ID
Value Name
546
ENC_CH1_Mode
0000h Data_EncObs
Default: with wire break
0001h Data_Nothing
0002h Data_POdd_EncObs
ODD Parity
0003h Data_Free_POdd_EncObs
0004h Data_POdd
0005h Data_Free_POdd
0006h Data_Free_EncObs
0007h Data_Free_Free_EncObs
000Ch Data_PEven_EncObs
EVEN Parity
000Dh Data_Free_PEven_EncObs
000Eh Data_PEven
000Fh Data_Free_PEven
001Fh Data_Free
Extra data reading
0020h Data_Free_Free
0021h Data_Free_Free_Free
0022h Data_Free_Free_Free_Free
Table 6.13: SSI mode parameters (all other values are reserved)
P 616[0] - ENC_CH1_CycleCount = Sampling cycle in: n x 125 µs (microseconds):
ENC_CH1_CycleCount can be used to slow down the timing for the cyclical SSI
encoder evaluation. By default, ENC_CH1_CycleCount = 1, i.e. the default setting
corresponds to 125 µs sampling and cycles for the encoder evaluation. Different
settings must be viewed as special cases and must only be used when necessary.
Monitoring the position difference
With SSI encoders, the position difference is monitored automatically. The limit value
is based on the maximum speed with reference to one scanning step (125µs). The
position difference between two scanning steps is restricted to this limit value. In the
event of an EMC disturbance, this limits the (incorrectly detected) tracking error and
the response of the controller.
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
71
6 Encoder
6.5.6 Encoder gearing
NOTE
l
Please read the general information on encoder gearing found in
Section "Introduction" on page 52 beforehand.
Encoder channels Ch1 to Ch3 each feature their own encoder gearing, while
encoder channel Ch4 (virtual encoders) does not feature
any encoder gearing.
In the case of encoder channel Ch2, it is assumed that the resolver will always be
used as a commutation encoder on the motor shaft. Because of this, the numerator
adjustment range is limited to a value of (+1) or (-1), while the denominator is set at a
fixed value of (+1), for the Ch2 encoder gearing ratio. This means that the only
option available is to invert the encoder signal (direction reversal).
As a whole, the encoder gearing is a scaling factor in the encoder evaluation system
and consists of numerator N (ENC_CHx_Num) for the motor side and denominator D
(ENC_CHx_Denom) for the encoder side (output side).
The following are used to configure the encoder gearing...
l
Ch1 with
P 510[0] - ENC_CH1_Num
and
P 511[0] - ENC_CH1_Denom
,
l
Ch2 with
P 512[0] - ENC_CH2_Num
and
P 513[0] - ENC_CH2_Denom
,
l
Ch3 with
P 514[0] - ENC_CH3_Num
and
P 515[0] - ENC_CH3_Denom
,
parametriert.
P No.
Index Name
Unit Description
510
0
ENC_CH1_Num
Denominator of channel 1
511
0
ENC_CH1_Denom
Numerator of channel 1
512
0
ENC_CH2_Num
Denominator of channel 2
513
0
ENC_CH2_Denom
Numerator of channel 2
514
0
ENC_CH3_Num
Denominator of channel 3
515
0
ENC_CH3_Denom
Numerator of channel 3
Table 6.14: Parameters for encoder gearing
