Addi-Data APCI-8001, Commissioning Manual

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3.12.1.10 ENDAT motor type (11+16)
For this motor type, an ENDAT absolute value encoder or an incremental encoder for the actual value
acquisition can be used. Here you have to distinguish between the Endat versions 2.1 and 2.2 (MT = 11 or
MT = 16). Currently, this type is only available for servo axes. For the additional configuration of ENDAT
parameters, the environment variable ENDATF can be set. With ENDATF, the clock frequency can be
projected for reading and writing of the encoder. The value to be entered is the desired frequency in Hz
(between 100 kHz and 2 MHz). The default value is 500 kHz. For long transfer lines, the frequency must be
reduced. As each ENDAT axis can be projected with different frequency, the axis index must be attached to
ENDATF (e.g. ENDATF3)
3.12.1.11 INC_PULSE motor type (12)
With this motor type, a position control is carried out in the same way as with default servo systems. The
Motor-Type {mt} variable in mcfg must be set to SERVO. The default frequency range of the pulse output is
+/-2 MHz. The frequency range can be limited using the variables {mcpmax} and {mcpmin}. The unit of these
variables is 200 kHz. If a setpoint value jump (OL Response) is output, the output frequency is also indicated
in the unit of 200 kHz.
The position controller must be set according to the same criteria as a speed-controlled system.
Note: An axis can only be configured for this motor type if in RWMOS, the resources incremental encoder
analysis and pulse output are available for the corresponding axis.
3.12.1.12 VIRTUAL motor type (13)
With the help of virtual axes the track velocity can be calculated in cartesian coordinates. The real axes can
participate in this interpolation as Non-Feed-Rate axes. Thus a constant track velocity is guaranteed in axis
systems with non-cartesian design.
Virtual axes are compiled in RWMOS.ELF without relation to the hardware. In this way it is possible to realise
e.g. a system with eight real axes and three additional virtual axes. The axis type VIRTUAL is not given
manually, but is an internal constant.
3.12.1.13 GEOADD motor type (14)
With the help of this axis type the track data of virtual axes can be visualized in the graphical system analysis.
In this way the track velocity and the traverse path of virtual axes can be visualized. This axis type is only
available for diagnostics.
3.12.1.14 UPDOWNSIGNALS motor type (15)
This option can be used only with an adequate RWMOS.ELF operating system version.
3.12.1.15 ANA_SIGN motor type (19)
Axis with analog manipulated variable output and actual value acquisition through incremental encoder
(similar to standard servo axis). The analog output signal is always positive; the directional information is
output through the digital output. Here, for positive manipulated variable output, an environment variable
SIGNOUTPOS? can be defined, and for negative manipulated variable output, an environment variable
SIGNOUTNEG?, with the attached „?“ representing the axis index. In the SIGNOUT... value, the digital output
is specified in a bit-coded form (output 1 = 1, output 2 = 2, output 3 = 4, ... output 8 = 128, etc.).
Here, also none or more outputs can be specified.