Monitoring the encoder

Introduction

Conitinous monitoring of the configured is performed.

Encoder power supply check: the real voltage applied to the encoder is measured.

Line check: line breaks and short-circuits, if requested during , are detected by measuring the differential voltage on the encoder connection lines.

Transmission check: two checks are made on the SSI link with the encoder. A parity check is performed if requested during configuration. An answer present check is also performed.

Encoder alarm: certain bring up fault data in the series link frame. The module transmits the data, if requested during configuration, to the application software.

Signalling:

The ERR (red) LED is off

The RUN (green) LED is lit

The CH0 (green) LED flashes

The I/O (red) LED is on

Consequences of an encoder fault

If the encoder power supply voltage is too low, if there is a line fault or if a transmission fault is detected:

Position reading is no longer performed: data item Ang_Ok = 0
The cam processor is set to STOP. data item Pcam_On = 0

For an Alarm_Encoder fault, the module proceeds with processing as normal, the processor remains in RUN.

The bit %Ir.m.MOD.ERR = 1. The READ_STS instruction applied to the module is used to refresh the status, and you will find:

FAULTY_CH =1

The bit %Ir.m.0.ERR = 1. The READ_STS instruction applied to channel 0 is used to refresh the status, and you will find:

ENC_FLT = 1 and
Enc_Alarm = 1 if the data is detected in the SSI frame
Enc_Transmit_Flt = 1 if an SSI frame fault is detected
Enc_Wire_Flt = 1 if a line fault is detected
Enc_Supply_Flt = 1 if the encoder is incorrectly supplied

If encoder power supply fault masking has been configured (supply enc_MSK = 1) then %IWr.m.MOD.ERR, %IWxy.0.ERRand Enc_Flt will not change to 1 on an encoder power supply fault.