i950, i700 and Hiperface absolute encoder: actual position and status reference-known are only available after approx. 2.5 s
Question:
Inverter with Hiperface SinCos absolute encoder:
At what point after switch-on are the absolute actual position from the encoder and the reference status available for query and evaluation in the control programme?
Answer:
The absolute actual position from the encoder and the reference status (HomePosAvailable) are only available after the duration of the initialisation phase in the PLC programme of the higher-level control.
Only after the end of the initialisation can these values be evaluated via the control programme.
Initialisation duration with different inverters:
i950 BS and i700: approx. 0.5s
i950 ES: approx. 2.5 s
Background:
After switching on, the inverter must first evaluate the absolute encoder by means of communication via Hiperface. Only then can the reference status be output, depending on and together with the actual position determined.
Tip:
In the PLC application, the following status signal can be used to query whether the initialisation of the axis has already been completed and thus the actual position and the reference status (xHomePosAvailable) are available:
Output signal of FB AxisBasicControl: ABC.xAxisAvailable
