Description
This parameter sets or gets the resolution of the motor encoder (encoder feedback systems only) in number of counts per revolution for a rotary motor and the number of encoder pitches per motor pole pitch for a linear motor. The number of encoder counts per revolution is obtained by multiplying the motor catalog resolution in units of PPR by four. For example, for a 1024 PPR resolution motor, the number of encoder counts per revolution is 1024*4 = 4096. For this motor FB1.ENCRES must be set to 4096.
For linear motors, the value of FB1.ENCRES is set to the number of encoder pitches per motor pole pitch. For a motor with 32 mm pole pitch, and a 40 µm encoder pitch, the value for FB1.ENCRES should be set to 32 mm/40 µm = 800.
Depending on the value of FB1.IDENTIFIED, FB1.ENCRES changes between read-only and read-write. The following table lists the FB1.IDENTIFIED values and FB1.ENCRES's corresponding type.
| FB1.IDENTIFIED value | FB1.ENCRES type |
|---|---|
| 10 (Incremental encoder) | R/W |
| 11 (Incremental encoder, no halls) | R/W |
| 20 (Sine encoder) | R/W |
| 21 (Sine encoder, no halls) | R/W |
| 30 (EnDat 2.1) | R/O |
| 31 (EnDat 2.2) | R/O |
| 32 (biSS) | R/O |
| 33 (HIPERFACE) | R/O |
| 34 (biSS Mode C) | R/W |
| 40 (Resolver) | R/W |
| 41 (sfd) | R/O |
| 42 (Tamagawa) | R/O |
General Information
|
Type |
Depends on FB1.IDENTIFIED. |
|
Units |
Encoder counts |
|
Range |
0 to 232-1 |
|
Default Value |
1,024 |
|
Data Type |
Integer |
|
See Also |
N/A |
|
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 | Yes |
| 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.
| Index/Subindex | Object Start Version |
|---|---|
|
3533h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
2141 | DWord | No |
| Sercos® III | 4 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 142 | 4 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
282 |
No | 32 bit | No | M_01-03-00-000 |
