Signal correction (GPOC)
GPOC is a special KEBA online process for improving the quality of SinCos signals
before they are used to calculate a position. If “SINCOS(1)” is selected as the “main
interface,” this process may be useful. For details see Section "Signal correction
GPOC (Gain Phase Offset Correction)" on page 75.
P No.
Index Name / Settings
Unit Description
505
0
ENC_CH1_Sel
Encoder type selection
OFF (0)
Function disabled
SINCOS(1)
Sin/Cos encoder
SSI(2)
Digital SSI encoder
TTL(3)
TTL encoder
EnDat(4)
Digital EnDat encoder (2.1 or 2.2)
HALL(5)
Digital Hall sensor
BISS(6)
BISS encoder (special software)
HALL_TTL (7)
Hall effect sensor with TTL
540
0
ENC_CH1_Abs
Absolute position interface selection
OFF (0)
No additional absolute value interface
SSI(1)
SSI interface
ENDAT(2)
EnDat interface
HIPER(3)
HIPERFACE® interface
SSI_CONT(4)
SSI-interface with 1ms continuous clock
555
0
ENC_CH1_Info
Encoder information
Table 6.5: Channel Ch1 encoder configuration (X7) parameters
6.5.1 Main parameters for encoder channel Ch1
The following table lists the most important parameters for the Ch1 encoder channel.
These parameters are then described in the chapters for selecting a special encoder
with P 505[0] - ENC_CH1_Sel and P 540[0] - ENC_CH1_Abs.
l
Some of the parameters are self-explanatory, such as Lines, MultiT and
SingleT.
ID No.: 0842.26B.5-01 Date: 09.2020
ServoOne - Device Help
60
6 Encoder
l
Code
and
Mode
are used to set SSI modes. If Mode=1, wire break monitoring
(if any) will be disabled, for example. If
Mode
= 0, it will be enabled instead
(default).
l
In the case of linear encoders,
PeriodLen
and
DigitalResolution
will be
needed instead of
MultiT
and
SingleT
.
P No.
Index Name / Setting
Unit Description
505
0
ENC_CH1_Sel
Main selection on encoder channel Ch1
540
0
ENC_CH1_Abs
Absolute value interface for one-time reading
542
0
ENC_CH1_lines
Number of analogue Sin/Cos lines per revolution
(TTL lines as well)
543
0
ENC_CH1_MultiT
Number of multi-turn bits for the digital interface
544
0
ENC_CH1_SingleT
Number of single-turn bits for the digital interface
545
0
ENC_CH1_Code
Code selection (for SSI encoders) (binary, Gray)
546
0
ENC_CH1_Mode
Mode selection (for SSI encoders)
547
0
ENC_CH1_MTBase
Definition of point of discontinuity in multi-turn
range
548
0
ENC_CH1_MTEnable
Enable MultiTurn use (negative logic, 1=MToff)
551
0
ENC_CH1_EncObsMin
Comparison value for Sin/Cos wire break
monitoring
553
0
ENC_CH1_PeriodLen
nm
Linear encoders: Length of an analogue Sin/Cos
segment in nm (nanometres)
554
0
ENC_CH1_
DigitalResolution
nm
Linear encoders: Length of a digital increment in
nm (nanometres)
616
0
ENC_CH1_CycleCount
Sampling cycle in: n x 125 μ (microseconds)
Table 6.6: Main parameters for encoder channel Ch1
MTBase, when used with its default setting, will ensure that the absolute value
initialization “starts up with plus-minus”: I.e. the encoder’s multiturn value range from
0 to max will be mapped to -1/2max to +1/2max; the second half of the measuring
range will be initialized as negative; in this case, the point of discontinuity will be
found at 1/2max. --- This can be changed with MTBase! --- When MTBase=0, the
absolute value initialization will, for example, “start up with zero to max”: I.e. the
