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AKD PDMM X9 Encoder output running wild, what is it counting? | 06 Dec 2019 | |

AKD PDMM X9 Encoder output running wild, what is it counting?

I'm using a AKD-M01206 with a direct drive motor. In my KAS-IDE project, I was using X9 as an input to monitor another encoder in the system, but now I want to use it as an output so another system can monitor the motor the AKD is driving. 

I changed the configuration under "Encoder Emulation (X9 Cfg)" so the mode is "1 - Ouput - A/B with once per rev index", but when I enable the drive, the encoder starts running, regardless of the motor motion. Just to be thurough, I deleted the virtual axis that I was previously using to monitor X9 as an input, and the function blocks that were reading the position/velocity.

But it's still running free whenever the motor is enabled. What is it counting? Is there a way to select the input to the encoder output? 

Thank you!

Comments & Answers

Martin Rupf said ...

Martin Rupf |

Hi Eric,

The Parameter to switch are DRV.EMUEMODE 1, FB2.SOURCE 0 and then set the resolution you like. DRV.EMUERES 1024. Then you should be able to see 4096 edges for one motor revolution. Have you check this is working fine if you turn the motor by hand?

The tricky part comes with wiring. As soon as you enable the axis the noise is present. If your encoder emulation connection is catching that noise chance are high you see some strange behavior counting on the secondary side. Therefore test run by turning by hand first can make you confident the setting is ok. Then check in enable state is about noise resistances.

The encoder output is mirroring the primary position input.

Regards Martin

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Eric Hoffstetter
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