DRV.EMUEMODE

Description

When the emulated encoder output (EEO) is configured to generate an index pulse (Z pulse) once per rev (DRV.EMUEMODE is 1, 6, or 8) this parameter and DRV.EMUEZOFFSET define the location of the Z pulse. DRV.EMUEZOFFSET defines the position of the Z pulse within one revolution. The pulse is generated each time this position is reached. For example, if this value is set to 32,768 (180 degrees), the Z pulse will be generated at 180 degrees, 540 degrees, 900 degrees, and so on.

When the EEO is configured to generate and absolute index pulse (DRV.EMUEMODE is 2,7, or 9) this parameter, DRV.,EMUEZOFFSET and DRV.EMUEMTURN define the location of the Z pulse. DRV.EMUEMTURN is used to define which turn of the position range the Z pulse is located. DRV.EMUEZOFFSET is used to define the position of the Z pulse within one revolution. For example, if DRV.EMUETURN is set to 1, and DRV.EMUEZOFFSET is set to 32,768 (180 degrees), then the index pulse will be generated at position 540 degrees.

When the EEO is configured in pass through mode (DRV.EMUEMODE is 12, 13, or 14) the EEO Z pulse will be generated each time the encoder's physical Z pulse is generated (the physical Z pulse is "passed through").

DRV.EMUEMODE sets the EEO connector to act as either an input or output as follows.

Setting Function

0 (recommended)

Input (see to select the type of inputs the secondary feedback will accept)

1

EEO Output, A/B with once per rev index

2

EEO Output, A/B with absolute index pulse.

3

Input, A/B signals (Deprecated)

4

Input, step and direction signals (Deprecated)

5

Input, up/down Signals (Deprecated)

6 Step/Dir with one Z-pulse/rev
7 Step/Dir with one absolute Z-pulse (depends on DRV.EMUEOFFSET and DRV.EMUETURN)
8 CW/CCW output with one Z-pulse/rev
9 CW/CCW output with one absoulte Z-pulse (depends on DRV.EMUEOFFSET and DRV.EMUETURN)
10 Allows the X9 connector to be used as a General Purpose I/O or SynqNet fieldbus controlled I/O (See )
11 FB3 Input (Tertiary feedback is reported with FB3.P). Use FB3.MODE to select the feedback type.
12 Output - A/B with index pass through.
13 Output - Step/Dir with index pass through.
14 Output - CW/CCW with index pass through.
15 Output - A/B stepper control.
16 Output - Step/Dir stepper control.
17 Output - CW/CCW stepper control.

  • If you are using multi-turn or single tune absolute feedback devices, and the once per rev or absolute Z pulse modes (DRV.EMUEMODES 1,2,6,7,8, or 9) the Z pulse generated by the EEO will always be aligned with the same mechanical position of the primary feedback position. If you are using an incremental feedback device and these modes, then the origin of the primary feedback is not at the same mechanical position each time the drive powers up. If you are using the pass through mode (DRV.EMUEMODES 12, 13, or 14) the Z pulse generated by the EEO will always be aligned with the same mechanical position of the primary feedback position.

General Information

Type

R/W Parameter

Units

N/A

Range

0 to 17

Default Value

0

Data Type

Integer

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus

Index/Subindex

Object Start Version

EtherCAT COE and CANopen

3534h/0

M_01-00-00-000

Fieldbus

Address

Attributes Signed?

Profinet

2123

Word No
sercos® III 2 Octets
Fieldbus Instance Data Size Data Type
EtherNet/IP 124 2 Byte Integer

Fieldbus

Index/Subindex

Is 64 bit? Attributes Signed?

Object Start Version

Modbus

246

No 16 bit No

M_01-03-00-000

Related Topics

DRV.EMUERES , DRV.EMUEZOFFSET , DRV.EMUEMTURN