PrimaryEncoderMultiplierSetup Parameter
Default Value: 3
Minimum Value: None
Maximum Value: None
Units: None
Type: int
Parameter Settings and Values
This table shows the value of the configuration for the parameter setting.
Table: Parameter Settings, Configurations, and Values
| Setting | Configurations | Value |
|---|---|---|
|
Velocity Filtering |
None |
0x00000000 |
|
Level 1 |
0x00000001 |
|
|
Level 2 |
0x00000003 |
|
|
Level 3 |
0x00000005 |
|
|
High Speed Mode |
Disabled |
0x00000000 |
|
Enabled |
0x00000020 |
Before you use the PrimaryEncoderMultiplierSetup parameter:
- Set the FeedbackInput0 Parameter or the FeedbackInput1 Parameter to Primary Feedback.
- Set the PrimaryFeedbackType Parameter to one of the values that follow:
- IncrementalEncoderSineWave
- AbsoluteEncoderEnDatwithSineWaveIncremental
- AbsoluteEncoderBiSSwithSineWaveIncremental
The PrimaryEncoderMultiplierSetup parameter configures the settings related to the optional encoder multiplier module of the drive. The sections that follow give the possible settings for this parameter.
Velocity Filtering
HARDWARE: This parameter applies only to the drives and configurations that follow:
Table: Applicable Drive Types and Feedback Options
| Drive Type | Feedback Option |
|---|---|
| FLEX | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| GL4 | Using an encoder multiplier |
| iXA4 | Using an encoder multiplier with the -MX1 option |
| XA4 | Using an encoder multiplier with the -MX1 option |
| iXC2 | Using an encoder multiplier with the -MX1 option |
| XC2 | Using an encoder multiplier with the -MX1 option |
| iXC2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXC4 | Using an encoder multiplier with the -MX1 option |
| XC4 | Using an encoder multiplier with the -MX1 option |
| iXC4e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC4e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXC6e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC6e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXI4 | Using an encoder multiplier with the -MX1 option |
| XI4 | Using an encoder multiplier with the -MX1 option |
| iXL2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XL2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XL4s | Using an encoder multiplier |
| iXL5e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XL5e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXR3 | Using an encoder multiplier with the |
| XR3 | Using an encoder multiplier with the |
This setting specifies the level of filtering that the drive does on the feedback from the
When you select None, the drive does not do filtering. This configuration causes higher overall noise and is not recommended.
When you select Level 1, the drive does a basic level of filtering. This configuration causes higher overall noise than the default configuration. Use Level 1 only if the default configuration is not satisfactory.
Level 2 is the default and is recommended for most systems. The drive does a standard level of filtering.
When you select Level 3, the drive does an increased level of filtering. This configuration can cause lower overall noise than the default configuration, but it can also cause a loss of phase margin in the servo loop.
High Speed Mode
HARDWARE: This parameter applies only to the drives and configurations that follow:
Table: Applicable Drive Types and Feedback Options
| Drive Type | Feedback Option |
|---|---|
| iXC2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXC4 | Using an encoder multiplier with the -MX1 multiplier option |
| XC4 | Using an encoder multiplier with the -MX1 multiplier option |
| iXC4e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC4e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXC6e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XC6e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXL2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XL2e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXL5e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| XL5e | Using an encoder multiplier with the -MX2 or -MX3 multiplier option |
| iXR3 | Using an encoder multiplier with the -CT1, -CT2 or -CT4 multiplier option |
| XR3 | Using an encoder multiplier with the -CT1, -CT2 or -CT4 multiplier option |
This setting enables the High Speed Mode on the applicable drive type
Disabled is the default. If it is not necessary for the drive to track encoder frequencies higher than 450 kHz, select this value. The increased bandwidth decreases the noise performance of the encoder input.
When you select Enabled, the controller increases the bandwidth of the MX encoder input circuit to let the drive track encoder frequencies up to a maximum of 2 MHz. You can calculate the maximum encoder frequency of your axis by using the equation that follows:
