  • Digital AqB (With UVW)
  • Digital Parallel (Abs)
  • Sine Cosine
  • Sine Cosine (With UVW)
  • Hiperface
  • Resolver
  • LDT
  • Hiperface DSL
  • BiSS Digital
  • Tamagawa Serial
  • Stahl SSI
  • Sine/Cosine - Rotary and Linear
  • Hiperface - Rotary Only
  • EnDat Sine/Cosine - Rotary Only
  • EnDat Digital - Rotary Only
  • SSI Digital - Rotary Only
  • SSI AqB
  • SSI Sine/Cosine - Rotary Only
  • BiSS Sine/Cosine
  • Integrated
  • Tamagawa Serial
  • Stahl SSI
  • Track Mover
  • Track Sequence
Not Specified
 is the default parameter.
Tips:
  • If the
    Catalog Number
     is set to a value other than
    none
    , this parameter is provided by the motor database and the control is read-only. If
    Catalog Number
     is set to
    none
    , the
    Device Type
     is set back to
    Not Specified
     and enables all parameters.
  • If a drive is associated with a feedback device but no feedback types are present, the drive's profile is incorrectly configured.
  • The existing feedback length attribute of Track Section represents the length of the track section. The feedback length attribute of Track Mover represents the length of the entire track.
  • The feedback length comes from the motion database for the Track Section and is read-only. Configure the feedback length for Track Mover.
Units
Select the required unit. The value is dictated by the
Motor Type
 on the
Motor
 page.
  • Linear motor - A linear unit displays meters or inches based on the selection made on the
    General
     page.
  • Rotary motor - Rev
To select
Units
on the
Motor Feedback
 dialog box, set
Motor Type
 on the
Motor
page to
Not Specified
.
If the
Catalog Number
 is set to a value other than
<none>,
 this parameter is set by the motor database and becomes read-only.
Parameters
Opens the
Motion Axis Parameters
 page to modify existing or additional parameters.
Tip:
 The
Parameter List
 page may contain more attributes than the associated page. In some cases, attributes that display on the
Parameter List
 page do not display on the associated page.
Device Type Parameters
The device
Type
parameters display when device
Type
is set to any value, except
Not Specified
.
Tip:
 The device type determines which parameters appear on the page. Parameters not supported by the device type are hidden.
Cycle Resolution
Enter the cycle resolution for the feedback device.
If
Catalog Number
 is set to a value other than
<none>
, this parameter is set by the motor database and becomes read-only.
Cycle Interpolation
Enter the interpolation factor for the feedback device.
If
Catalog Number
 is set to a value other than
<none>
, this parameter is set by the motor database and becomes read-only.
Effective Resolution
Configures or displays the effective resolution of the feedback device. This value is calculated by multiplying the
Cycle Resolution
 with the
Cycle Interpolation
.
Startup Method
Select the startup method for the feedback device. This parameter determines how the device applies the feedback count value during drive startup. Valid values include:
  • Incremental
     - The device zeros the feedback count accumulator at power-up.
  • Absolute
     - The device initializes the feedback count accumulator at power-up to the absolute feedback position value read from the feedback device. Digital AqB and Sine/Cosine Feedback Types do not support Absolute startup.
Turns
For a rotary motor, enter a value for the absolute number of turns for the device to make.
If
Catalog Number
 is set to a value other than
<none>
, this parameter is set by the motor database and becomes read-only.
Length
For a linear motor, enter the absolute length of the device.
If
Catalog Number
 is set to a value other than
<none>
, this parameter is set by the motor database and becomes read-only.
Commutation Offset
Enter a value for the commutation offset.
Tip:
 The
Commutation Offset
 value and the accompanying
Commutation
button only display for feedback devices that support commutation offset.
Test Commutation
Opens a dialog box to perform a commutation test (Hookup Test) on the device.
Tip:
 The
Commutation Offset
 value and the accompanying
Commutation
button only display for feedback devices that support commutation offset.
This parameter is not available in offline mode and online in Servo On mode.
Data Code Type
Select a data type code for the feedback device.
The available options are:
  • Gray Code
  • Binary Code
Tip:
 The
Data Code Type
 and the accompanying
Data Length Type
 value only display for feedback devices that support Digital Parallel (Absolute), SSI, Tamagawa Serial, and Stahl SSI device types.
Data Length
Enter a value for the length of the data in bits.
Tip:
 The
Data Code Type
 and the accompanying
Data Length Type
 value only display for feedback devices that support Digital Parallel (Absolute), SSI, Tamagawa Serial, and Stahl SSI device types.
Absolute Turns/Absolute Length
For a rotary motor, enter a value for the absolute number of turns for the device to make. For a linear motor, enter the absolute length of the device.
If
Catalog Number
 is set to a value other than
<none>
, this parameter is set by the motor database and becomes read-only.
Tip:
 The Absolute Turns/Absolute Length value only displays for feedback devices that support Hiperface, EnDat 2.1, and EnDat 2.2 device types.
Transformation Ratio
Enter a value for the
Transformation Radio
 of the feedback device.
Tip:
 The
Transformation Radio
 value only displays for feedback devices that support the Resolver device type.
Provide Feedback
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