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 only turns on during the initialization phase. If the feedback type cannot be automatically detected, the power supply is turned off, and remains off until an AXIS#.CLRFAULTS is issued (which restarts 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 remains on, unless a short is detected. This is useful for encoder types requiring calibration.
When an SFA feedback is selected with FB#.SELECT, it will automatically be updated with the latest SFA FPGA image if needed.
FB#.SELECT Input Values
Changing these input values manually sets the value of FB#.IDENTIFIED .
-
-
If the feedback setting fails, FB#.IDENTIFIED is automatically set to 0 (no feedback identified).
-
- If Axis 2 has been configured to use gantry command source (AXIS#.CMDSOURCE = 4) and the gantry is active (GANTRY.STATE = 3), if this keyword is changed, it will set the gantry state back to "pending homing" (GANTRY.STATE = 1). See GANTRY.HOME.REQUIRED documentation for more details.
|
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 is 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. |
| 12 | Halls Only | |
| 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 supports the 2.2 protocol. |
| 32 | BiSS-B Analog | - |
| 33 | HIPERFACE | - |
| 34 | BiSS-C Digital | |
| 35 | BiSS-B Digital | - |
| 36 | SSI | Synchronous Serial Interface |
|
40 |
Resolver | - |
|
41 |
SFD | Smart Feedback Device |
| 45 | SFD3 |
Smart Feedback Device Gen 3 |
| 46 | HIPERFACE DSL |
- |
| 47 | SFD-M | SFD-M (Smart Feedback Device Gen M) |
| 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 |
| 112 | SFA - Halls Only | Smart Feedback Adapter connected to Halls Only feedback |
| 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 |
| 135 | SFA - BiSS-B Digital | Smart Feedback Adapter connected to BiSS-B Digital feedback |
| 136 | SFA - SSI | Smart Feedback Adapter connected to SSI (Synchronous Serial Interface) |
| 140 | SFA - Resolver | Smart Feedback Adapter connected to Resolver |
| 141 | SFA - SFD | Smart Feedback Adapter connected to Smart Feedback Device |
Context
See Feedback # View.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 | |
| Feature Change | 02-06-03-000 | Added SSI feedback type (36). |
| Feature Change | 02-07-05-000 | SFA-connected feedbacks (130, 131, 132, 133, 141) will also be auto-identified. |
| Feature Change | 02-12-01-001 | Added BiSS-B Digital types (35, 135). |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
FB1 & FB2: -1, 1, 45, 46, 110, 111, 112, 120, 121, 130, 131, 132, 133, 134, 135, 136, 140, 141 FB3: -1, 1, 10, 11, 12, 13, 14, 20, 21, 30, 31, 32, 33, 34, 35, 36, 40, 41 FB4: 1, 11, 13, 14 FB5: -1, 1, 11, 13, 14, 31, 34, 35, 36 |
|
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
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
30040 |
1 |
30040 (0x7558) |
FB1.SELECT |
Signed16 |
Read/Write |
Yes |
|
30041 |
1 |
30041 (0x7559) |
FB2.SELECT |
Signed16 |
Read/Write |
Yes |
|
30042 |
1 |
30042 (0x755a) |
FB3.SELECT |
Signed16 |
Read/Write |
Yes |
|
30043 |
1 |
30043 (0x755b) |
FB4.SELECT |
Signed16 |
Read/Write |
Yes |
|
30044 |
1 |
30044 (0x755c) |
FB5.SELECT |
Signed16 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
FB1.SELECT |
30040 |
Signed16 |
Read/Write |
- |
|
FB2.SELECT |
30041 |
Signed16 |
Read/Write |
- |
|
FB3.SELECT |
30042 |
Signed16 |
Read/Write |
- |
|
FB4.SELECT |
30043 |
Signed16 |
Read/Write |
- |
|
FB5.SELECT |
30044 |
Signed16 |
Read/Write |
- |
