FeedbackSetup Parameter

This table shows the value of the configuration for the parameter setting.

Table: Parameter Settings, Configurations, and Values

This setting specifies how the drive reads the feedback device that is connected to the primary feedback input on the drive.

Normal is the default. The drive reads the primary feedback device normally. In this mode, the primary feedback counts in a positive direction when the rising edge of the COS encoder input comes before the rising edge of the SIN encoder input.

When you select Inverted, the primary feedback device is inverted. In this mode, the primary feedback counts in a negative direction when the rising edge of the COS encoder input comes before the rising edge of the SIN encoder input. This configuration compensates for motor or feedback phasing errors without requiring changes to the wiring.

This setting specifies how the drive reads the feedback device that is connected to the auxiliary feedback input on the drive.

Normal is the default. The drive reads the auxiliary feedback device normally. In this mode, the auxiliary feedback counts in a positive direction when the rising edge of the COS encoder input comes before the rising edge of the SIN encoder input.

When you select Inverted, the auxiliary feedback device is inverted. In this mode, the auxiliary feedback counts in a negative direction when the rising edge of the COS encoder input comes before the rising edge of the SIN encoder input. This configuration compensates for motor or feedback phasing errors without requiring changes to the wiring.

This setting specifies the behavior of the encoder inputs on the SI4.

Differential is the default. The encoder inputs are configured for RS-422 compatible differential signals.

When you select Single-Ended, the encoder inputs are configured for single-ended operation where negative input voltages indicate a logic low and positive input voltages indicate a logic high.

This setting enables the controller to average feedback signals from two or more encoder inputs based on the drive type. The controller uses the average of the signals as the position feedback for the axis.

To use the Feedback Averaging setting, you must connect each encoder to the drive so that all the encoders count in the same direction.

Disabled is the default. The position feedback operates normally. The controller does not average the feedback signals.

When you select Enabled, the controller averages the feedback signals and uses the average as the position feedback for the axis. For single-axis drives, the controller averages the feedback signals from the primary and auxiliary feedback devices. The controller averages these signals after you home the axis.

This setting specifies the behavior of the Auxiliary Marker pins.

Auxiliary Marker Input is the default. The controller configures the pins as an RS-422 input and uses that input as the marker input of an auxiliary encoder.

When you select PSO Output, the controller enables a fail-safe differential PSO output mode on the pins. The controller configures the pins as an RS-422 output and puts that output into an inactive state.

When you select Encoder Fault Input, the controller configures the pins as an RS-422 input and uses that input as an encoder fault input. The active polarity of the encoder fault input is specified by the Encoder Fault Polarity setting of the FaultSetup Parameter. The encoder fault input must be active for a minimum of 2 milliseconds before the controller recognizes the encoder fault.

This setting sets the input source for the encoder feedback to be used with IFOV.

The Default setting configures the auxiliary encoder connector as the encoder feedback input for IFOV. There are two auxiliary encoder input channels on the controller:

• If you select Default on the first axis of the controller, then Auxiliary Encoder channel 1 is configured.
• If you select Default on the second axis of the controller, then Auxiliary Encoder channel 2 is configured.

When you select Auxiliary Encoder 1, the controller configures Auxiliary Encoder channel 1 as the encoder feedback input for IFOV.

When you select Auxiliary Encoder 2, the controller configures Auxiliary Encoder channel 2 as the encoder feedback input for IFOV.

When you select Sync Port A, the controller configures the SYNC A port connector as the encoder feedback input for IFOV.

When you select Sync Port B, the controller configures the SYNC B port connector as the encoder feedback input for IFOV.

For more information about these connectors, refer to the GI4 or GL4 Hardware Manual.

This setting specifies the behavior of the auxiliary encoder input on the drive.

Quadrature Counter is the default. The auxiliary encoder input is configured for a counter that accepts quadrature encoder signals.

When you select Clock-Direction Counter, the auxiliary encoder input is configured for a counter that accepts clock and direction inputs. In this mode, a rising edge on the clock signal increments the counter when the direction input is high and decrements the counter when the direction input is low. Connect the clock input to the cosine pins of the auxiliary encoder connector, and connect the direction input to the sine pins of the auxiliary encoder connector.

This setting specifies how the drive reads an analog input that is connected to the drive. To use the Tachometer Mode setting, you must connect a tachometer to an analog input on the drive.

Disabled is the default. In this mode, the drive reads the analog input as position feedback.

When you select Enabled, the drive reads the analog input as velocity feedback. The scaling between the position feedback and the tachometer input is specified by the ServoLoopGainKv Parameter.