Addi-Data APCI-8001, Commissioning Manual

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40 CM / C
OMMISSIONING
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ANUAL
Example:
Info: running » APCI-8001 [option1k5, optionPCI, optionRESOURCE]
For the connection of the SSI interface, the pins with the designation CLKSSI for the SSI clock signals and
DATSSI for the SSI data lines have to be used.
5.2.6.2 Endat absolute encoder
If Endat absolute encoders are to be used for position feedback, corresponding environment variables must
be set in fwsetup.exe for the respective axis channels (see section on “Environment variables for control
system hardware”.
Table: Environment variables for Endat absolute encoders
Variable Value Comment
MT? 16 Servo motor with Endat 2.2 absolute encoder
? is the number of the respective axis channel (starting from 0)
ENDATF? X X = Numerical value für Endat frequency in Hz
Permitted values: 100,000 to 2,000,000
Default value: 500000
Note: With bigger cable lengths, the Endat clock frequency must be reduced in
order to compensate the signal runtimes.
? is the number of the respective axis channel (starting from 0)
Furthermore, for the application of Endat absolute encoders, an operating system version (RWMOS.ELF)
with the option “optionEndat” must be used. The available RWMOS.ELF options can be verified in the
“fwsetup” program, on the “Monitor” tab when the control unit is booted.
Example:
Info: running » MCU-3000 / APCI-8001 [option1k5, optionPCI, optionRESOURCE, optionENDAT]
For the connection of the Endat interface, the pins with the designation ENDATCLK for the Endat clock
signals and ENDAT_Data for the Endat data lines have to be used.
5.2.6.3 Incremental encoders with inverted signals (symmetrical circuitry)
Incremental encoders with symmetrical outputs are particularly suitable for industrial use and are preferred,
as the output signals are available with inverted and non-inverted signal sensors for all tracks. This enables
pulses to be acquired reliably, even in environments that are subject to severe electromagnetic interference.
The evaluation electronics on the APCI-8001 / APCI-8008 are based on the RS422 standard and form a
signal difference between the inverted and non-inverted input signals. Interference that is linked with
transmission lines can thus effectively be suppressed.
Important: In the factory, the APCI-8001 / APCI-8008 is delivered for incremental encoders with symmetrical
outputs, but can be configured by the user for asymmetrical encoders (see next table).