P20.00

Encoder type

0: Incremental   encoder

1: ABZUVW encoder

2: Resolver encoder

3: Sin/cos   encoder without CD signal

4: Sin/cos   encoder with CD signal

0

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P20.01

Pulse number

Pulse   number when the encoder rotates a circle.

Range: 0–60000

1024

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P20.02

Encoder direction

Setting range: 0x000–0x111

Ones: Encoder AB   direction

0: Forward

1: Reverse

When encoder offline   fault (ENC10) or encoder reverse fault (ENC1D) is reported, adjust this   function code to change the AB pulse direction, removing the need of   re-adjusting the wiring of AB pulse.

Tens: Pulse   Z direction

0: Forward

1;   Reverse

No   setting required

Hundreds:   Direction of magnetic pole signal

0: Forward

1: Reverse

Perform   rotary autotuning on magnetic pole position (P20.11=1 or 3), if autotuning is   succeeded, the magnetic pole signal direction will be set automatically.

0x000

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P20.03

Encoder disconnection fault reporting   threshold time

Detection time of encoder offline fault.

Range: 0.0–100.0   s

1.0 s

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P20.04

Encoder reverse running fault reporting   threshold time

Detection time of encoder reverse fault.

Range: 0.0–100.0   s

0.8 s

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P20.05

Number of encoder detection filtering times

Setting   range: 0x00–0x99

Ones   place: Number of low-speed filtering times; corresponding to 2^(0–9)×125 μs

Tens   place: Number of high-speed filtering times; corresponding to 2^(0–9)×125 μs

0x33

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P20.06

Rotating speed ratio of the motor to   encoder

When the   encoder is not mounted on the shaft of the motor and the drive ratio is not   1, you need to set this parameter.

Setting   range: 0.001–65.535

1.000

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P20.07

Control parameters of SM

Setting   range: 0x0000–0xFFFF

Generally,   you do not need to modify this parameter.

Bit0: Enabling   pulse Z calibration

Bit1: Enabling   encoder angle calibration

Bit2:   Enabling SVC speed measurement

Bit3: Setting   resolver speed measurement mode

Bit4: Setting   pulse Z capture mode

Bit12: Deleting   pulse Z arrival signal when the machine is stopped

0x0003

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P20.08

Enabling pulse Z disconnection detection

ENC1Z indicates pulse Z disconnection fault. When   the spindle orientation function is used or an incremental encoder is used   for the synchronous machine, you can enable pulse Z detection to prevent   inaccurate orientation or synchronous machine control failure caused due to   pulse Z loss.

0: Disabled

1: Enabled

0

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P20.09

Initial angle of pulse Z

Electrical   degree between pulse Z of the encoder and the magnetic pole position of the   motor.

Setting   range: 0.00–359.99

0.00

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P20.10

Pole initial angle

Electrical   degree between the position of the encoder and the magnetic pole position of   the motor.

Setting   range: 0.00–359.99

0.00

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P20.11

Autotuning of magnetic pole initial angle

Setting   range: 0–3

0: No   operation

1: Rotary   autotuning (no load)

2: Static   autotuning (fit for resolver and sin/cos encoder)

3: Rotary   autotuning (loaded)

After   setting the value to 1 or 2, the keypad will display "-RUN-", then   press "RUN" to begin the autotuning until the keypad display "-END-".   The identified initial angle is saved in P20.09 and P20.10.

The pole   initial angle obtained from rotary autotuning 1 is more accurate. Generally   it is necessary to de-couple the motor or lighten the motor load for rotary   autotuning.

0

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P20.12

Encoder signal filter width

Range: 0.0–20.0us

0.5 us

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P20.13

Speed optimization enabling

0: Disabled

1: Enabled  

0–1

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