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 |
| 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.
| Index/Subindex | Object Start Version |
|---|---|
|
3534h/0 |
M_01-00-00-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
| PROFINET | 2123 | Word | No |
| Sercos® III | 2 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 124 | 2 Byte | Integer |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
246 |
No | 16 bit | No | M_01-03-00-000 |
