Moog MSD Servo Drive, Device Help, Page: 68 / 472

SingleT will be read from the EN (HIPERFACE® electronic rating plate) on the
encoder. If it is not equal to FFh, the data for Lines, MultiT and SingleT will be taken
from a characteristic table in the controller firmware. In the case of linear encoder
types, the corresponding parameters will be PeriodLen and DigitalResolution.
HIPERFACE encoders “unknown at the time of writing” (new: no entry in the
firmware characteristic table) are generally not supported! In the case of known
encoders, the Lines, MultiT, SingleT, PeriodLen and DigitalResolution parameters
will be overwritten with the determined values. After this, the HIPERFACE encoder’s
internal 4-byte error status memory will be read. Then, the position will be read once
from the encoder. If any errors that result in new entries in the internal error memory
occur at this point, the error memory will be read again and interpreted accordingly
(error message if applicable).
NOTE
l
Pay attention to the encoder initialization entries in the Moog
D
RIVE
A
DMINISTRATOR
5 message window. In the event of an error,
also check the entries in P 552 - ENC_CH1_AbsEncStatus .
With P 1900 - ENC_ETS, the HIPERFACE interface also supports what is referred to
as the “Moog electronic rating plate.” If this parameter is set to SCAN(0), the motor’s
commutation offset will be read from the encoder’s OEM memory and copied to
P 349 - CON_FM_MConOffset, but only if this offset can be unambiguously
identified in the encoder (encoder memory scanning). If the parameter is set to
NEVER(0) instead, this functionality will be disabled.
ID Index Name Unit Description
505 0 ENC_CH1_Sel = 1 Encoder selection set to SINCOS(1)
540 0 ENC_CH1_Abs = 3 HIPER(3)
542 0 ENC_CH1_lines Number of Lines of Sin/Cos encoder
543 0 ENC_CH1_MultiT Number of MultiTurn bits (absolute encoder)
544 0 ENC_CH1_SingleT Number of SingleTurn bits (absolute encoder)
Table 6.10: Parameters for Channel 1 (X7) - Sin/Cos + HIPERFACE
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
68
6 Encoder
ID Index Name Unit Description
552 0 ENC_CH1_AbsEncStatus Error and status codes (absolute encoder)
553 0 ENC_CH1_PeriodLen nm Length of signal period (Sin/Cos linear encoder)
554 0 ENC_CH1_DigitalResolution nm Length of one increment (linear absolute encoder)
555 0 ENC_CH1_Info Encoder information
1900 0 ENC_ETS ETS mode, electronic nameplate
Table 6.10: Parameters for Channel 1 (X7) - Sin/Cos + HIPERFACE (continue)
l
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). 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