MSD Servo Drive 2nd SinCos Encoder
Contents
1. Function Actual value parameter Raw data of 1 4 1 Configuration of the encod er channel X8 P 0502 ENC_CH3_ActVal single turn and multi turn information to test encoder evaluation 0 00 00hex Single turn The raw data are displayed after the a PRA off electronic gearing and before the solute 1 scaling see figure 1 1 pere Saa E ssl 1 00 00hex Multi turn A e EnDat Encoder ais o3_ HIPERFACE Type Selection jy SinCos in preporation P 0507 ENC_CH3_ Sel Selection of encoder P 0507 2 55l 3 TIL 4 EnDat Gai 0 OFF No function No function 5 HALL numerator Halal value 1 SinCos encoder SinCos SinCos selection 6 TWINsync Multiturn JON Number P 0514 P 502 1 2 SSI encoder SSI SSI selection OFF Por are gt P0515 Singleturn gt Control P 0572 P502 0 3 TTL encoder TTL TTL selection Index Pulssignal 4 EnDat 2 1 2 2 ENDAT EnDat selection Testmode Ae encode wisn HALL selection 5 commutation HALL function not supported signals Figure 1 1 Configuration encoder channel X8 TWINsync selection 6 TWINsync TWINsync function not supported Numerator of encoder gearing P 0514 231 231 1 ENC_CH3_Num 4 Denominator of encoder gearing i TE i P 0515 1 23 1 ENC_CH3_Denom NOTE When using an encoder with incremental tracks SinCos signal P 0507 must be set to 1 Selector P 0570 is set to the desired encoder inter a Medve rion AN barelluie gt inventing sallecii2. 4to 450A 4to 210A Compact Sin Cos ULIL ex eco oo O Oooo 4 2 elelolole 7 FP lt MSD Servo Drive Specification Option 2 Technology 2nd SinCos Encoder MOOC MOOG Specification Option 2 Technology 2nd SinCos encoder ID no CA79903 001 Rev 1 0 Date 08 2011 This documentation applies to Series MSD Servo Drive Single axis system a 4to 450A MSD Servo Drive Multi axis system A 4to 210A Model G392 XXX X1X XXX G395 XXX X1X XXX G393 xXX X1X XXX G397 XXX X1X XXX Hardware version from Rev C from Rev C Firmware version all all MSD Servo Drive Compact u Compact G394 XXxX X1X XXX from Rev A from V1 10 MSD Servo Drive Specification 2nd SinCos Encoder NOTE This document does not replace the Operation Manuals Please be sure to observe the information contained in the For your safety Intended use and Responsibility sections of the Operation Manuals For information on installation setup and commissioning and details of the warranted technical characteristics of the Servo Drives refer to the additional documentation Operation Manual User Manual etc WE RESERVE THE RIGHT TO MAKE TECHNICAL CHANGES The contents of our documentation have been compiled with greatest care and in com pliance with our present status of information Nevertheless we would
3. Servo Drive Specification 2nd SinCos Encoder 5 SinCos Module MOOG 1 2 4 Cable type and layout The cable type should be chosen as specified by the motor encoder manufacturer The following conditions must be met e Use only shielded cables e Shield on both sides e Interconnect the differential track signals A B R or DATA and CLK by twisted pair cables e Do not separate the encoder cable for example to route the signals via terminals in the switch cabinet MSD Servo Drive Specification 2nd SinCos Encoder 1 3 Pin assignment The assignment of the 15 pin D Sub female connector on slot X8 is set out in the following table SinCos TTL Absolute value Absolute value encoder encoder SSI EnDat encoder HIPERFACE Connection Pin Signal Signal Signal 1 Track A REFCos 5 2 Track A Cos O 3 12 V E Oo Encoder supply QA o Kp 4 o DS pe 9 heed 5 e Ky a e 6 Track B REFSin 7 U Switch 8 9 R Data 10 R Data 11 Track B Sin 12 U Switch 13 14 CLK 15 CLK 1 from delivery week 15 2011 on and from device serial No SN 1115 on Table 1 5 Pin assignment of the SinCos module on X8 The jumper between pins 7 and 12 produces a voltage on pins 3 and 8 of 12 V 1 4 Configuration
4. like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the lat est version please refer to drives support moog com Table of Contents l SIC OS TTL COU CI serea 4 ti Operating Modes acs ke cc E ore E E aces 4 a Xch pL ee f eee eee re ent oe rei eon eer cere epee ee reer meer eee ee 5 1 2 1 SinCos TTL signal evaluation ccecceeceecceeeeeeeeeeceeeeseeeeceeeeeeeeenetsaeeneeaees 5 1 2 2 Absolute value encoder ecceccecceseesceeeeeececeeceeesecaeeeaeeaeecaeeaeteeeeaeeeaeeeeates 5 1 2 3 Voltage supply for external encoder eceeeeecceeeeeeeeteeeeeeeteeteeeeseeeeeeeeeeaees 5 124 Cabletype and lay Out vette ses select orca ttaeee ates buat neces 6 Tor UPIMGASSIC ATU cepa Eis ee ae a ac aes a ea ee eee ee eet 6 TA ConiguratioN esee hates cs E A EN 7 1 4 1 Configuration of the encoder channel X8 cececeeeeceeeeeeeeseeeeseseeeeeaeees 7 LAZ Zero pulse WINMOMES Tec M Sot Hie tact E hae edna 8 1 4 3 Interface configuration of encoder for loop control cceceeeeeteeteeteteeees 9 1 5 Increment coded reference Marks ccccccccecsccesssessseeseeceeseseeceseecsseeesssceseecteesseeeees 1 5 1 Rotary measurement system 1 5 2 Linear measurement SYSteM nrenserierent iriiria eiie E 11 MOOG MSD Servo Drive Specification 2nd SinCos Encoder EEN SinCos Mod
5. subsidiaries All quoted trademarks are property of Moog Inc and its subsidiaries All rights reserved 2011 Moog GmbH Technical alterations reserved The contents of our documentation have been compiled with greatest care and in compliance with our present status of infor mation Nevertheless we would like to point that this document cannot always be updated parallel to the technical further development of our products nformation and specifications may be changed at any time For information on the latest version please refer to drives support moog com D no CA79903 001 Rev 1 0 08 2011
6. Basic Increment G Basic Increment G Number of Nominal Increment B revolution Nominal Increment A reference marks P 0572 P P 0630 P 0631 Reference measure A 18 x 1000 18 basic marks 18 Reference measure B i 1000 lines corresponding lines coded masks 36 1001 lines to 20 Table 1 8 Example of a rotary system 1 5 2 Linear measurement system In preparation Linear measurement system a Division period dp P 0572 ENC_CH3_Number of lines Referece marks smal distance wide distance for after next for after next Reference mark Refernce mark P 0630 ENC_CH3_Nominal Increment A P 0631 ENC_CH3_Nominal Increment B Increment coded Increment coded reference mark A reference mask B Figure 1 5 Schematic for a linear scale Homing method for increment coded encoders Supported encoder types Type 6 Increment coded encoders with negative direction of rotation Type 7 Increment coded encoders with positive direction of rotation MOOG MSD Servo Drive Specification 2nd SinCos Encoder 11 SinCos Module TAKE A CLOSE LOOK Moog solutions are only a click away Visit our worldwide Web site for more informati on and the Moog facility nearest you MOOG Moog GmbH Hanns Klemm StraBe 28 D 71034 B blingen Phone 49 7031 622 0 Telefax 49 7031 622 100 www moog com industrial drives support moog com Moog is a registered trademark of Moog Inc and its
7. Basic setting of encoder channel MSD Servo Drive Specification 2nd SinCos Encoder 8 1 4 2 Zero pulse wiring test To enable evaluation for the wiring test parameter P 0571 ON 1 is set On the oscilloscope it can then be depicted with the measurement variables CH3 Np To make the zero pulse clearly visible the measurement variable remains at High level until the next zero pulse appears Conversely the measurement variable remains at Low level until another zero pulse appears In this the pulse width of the scope signal does not match the pulse width of the actual zero pulse CH3 Np or a Zero pulse Mesurement variable CH3 Np Time between two zero pulses Figure 1 2 Zero pulse recording via measurement variable CH3 NP NOTE In zero pulse test mode zero pulse evaluation of homing runs is disa bled 1 4 3 Interface configuration of encoder for loop control By way of P 0520 P 0521 P 0522 the physical encoder interface is adapted to the current speed or position controller Parameter no Setting Designation in MDA 5 Function ENC_MCon Selection of encoder channel for commutation angle and current Encoder Channel Select for P 0520 control Motor Commutation and A Feedback signal for field Current control oriented regulation NE Con mead oe channel for P 0521 Encoder Channel select for AE A EEA Feedback signal fo
8. he absolute position of the scale defined by the reference mark is assigned to precisely one measuring increment So before an absolute reference can be created or the last selected reference point found the reference mark must be passed over In the worst case scenario this requires a rotation of up to 360 To determine the reference positon over the shortest possible distance encoders with increment coded reference marks are supported HEIDENHAIN ROD 280C The reference mark track contains multiple reference marks with defined increment dif ferences The tracking electronics determines the absolute reference when two adjacent reference marks are passed over that is to say after just a few degrees of rotation 1 5 1 Rotary measurement system Rotary encoder Basic increment reference measure A small increment e g 1000 corresponding to parameter P 0630 ENC_CH3_Nominal Increment A Basic increment reference measure B large increment e g 1001 corresponding to parameter P 0631 ENC_CH3_Nominal Increment B The lines per revolution are entered in parameter P 0572 ENC_CH3_Lines A sector increment difference of 1 and 2 is supported One mechanical revolution is precisely one whole multiple of the basic increment A MSD Servo Drive Specification 2nd SinCos Encoder 10 lt N wi Figure 1 4 Schematic view of circular graduations with increment coded reference marks Example of a rotary measurement system Lines per
9. oder and 12 bit multi turn encoder EQN 1337 SinCos encoder with SSI interface z B 13 Bit single turn and 25 Bit multi turn encoder ECN413 SSI EQN425 SSI Encoder with purely digital SSI interface le g K bler encoder 12 bit single turn and 12 bit multi turn F3663 xx1x B222 Sick Stegmann SinCos encoder with HIPERFACE interface TTL encoder with zero pulse e g Heidenhain ROD 426 ERN 1020 Suitable encoder types on X8 ATTENTION Only one encoder with a purely digital EnDat or SSI interface can be used on connector X8 or X7 see Operation Manual page 25 26 1 2 Technical data 1 2 1 SinCos TTL signal evaluation Interface e Differential voltage input ELA 422 compatible Pay attention to voltage range e Max cable length 10 m e Connector 15 pin D SUB High Density female e Surge terminating impedance built in to device 120 Q min max Input frequency 0 Hz 500 kHz Input voltage Differential switching level High 0 1V Differential switching level Low 0 1V Signal level reffered to ground ov 5V Table 1 2 SinCos TTL encoder input on X8 1 2 2 Absolute value encoder Interface e RS485 compliant e Connector 15 pin D SUB High Density female e Surge terminating impedance built in to device 120 Q Pulse frequency min max typ EnDat 2 MHz SSI 1 MHz Output voltage min max typ Signal level
10. on face Interface select 0 Off No evaluation 1 SSI SSI interface 2 EnDat EnDat interface 3 Hiperface Hiperface interface in preparation Table 1 6 Basic setting of encoder channel MOOG MSD Servo Drive Specification 2nd SinCos Encoder 7 SinCos Module MOOG Parameter Setting Designation in MDA 5 Function P 0571 ENC_CH3_NpTest Zero pulse wiring tesi more details following 0 OFF No function No function 1 ON ENABLE_ISR Zero pulse test mode active Input of number Setting of number of lines P 0572 of lines per revolu NE CHB Lines max 65536 of TTL encoder per tion motor revolution 1 65536 P 0573 Multi turn bits Number of Multi Number of bits of multi turn 0 25 bits Turn Bits information P 0574 Single turn bits Number of Single Number of bits of single turn 0 29 bits Turn Bits information Code Select SSI Selection of code with which the P 0575 ENC_CH3_Code Absolut Position SSI encoder is to be evaluated Interface 0 BINARY 0 Binary coded data Evaluation of the binary code 1 GRAY 1 Gray coded data Evaluation of the gray code Encoder Observa Sensitivity for encoder monitoring P 0577 0 0 5 tion Minimum sqrt a2 b2 Nominal increment P 0630 0 65535 A of reference f marks Setting of the increment coded refer SE ence marks These values are given on Nominal increment the encoder data sheet P 0631 0 65535 B of reference marks Table 1 6
11. r speed Speed Control controller ENC_PCon Encoder salen PEN CHS EL Eat P 0522 Channel select for Position P eons Feedback signal for position Control controller Parameter settings apply to P 0520 P 0521 P 0522 0 OFF No encoder selected 1 CH1 Channel 1 SinCos on X7 2 CH2 Channel 2 Resolver on X6 3 CH3 Channel 3 Option on X8 Table 1 7 Encoder configuration Singleturn P 0520 information Speed P 0521 information o Position P 0522 information nN pnn 2 3 Channel 3 0 1 Current control 2 eo Channel3 Speed control gt 2 3 Channel 3 Position control gt be saved on the device Figure 1 3 Display of encoder configuration for encoder channel X8 ATTENTION A parameter can only be written or read with the appropriate access rights e g Local administrator A changed parameter must always When editable online a parameter executes a reaction on the device immediately so inputs must always be carefully checked MSD Servo Drive Specification 2nd SinCos Encoder 9 SinCos Module MOOG 1 5 Increment coded reference marks In the case of relative encoders with increment coded reference marks multiple refer ence marks are distributed evenly across the entire travel distance The absolute position information relative to a specific zero point of the measurement system is determined by counting the individual measuring increments between two reference marks T
12. reffered to ground ov 3 3V Differential output voltage IUI 1 5 V 3 3 V e P Table 1 3 MOOG Absolute value encoder input on X8 Input voltage min max typ Differential switching level High 0 2 V Differential switching level Low 02V Signal level refferd to ground 7V 12 V Table 1 3 Absolute value encoder input on X8 1 2 3 Voltage supply for external encoder Specification min max typ Output voltage with SinCos TTL 475V 5 25V 5V EnDat SSI encoders Output current with SinCos TTL 250 mA EnDat SSI encoders Output voltage with Hiperface 12 V Output current with Hiperface 100 mA interface Table 1 4 Voltage supply for external encoders on X8 NOTE The encoder supply at X8 3 is short circuit proof in both 5 V and 12 V operation The controller remains in operation enabling the generation of a corresponding error message when evaluating the encoder signals Encoders with a power supply of 5 V 5 must have a separate sensor cable connection The encoder cable detects the actual supply voltage at the encoder thereby compensating for the voltage drop on the cable Only use of the sensor cable ensures that the encoder is supplied with the correct voltage The sensor cable must always be connected If a SinCos encoder is not delivering sense signals connect pins 12 and 13 Sense to pins 3 and 8 5 V GND on the encoder cable end MSD
13. ul MOOG 1 SinCos TTL encoder 1 1 Operating modes SinCos encoders are designed as optical encoders and meet the highest accuracy demands They emit two sinusoidal 90 offset signals A and B which are scanned by analog digital converters The signal periods are counted and the phase angles of signals A and B are used to calculate the rotation and count direction Digital interface The digital time discrete interface is based on a transfer protocol The current positional information is transmitted from the encoder to the receiver This may be done either serially or in parallel As the transfer only takes place at certain times it is a time discrete interface Encoders are specified in terms of their rated voltage and current consumption and the pin assignment Maximum permissible cable lengths are additionally specified Encoder interface X8 enables the evaluation of the following encoder types For the technical specifications of the various encoder types refer to the documentation from the encoder manufacturers Fig Encoder SSI Table 1 1 MSD Servo Drive Specification 2nd SinCos Encoder A Function Sin Cos encoder with zero pulse e g Heidenhain ERN1381 ROD486 Heidenhain SinCos encoder with EnDat interface e g 13 bit single turn encoder ECN1313 and 25 bit multi turn encoder EQN1325 Heidenhain encoder with purely digital EnDat interface e g 25 bit single turn enc
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