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FBTYPE Parameter (S300-S700)

ASCII - Command FBTYPE    
Syntax Transmit FBTYPE [Data]    
Syntax Receive FBTYPE <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 353B (hex)
DIM -   PROFIBUS PNU 1659 (dec) IND = 1 (dec)
Range 0 ... 33   DPR 59 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.8
Function Group feedback   EEPROM Yes
Short Description Selection of commutation feedback

Description

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.

     
Status Type of Feedback System Description
FBTYPE = 0 Resolver Data is loaded from the drive EEPROM.

connector X2
FBTYPE = 1 SinCos 5V connector X1

(MPHASE from EEPROM)

A linearmotor with analoge hall feedback can operate without wake & shake if lENCLINES = 1.
FBTYPE = 2 Hiperface (Stegmann) In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are:
Offset compensation Sine (HISOFFS)
Offset compensation Cosine (HICOFFS)
Amplitude scaling (HIFACT1)
Motor number (MNUMBER)
Motorphase (MPHASE)

connector X1
FBTYPE = 3 SinCos 12V connector X1

(MPHASE fromEEPROM)
FBTYPE = 4 EnDAT (Heidenhain) In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are:
Offset compensation Sine (HISOFFS)
Offset compensation Cosine (HICOFFS)
Amplitude scaling (HIFACT1)
Motor number (MNUMBER)
Motorphase (MPHASE)

connector X1
FBTYPE = 5 SinCos with Hall connector X1
FBTYPE = 6 SinCos 12V with Hall connector X1
FBTYPE = 7 SinCos 5V mit W&S connector X1

FW >= 2.18
A linearmotor with analoge hall feedback can operate without W&S if ENCLIINES = 1 and DRVCNFG Bit 8 = 1 is set. Additional is bit "reference ok" set. (standardfunction Bit 8). If this is not allowed use FBTYPE =1 for this feedback.
FBTYPE = 8 SinCos 12 V with W & S connector X1
FBTYPE = 9 SSI connector X5
FBTYPE =10 sensorless  
FBTYPE =11 Hall only
5 V
 
FBTYPE =12 RS422 feedback device (A quad B) 24V level. connector X3
FBTYPE = 13 digital encoder 5V connector X5

(MPHASE from EEPROM
FBTYPE = 14 digital encoder 24V with Hall connector X1/X3
FBTYPE = 15 digital encoder 5V with Hall connector X1

By use of digital feedback (ROD) at X1 (FBTYPE=15,17) the
external ROD-indexpulse can used for homing (NREF 1,2,7) and for the ROD output.

The parameter REFMODE has to set at 5.
FBTYPE = 16 digital encoder 24V with W&S connector X3
FBTYPE = 17 digital encoder
5V - W&S
connector X1

By use of digital feedback (ROD) at X1 (FBTYPE=15,17) the
external ROD-indexpulse can used for homing (NREF 1,2,7) and for the ROD output.

The parameter REFMODE has to set at 5.
FBTYPE = 18 digital encoder
5V with Hall
connector X1/X5
FBTYPE = 19 digital encoder
5V - W&S
connector X5
FBTYPE = 20 BISS - Feedback
5V - digital
connector X1

After the amplifier is switched on all Encoder-EEPROM data are load in the drive. These are:
motor number MNUMBER,
motor phase MPHASE

only FW > 2.14
FBTYPE = 21 EnDat + W&S connector X1

EnDat with W&S: the absolute position is red by the feedback eeprom through the parameter channeland and MPHASE is calculatet by Wake & Shake.

This kind of FBTYPE is a combination between FBTYPE=4 und FBTYPE=7
FBTYPE = 22 BISS - Feedback
12V - digital
connector X1

After the amplifier is switched on all Encoder-EEPROM data are load in the drive. These are:
sinus offset adjustment HISOFFS,
offset adjustment cosinus HICOFFS,
amplitude scaling HIFACT1,
motor number MNUMBER,
motor phase MPHASE

only FW > 2.14
FBTYPE = 23 BISS Feedback
5V - analog
connector X1

After the amplifier is switched on all Encoder-EEPROM data are load in the drive. These are:
sinus offset adjustment HISOFFS,
offset adjustment cosinus HICOFFS,
amplitude scaling HIFACT1,
motor number MNUMBER,
motor phase MPHASE

only FW > 2.14
FBTYPE = 24 BISS Feedback
12V - analog
connector X1

After the amplifier is switched on all Encoder-EEPROM data are load in the drive. These are:
sinus offset adjustment HISOFFS,
offset adjustment cosinus HICOFFS,
amplitude scaling HIFACT1,
motor number MNUMBER,
motor phase MPHASE

only FW > 2.14
FBTYPE = 25 only S700:
SSI
Connector X1

FW = 3.06
FBTYPE = 26 only S700:

SSI - linear feedback
FW > 3.06

see also SSIRESOL
FBTYPE = 27 digital encoder 5V (MPHASE from EEPROM connector X1
FBTYPE = 28 SSI-Linear connector X5 (POS-I/O-Optioncard)
FBTYPE = 29 n.a. booked
FBTYPE = 30 ROD with W&S connector X1
FBTYPE = 31 ROD connector X1
FBTYPE = 32 EnDAT 2.2 with 5V connector X1

In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are:
Motor number (MNUMBER)
Motorphase (MPHASE)

connector X1
FBTYPE = 33 BiSS-C
5V - digital
connector X1

For configuration have a look at (BISSCNFG)

only with Renishaw feedback
FBTYPE = 34 EEnDAT 2.2 with 12V connector X1

In the initialization phase, all the data is loaded that is stored in the encoder EEPROM. These are:
Motor number (MNUMBER)
Motorphase (MPHASE)

connector X1