Servosila-Device-Reference-0xA020192

inverted taken from the encoder's datasheet. 0x3014,
0x2F,
rw
Configuration - Peripheral: PWM Encoder
This section needs to be configured only if either "Motor Encoder" or "Servo Encoder" parameter in the "Datasheet"
section is set to "PWM Encoder". Otherwise leave this section unchanged.
Absolute encoders with PWM output deliver position information to the controller by increasing or decreasing duty
cycle of continuously sent PWM pulses. The duty cycle changes in a linear proportion to the measured position. The
pulses are sent at a constant frequency, but the pulses' duty cycle changes along with absolute position measured by the
encoder. The controller on its end measures the duty cycle of received pulses and knowing the resolution of the
encoder, uses a mathematical proportion to extract the absolute position readings.
# Parameter Units Description CANopen
1
counts per
revolution
counts The parameter defines a maximum resolution of the encoder. This parameter
is to be taken from the encoder's datasheet.
UINT32,
0x3012,
0x02,
rw
2
encoder bias vs.
electrical position
counts This parameter needs to be set only if the encoder is used for motor control
(a "Motor Encoder"). Otherwise keep this parameter as 0.
This parameter specifies a zero offset of the encoder's mechanical
installation vs. an electrical position defined by an order in which the
motor's phase lines are connected to the controller.
The bias can be experimentally determined as the following:
• Positively energize phase "A".
• Negatively energize both phases "B" and "C".
• Let the motor's rotor settle at a position.
• The encoder's reading at that position is the bias.
The procedure needs to be performed after correcting for a possible
inversion of mechanical installation of the encoder (see "inverted
installation" parameter).
UINT32,
0x3012,
0x03,
rw
3
inverted
installation
0 or 1 The direction of the motor's rotation should match the direction of the
encoder's rotation. If that's not the case due to a way the encoder is
mechanically installed, this parameter helps correct the mismatch.
BOOL,
0x3012,
0x04,
rw
4
pulse period sec or
clocks
This parameter specifies the period of the PWM pulses sent by the encoder
to the controller. The period should be taken from the encoder's datasheet.
FLOAT32,
0x3012,
0x10,
rw
5 max pulse width
(angle=360 deg)
sec or
clocks
This parameter specifies the duty cycle that corresponds to MAXIMUM
position reported by the encoder. This parameter should be taken from the
FLOAT32,
0x3012,
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