Knowledge Base

The FBTYPE command is used to select the type of feedback device that is used for the commutation and velocity controller. It is also ued for the position controller unless EXTPOS = 1.
The type of encoder that is set is only initialized when the amplifier is switched on, which means that the amplifier must be switched off and then on again after every change of this variable.

The encoder parameters can be altered by using the appropriate ASCII command (in brackets) and then saved in the encoder EEPROM, using the HSAVE command. The encoder commands (HISOFFS, HICOFFS, HIFACT1, HSAVE) are only available when communication with the connected encoder has been established.
If communication with the encoder is not possible, then the error message ENCODER FAULT F04 is displayed.

When the data are loaded from the encoder, the setting for the motor number in the encoder is compared with the internal setting (MNUMBER). If the numbers are different, then an attempt is made to load a motor data set from the internal motor database that has the same motor number as that stored in the encoder. At the same time, the warning “NEW MOTOR DATA SET” n12 is displayed.

In order to prevent a warning being generated at the next power-on, the latest MNUMBER setting should be saved in the EEPROM, using the SAVE command. If it was not possible to load a valid motor number from the encoder (for instance, when an encoder is used for the first time), then no motor data will be loaded. However, the n12 warning will still be generated. The HSAVE command can be used to save the preset setting for the motor number (MNUMBER) in the encoder, so that no warning will be produced at the next power-on.

When using an encoder without a parameter channel (FBTYPE=7/16), and thus without the facility for storing parameters, the offset values HISOFFS / HICOFFS / HIFACT1 will be saved in the serial EEPROM of the amplifier. After an alteration, these values can be permanently stored by using the SAVE command.
The absolute position for EnDat, SSI and HIPERFACE certain FBTYPE settings are read only during initialization (while booting the amplifier). To avoid incorrect readings, the position is read up to 5 times. The position is only accepted as valid if the difference between two adjacent readings is less than the value of the in-position window PEINPOS. If too large position error F04 is displayed.