0x2394 - Feedback runaway source
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2394 | 0x00 | Feedback runaway source | UINT16 | RW | No | Yes | 1 to 8 | 0 | - |
Indicates the feedback checked for runaway conditions against digital halls.
The available selected feedbacks are:
| Value | Meaning |
|---|---|
| 1 | BiSS-C / SSI - slave 1 |
| 4 | Incremental encoder 1 |
| 6 | Secondary SSI encoder |
| 7 | BiSS-C slave 2 |
| 8 | Incremental encoder 2 |
The selected feedback readings will be checked on each mechanical revolution. If the detected feedback counts per revolution differ more than 20% of the specified feedback resolution, an error occurs. An error option code is available for this error.
To detect counts per revolution of the selected feedback, an event is triggered on a specific transition of Hall A and is only triggered after as many repetitions as pair poles are specified. This event samples the readings of the feedback, and compares it to the previous event, except in the first event of all, where only the sample is taken. This first event can happen either at the start-up of the drive, or when changes of direction are detected in the digital halls feedback.
No more than two revolutions should occur before detecting a runaway error.