6.1 Introduction
The ServoOne groups individual encoders (supported encoder interfaces) into what
are referred to as “encoder channels”. Within each encoder channel, a maximum of
one encoder can be active at any one time, meaning that the number of encoder
channels also defines the maximum number of encoders that can be active
simultaneously. The encoder channels are Ch1, Ch2, Ch3 and Ch4.
To select a specific encoder for a control level (e.g. for speed control), you must first
select an encoder channel for that control level, after which you will be able to select
a specific encoder for the selected channel.
The supported encoder interfaces are distributed among the four encoder channels
as follows:
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Ch1: X7 (SinCos, TTL, cyclical SSI, cyclical EnDAT, etc.) (see Section
"Channel 1: Interface X7" on page 59)
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Ch2: X6 (resolver, low-frequency SinCos input as well if applicable)
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Ch3: X8 (various option modules, including, but not limited to, various
encoder modules) (see Section "Channel 3: Interface X8 (optional)" on page
78)
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Ch4: Virtual encoder
6.1.1 Limiting for EnDat and SSI
“Cyclical EnDat" means a cyclical, purely digital EnDat evaluation without SinCos
signal evaluation.
On the ServoOne, EnDat and SSI can be selected simultaneously only once. Even
though there is an additional option for EnDat/SSI at X8, the following cannot be
operated simultaneously on the ServoOne...
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two EnDat encoders
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or two SSI encoders
ID No.: 0842.26B.5-01 Date: 09.2020
ServoOne - Device Help
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6 Encoder
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or one EnDat encoder and one SSI encoder
gleichzeitig betrieben werden.
As an alternative to cyclical EnDat...
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The ServoOne junior also supports HIPERFACE DSL® encoders by means
of special software (option on X8)
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The ServoOne also supports BISS encoders (on X7) via special software.
6.1.2 Encoder gearing
The encoder gearing is an integral part of the encoder evaluation system.
Whenever, for example, the “Ch1 encoder position” is described below, it already
includes the encoder gearing. The relevant encoder position is always delivered
together with the encoder gearing ratio to the mechanisms in charge of further
processing in the Servo controller.
The encoder gearing can be used, for example, to make adjustments if the encoder
is a motor encoder (commutation encoder) but is not directly on the motor shaft: In
this case, it would be necessary to make an adjustment to the pure encoder position
in line with the motor’s commutation (pole pair subdivision). In the case of linear
motor drives, for instance, this adjustment is required without fail.
The encoder gearing can also be used, for instance, to perform initial scaling for the
position as required for the actual application: For example, in cases in which the
encoder is not the motor encoder (i.e. in which it is not needed as a commutation
encoder), but just a field encoder (another encoder in the field).
For more details regarding the encoder gearing, see Section "Encoder gearing" on
