will be read. During the initialization process, the system will read the
encoder to determine which valuation numbers it supports. When
P 640[0] -
ENDAT_Select
= 1, the function will be enabled in the controller and the
internal diagnostics in the EnDaT encoder will be enabled as well. The
EnDat encoder will keep this setting even after being powered off. To
explicitly disable the internal diagnostics in the EnDat encoder, set
P 640[0] -
ENDAT_Select
to 2.
2.
Evaluation of internal warnings
In this scenario, certain internal warnings from the encoder will be read from
the encoder via additional information. Only the warnings that both the
encoder and the Servo Drive’s software support will be read. During the
initialization process, the system will read the encoder to determine which
warnings it supports. When
P 640[0] - ENDAT_Select
= 3, the function will
be enabled in the controller.
ID
Index Name
Unit
Description
505
0
ENC_CH1_Sel = 4
= ENDAT(4)
543
0
ENC_CH1_MultiT
Number of MultiTurn bits (absolute encoder)
544
0
ENC_CH1_SingleT
Number of SingleTurn bits (absolute encoder)
547
0
ENC_CH1_MTBase
Definition of point of discontinuity in multi-turn
range
548
0
ENC_CH1_MTEnable
1: Use Multi-turn encoder as a single-turn
encoder
616
0
ENC_CH1_CycleCount
Position encoder sampling cycle (n x 125
µsec)
598
0
ENC_CH1_Position
inc
Position encoder channel 1
554
0
ENC_CH1_
DigitalResolution
nm
Length of one increment (linear absolute
encoder)
640
ENC_ENDAT
EnDat additional (additional information)
640
0
ENDAT_Select
0=off
EnDat function selection, 1/2=diagnosis
on/off, 3=warnings, FF=lock
640
1
ENDAT_DiagCount
u16
count new diagnosis block header
640
2
ENDAT_BWZ_1
lowbyte
vn1: incremental track
640
3
ENDAT_BWZ_3
lowbyte
vn3: absolute track
640
4
ENDAT_BWZ_4
lowbyte
vn4: position value formation
640
5
ENDAT_Status
EnDat additional status output
640
6
ENDAT_Z1_Sel
EnDat additional information 1 type selection
Table 6.7: Channel 1 encoder configuration (X7) - EnDat parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
62
6 Encoder
ID
Index Name
Unit
Description
640
7
ENDAT_Z1_1
Z1 info: dword 1
640
8
ENDAT_Z1_2
Z1 info: dword 2
640
9
ENDAT_Z1_3
Z1 info: dword 3
640
10
ENDAT_Z1_4
Z1 info: dword 4
640
11
ENDAT_Z2_Sel
EnDat additional information 2 type selection
640
12
ENDAT_Z2_1
Z2 info: dword 1
640
13
ENDAT_Z2_2
Z2 info: dword 2
640
14
ENDAT_Z2_3
Z2 info: dword 3
640
15
ENDAT_Z2_4
Z2 info: dword 4
640
16
ENDAT_Mode1
0=off
EnDat additional mode 1 selection
640
17
ENDAT_Mode2
EnDat additional mode 2 selection
640
18
ENDAT_Mode3
EnDat additional mode 3 selection
640
19
ENDAT_Mode4
EnDat additional mode 4 selection
640
20
ENDAT_res1
reserved 1
640
21
ENDAT_res2
reserved 2
640
22
ENDAT_res3
reserved 3
640
23
ENDAT_HwSyncStop
0=SyncOn EnDat cyclic hw sync, stop/start 1/0
640
24
ENDAT_CyclCount
call counter of cyclic function
640
25
ENDAT_BWZ_Supported
vn supported (bit3=vn4, bit2=vn3, bit0=vn1)
640
26
ENDAT_BWZ1_
ThresholdLevel
vn1: bits[7..0] threshold level, bits[31..16]
how often number
640
27
ENDAT_BWZ3_
ThresholdLevel
vn3: bits[7..0] threshold level, bits[31..16]
how often number
640
28
ENDAT_BWZ4_
ThresholdLevel
vn4: bits[7..0] threshold level, bits[31..16]
how often number
640
29
ENDAT_BWZ_TEST_
Overwrite
vn: bits[15..12] 'F', bits[11..8] vn.no., bits
[7..0] vn overwrite value
Table 6.7: Channel 1 encoder configuration (X7) - EnDat parameters (continue)
6.5.3 Hall sensor X7
Ch1: HALL(5) - Digital hall signals
Ch1: HALL_TTL(7) - Digital hall signals
NOTE
l
The operation and configuration of Hall effect sensors is reserved
for special applications. Consult with Moog if needed.
