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Setup 5-3MN1854
Configure Encoder If you are not using an encoder, set encoder mode to OPEN LOOP and skip to MECH.
Configuring Encoder Mode [ EMi ]
EDIT
> SETUP > ENC > MODE
Value: Open Loop
Range: Open Loop, Open–Stall,
Closed Loop, Closed Loop–PM
– Axis One ENC Mode –
–↑ OPEN LOOP ↓–
↑ or ↓ to select value, press ENTER
Press ← or → to select next axis.
Open Loop The OPEN LOOP position will be displayed on the keypad.
Open–stall The OPEN LOOP position will be displayed on the keypad, and the
encoder will be used for stall detection. (See Following Error)
Closed Loop The actual encoder position is displayed on the screen. All subsequent
moves are calculated from this actual position. All moves are based on
encoder pulses. Stall detection is enabled. Positioning resolution will
equal the resolution of your encoder.
Closed Loop–PM Same as closed loop except for the post move position maintenance of
the last commanded position. Provides a “pseudo–servo” operation for
a stepper system. Closed Loop–PM will not correct position while
navigating menus with the keypad.
Use PM GAIN, PM VMAX, and IN–RANGE WINDOW parameters to specify position
maintenance tuning parameters.
Application Notes:
Following–error is still active while in CLOSED LOOP–PM mode. A following–error will occur
when the number of correction steps exceeds the following error value. This allows the unit
to signal a fault when the displacement cannot be corrected, i.e. an obstruction. Ensure
proper operation in Open Loop mode before attempting Closed Loop–PM mode.
Configuring Encoder Resolution [ ERi ]
EDIT
> SETUP > ENC > E–RES
Value: 5000 cnts/in
Range: 1–9,999,999
– Axis One ENCODER RES–
–↑ 5000 cnts/in ↓–
Select value, press ENTER
Press ← or → to select next axis.
This option sets the encoder resolution. The resolution is specified
in encoder pulses per in of travel, post–quadrature. To prevent
end–of–move dither, an encoder resolution of 8000 or less is recommended.