Slip adjustment

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Description

The slip adjustment function can only be executed with the MOVISAFE^® CSA31A safety option.

The function corrects the slip between an encoder with slip and a second, slip-free absolute encoder. Physical cams must be attached to the travel section at suitable points to serve as adjustment positions. The application (generally a trolley) must feature a sensor that responds to the slip adjustment cams. The sensor must be single-channel and normally closed.

During slip adjustment, the position of the encoder with slip is overwritten with the parameterized position of the corresponding cam end.

To perform the slip adjustment, the following requirements must be met:

• At least 2 encoders must be set in the parameter group Encoder evaluation. In this case, the motor encoder (encoder 1) is usually subject to slip while the distance encoder (encoder 2) is a slip-free absolute encoder.
• The following parameter values must be set in the parameter group Encoder function:
• The setting Absolute position with limited travel distance must be defined for the Position mode application parameter.
• The encoder values of the encoder with slip (encoder 1) used for determining the position must serve as a comparison value (Comparison value setting for the function assignment of the position).
• The encoder values of the slip-free encoder (encoder 2) for determining the position must be used in the process values (Process value setting for the function assignment of the position).
• The encoder with slip (encoder 1) must be evaluated incrementally (Position mode parameter).
• The slip-free encoder (encoder 2) must map the positioning range without overflow (Position mode parameter).

• The encoder system must be referenced.

The slip adjustment function is permanently active after parameterization. It cannot be deactivated at any point. The slip adjustment cams can only be transferred via a safe digital input F‑DI or via the safe process data of the higher-level safety controller.