| Info: | Actual acceleration [inc/cycle^2] |
| Data type: | DINT |
Description:
Error at the encoder input. The encoder acceleration limit exceeded!
The connection between the motor and encoder can slip through.
The additional information (Info1) shows the actual acceleration a [Inc/Ta^2]. The actual acceleration can be converted to [rad/s^2] or [mm/s^2] as follows:
Rotary measuring systems:
EnDat: a[rad/s^2] = (2*pi*Ta^2/res) * a[Inc/Ta^2]
SinCos: a[rad/s^2] = (Ta^2/lines/16384) * a[Inc/Ta^2]
Linear measuring systems:
EnDat: a[mm/s^2] = (Ta^2/reslength) * a[Inc/Ta^2]
SinCos: a[mm/s^2] = (Ta^2*linelength/16384) * a[Inc/Ta^2]
Ta ... Samping interval (ACOPOSmulti und ACOPOSmotor 0.0008s)
res ... Resolution of measuring systems [Inc/U] bzw. [LSB/U] (see technical data sheet of measuring systems)
reslength ... Resolution of measuring systems [Inc/mm] bzw. [LSB/mm] (see technical data sheet of measuring systems)
lines ... EUS - Number of signal periods [1/U]
linelength ... EUS - Length of physical reference system for linear encoder [nm]
Reaction:
The module changes into Fail Safe state.
Cause/Remedy:
Check the parameter "EUS - Encoder acceleration limit"!
Reduce the encoder acceleration!