NORD Drivesystems BU0510 - Manual (Page 30)

POSICON position control for NORD frequency inverters, SK 530E and above
30 Subject to technical alterations BU 0510 GB-3911
Number of rotary
encoder rotations
P604
Encoder type
P605*
Resolution of CANopen
absolute encoder
P615
Maximum
position
Single-turn –
absolute encoder
1 5, 7, 9, 11, 13 or 15
Array [-01] = 0
Array [-02] = Pulse number
0
Multi-turn –
absolute encoder
≥ 1 5, 7, 9, 11, 13 or 15
Array [-01] = Number
Array [-02] = Pulse number
0.5 * Total
rotations
Incremental
encoder
1 3 or 4 - 0
Incremental
encoder
> 1 3 or 4 -
0.5 * Total
rotations
* Array [-01] = Multi-turn resolution - number of possible encoder rotations
Array [-02] = Single-turn resolution - resolution per encoder rotation
Table 16: Overview of incremental and absolute encoder parameter settings
NOTE
A multi-turn absolute encoder can also be used as a single-turn absolute encoder. For this, the
multi-turn resolution must be set to "0" (see Table 16).
3.3 Specifying the setpoint
Three different procedures are available for specifying the setpoint. The specification of the setpoint can be
made via:

digital inputs or Bus IO In Bits as absolute position by means of the position array

digital inputs or Bus IO In Bits as relative position by means of the position increment array

Bus setpoint value
For the specification of the setpoint value it does not matter how the actual position is obtained. Absolute,
relative and bus setpoint values can be specified, regardless of whether an absolute encoder or incremental
encoder are used to detect the position.
3.3.1 Position array – absolute setpoint position via digital inputs or BUS I/O In Bits
In parameter P610 "Setpoint Mode", up to 63 positions stored in parameter P613 can be selected via the
digital inputs of the frequency inverter or Bus IO In Bits using Function 0 = "Position Array". With SK 540E and
above, as many as 4 x 63 = 252 positions can be selected via the dependency of parameter P613 on the
parameter sets. The position numbers result from the binary value. A position setpoint value (P613) can be
parameterised for each position number. The position setpoint value can either be entered via a control panel
(Control Technology Unit or Parameter Technology Unit) or with a PC by means of the "NORD CON"
parameterisation software (read out and adopt current position), or via "Teach-in" by travelling to the positions.
With the setting "62" "Sync for Position Array Pointer" for the digital inputs or BUS I/O In Bits it is possible to
control the start of travel to the setpoint position. If one of the inputs or bus IO In bits is parameterised to "62"
"Sync for Position Array Pointer", by means of further digital inputs or Bus I/O In Bits, the position or the
position array can be preselected as binary code. The position value is adopted as the setpoint position as
soon as the input "Sync for Position Array Pointer" is set to "1".