P552 - ENC_CH1_AbsEncStatus
= Error and status codes (absolute
encoder)
AbsEncStatus
is used to display status information for HIPERFACE
encoders. In index [0], the read “TypeKey” for the HIPERFACE encoder will
be indicated (one byte), for example. Bytes 1–4 of the HIPERFACE encoder’s
internal 4-byte error status memory will be shown in indexes [5..8] (00h
means “no error”). Index [9] will specify how many error status bytes were
read in the last read operation.
ID
Index Name
Description
552
ENC_CH1_AbsEncStatus
0000h Error and status codes (HIPERFACE encoder)
552
0
Encoder_Type_Key
Encoder type information (ID byte)
552
1
Interface_Status
Error and status codes
552
2
Request_COMMAND_Key
Request command of last transmission
552
3
Response_COMMAND_Key
Response command of last transmission
552
4
Error_Bit_Response_
COMMAND
Encoder signals error with last response
552
5
Encoder_Status_1_code
Encoder status information 1 (int. error memory)
552
6
Encoder_Status_2_code
Encoder status information 2 (int. error memory)
552
7
Encoder_Status_3_code
Encoder status information 3 (int. error memory)
552
8
Encoder_Status_4_code
Encoder status information 3 (int. error memory)
552
9
Communication_index
Index of communication dataset
(read counter, status completely)
552
10
Additional_1
Interface additional information 1
552
11
Additional_2
Interface additional information 2
552
12
Additional_3
Interface additional information 3
552
13
Additional_4
Interface additional information 4
552
14
Additional_5
Interface additional information 5
552
15
Bytes_of_last_protocol
highbyte: to encoder, lowbyte: from encoder
552
16
Bytes_of_last_protocol
552
17...
...
Table 6.11: Parameters for Channel 1 (X7) - HIPERFACE status
Starting from index [15], the byte sequences for the last command that was
transmitted (request to encoder “left” + response from encoder “right”) will be shown
completely.
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
66
6 Encoder
6.5.4.2.8 SSI_CONT absolute value interface
P 540[0] - ENC_CH1_Abs = SSI_CONT(4)
See Section "SSI absolute value interface" on page 64.
6.5.5 SSI (cyclical) X7
Ch1: SSI(2) - Cyclical SSI
The software versions required to run the SSI encoder interface are the standard
software versions for the MSD Servo Drive and MSD Single-Axis Servo Drive
Compact.
NOTE
Please note the limitations that apply when running EnDat and
SSI encoders (
see Section
"Limiting for EnDat and SSI" on
SSI (Synchronous Serial Interface) SSI is a digital encoder interface that is
supported by a large number of manufacturers. It is not standardized, meaning that
manufacturers are free to support the interface as they like. The pseudo-standard
described below has however been established for motor feedback interfaces. Moog
supports this version first and foremost.
The following table lists the parameters for cyclical SSI operation on encoder
channel Ch 1. It also points out possible differences between the use of the SSI
interface with the “cyclical” method and “one-time reading” method when using
Sin/Cos encoders with an SSI absolute value interface.