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FB#.SELECT

Description

FB#.SELECT sets the feedback type manually (see FB#.IDENTIFIED ) or allows the drive to automatically identify the feedback type on power up.

Power Supply Notes:

If FB#.SELECT = -1, the power supply will only turn on during the initialization phase. If the feedback type cannot be automatically detected, the power supply will be turned off, and remain off until an AXIS#.CLRFAULTS is issued (which will re-start the FB initialization), or FB#.SELECT is manually set to a specific feedback type.

When FB#.SELECT is manually set to a specific feedback type, the FB power supply will remain on, unless a short is detected. This is useful for encoder types that may require calibration.

FB#.SELECT Input Values

Changing these input values will manually set the value of FB#.IDENTIFIED .


  • If the feedback setting fails, FB#.IDENTIFIED is automatically set to 0 (no feedback identified).

Type

Description

Notes

–1

Auto Identify The drive automatically identifies the type of feedback as part of the power up process. Note some feedback types cannot be automatically identified so the exact feedback needs to be selected. If auto identify is selected FB#.IDENTIFIED will be updated with the type of feedback found or 0 if no feedback can be found.
1 No Encoder Use this if no feedback device is connected to the associated connector.

10

Incremental Encoder with Halls A/B Quadrature. Depending on the connector used, the index pulse may not be supported.
11 Incremental Encoder without Halls A/B Quadrature. Depending on the connector used, the index pulse may not be supported.
13 Step/Direction

-

14 CW/CCW Clockwise/Counter-Clockwise

20

Sine Encoder with Halls Depending on the connector used, the index pulse may not be supported.
21 Sine Encoder without Halls Depending on the connector used, the index pulse may not be supported.

30

EnDat Analog Uses the analog channels to track position. Can be used with any EnDat device that supports analog channels.

31

EnDat Digital Only uses serial communications to track position. Can be used with any EnDat device that support the 2.2 protocol.
32 BiSS-B Analog -
33 HIPERFACE -
34 BiSS-C Digital

The supported BiSS-C Encoders are listed here:

https://www.kollmorgen.com/en-us/developer-network/what-types-biss-c-encoders-are-supported-akd-0/

40

Resolver -

41

SFD Smart Feedback Device
45 SFD3

Smart Feedback Device Gen 3

46 HIPERFACE DSL

-

110 SFA - Incremental Encoder with Halls Smart Feedback Adapter connected to Incremental Encoder with Halls
111 SFA - Incremental Encoder without Halls Smart Feedback Adapter connected to Incremental Encoder without Halls
120 SFA - Sine Encoder with Halls Smart Feedback Adapter connected to Sine Encoder with Halls
121 SFA - Sine Encoder without Halls Smart Feedback Adapter connected to Sine Encoder without Halls
130 SFA - EnDat Analog Smart Feedback Adapter connected to EnDat Analog Feedback
131 SFA - EnDat Digital Smart Feedback Adapter connected to EnDat Digital Feedback
132 SFA - BiSS-B Analog Smart Feedback Adapter connected to BiSS-B Analog Feedback
133 SFA - HIPERFACE Smart Feedback Adapter connected to HIPERFACE Analog Feedback
134 SFA - BiSS-C Digital Smart Feedback Adapter connected to BiSS-C Digital Feedback
140 SFA - Resolver Smart Feedback Adapter connected to Resolver
141 SFA - SFD Smart Feedback Adapter connected to Smart Feedback Device

Context

See Feedback Devices.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

N/A

Range

FB1 & FB2: -1, 1, 45, 46, 110, 111, 120, 121, 130, 131, 132, 133, 134, 140, 141

FB3: -1, 1, 10, 11, 13, 14, 20, 21, 30, 31, 32, 33, 34, 40, 41

FB4 & FB5: 1, 11, 13, 14

Default Value

FB1 & FB2: -1

FB3, FB4, & FB5: 1

Data Type

Integer

Stored in Non Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

Fieldbus Parameter Index Sub-Index Data Type Float Scale Units Access PDO Mappable
EtherCAT COE and CANopen FB1.SELECT 0x3500 0x1 SINT - - RW False
FB2.SELECT 0x3501 0x1 SINT - - RW False
FB3.SELECT 0x3502 0x1 SINT - - RW False
FB4.SELECT 0x3503 0x1 SINT - - RW False
FB5.SELECT 0x3504 0x1 SINT - - RW False

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