How many ACOPOS receive channels (MA1 - MA5) does MC_BR_InitReceiveNetworkEnc need?

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1

Hi there,

can someone tell me how many ACOPOS Receive Channels (MA1 - MA5) on the drive the function block “MC_BR_InitReceiveNetworkEnc” uses with different configurations:
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The B&R help is not 100% clear. Only the mode “mcINC_REF” is documented and uses all 5 channels. Does this mean, there is no channel left for axis coupling via Gear/CamIn ? Or am I missing something?

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Thanks in advance :slight_smile:

Dominik

2

Hi Dominik,

MC_BR_InitReceiveNetworkEnc uses one ACOPOS receive channel per data point.

The possible data points are listed in this table in the Help:

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The example for “mcINC_REF_” in the Help uses 4 receive channels:
NetEncoderInfoRef.Type := mcINC_REF;
DeviceString := ‘IF3.ST6.IF1.ST2’;
Position := ‘Position’;
PositionTime := ‘PosTime’;
ReferencePosition := ‘Reference’;
ReferenceCount := ‘RefCycle’;
NetEncoderInfoRef.AdrDeviceString := ADR(DeviceString);
NetEncoderInfoRef.AdrPosition := ADR(Position);
NetEncoderInfoRef.AdrPositionTime := ADR(PositionTime);
NetEncoderInfoRef.AdrReferencePosition := ADR(ReferencePosition);
NetEncoderInfoRef.AdrReferenceCount := ADR(ReferenceCount);

3

Hi Martin,

thanks for your reply. I am still missing a table where each mode is listed with the number of channels needed? How many channels does the simple “mcINC” mode use for example? Only 1 (Position Value)?

Best regards
Dominik

4

Hi @dominik.lehnberg ,
regarding the screenshot for “Additional information”, due mistakes we did in the past now R&D has added that note because they want to clarify, one more time, you can configure max 5 cyclic read channels. When you use MpAxisBasic (Legacy version for my example) you see some of them are using for updating Torque/LagError/MotorTemperature info:

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Ciao
Valerio

5

The table above tells us that for “mcINC”
“AdrPosition” is required and “AdrPositionTime” and “AdrEncoderStatus” are optional.
If only “AdrPosition” is used, 1 receive channel is used.
If all 3 data points are used, then 3 receive channels are used, 1 for each data point.

I recommend to use at least one of the 2 data points “AdrPositionTime” or “AdrEncoderStatus” to detect problems with the encoder values.

6

Thanks for the clarification :slight_smile: