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This PowerPoint presentation explains the differences between different types of servo motor feedback devices, including:

  • The differences between absolute and incremental devices.
  • The differences between analog and digital devices.
  • Typical applications for various devices.
  • How to choose the best feedback device for your specific application.
  • How the devices affect servo system performance.

How to Read the Raw Data of a Multi-turn Encoder when using the AKD Drive’s Primary Feedback X10

Parameter FB1.P allows the user to read the position of the primary feedback device connected to X10. The position can be read as counts or in custom units. This is the raw position read back from the device. When FB1.PUNIT = 0 the output format is 32:32, the upper 32 bits represent the multi-turns and the lower 32 bits represent the position of the feedback. 

An example of how to read the feedback data:

Endat and BiSS multi-turn encoders use a second encoder disc that is geared to the primary disc.  The multi-turn disc will turn one line for each revolution of the motor/encoder.  The muti-turn data will roll over at 2048 revs from absolute zero.  The full range between roll-overs is -2048 revs to zero to +2048 revs.  When the motor passes the roll-over point, the drive will continue counting the feedback position as normal.  But when the drive is