6.7.2 Absolute value interfaces X8
The following absolute value interfaces will be available at encoder channel Ch3
depending on the X8 option being used.
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Cyclical Sin/Cos with SSI one-time reading via X8 option: SINCOS_V2(10) -
2nd Sin/Cos encoder (V2)
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Cyclical Sin/Cos with EnDat one-time reading via X8 option: SINCOS_V2(10)
- 2nd Sin/Cos encoder (V2)
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Cyclical SSI via X8 options: SINCOS_V2(10) - 2nd Sin/Cos encoder (V2) or
SSI_ECSIM(3) - SSI encoder simulation
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Cyclical EnDat via X8 option: SINCOS_V2(10) - 2nd Sin/Cos encoder (V2)
See also table in Section "Channel 3: Interface X8 (optional)" on page 76.
They can be selected with P 507[0] - ENC_CH3_Sel and P 570[0] - ENC_CH3_Abs.
For more details, see Section "Main parameters for encoder channel Ch3" on page
80.
6.7.3 EnDat (cyclical) X8
Ch3: ENDAT(4) - Cyclical EnDat (2.1 or 2.2)
As the EnDat functionality of the parameters for encoder channel Ch3 is
predominantly identical to that of the parameters for encoder channel Ch1, it is
recommended to read the description for the Ch1 encoder channel parameters (see
Section "EnDat (cyclical) X7" on page 61).
The software versions required to run the EnDat interface are the standard software
versions for the MSD Servo Drive and MSD Single-Axis Servo Drive Compact.
NOTE
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Please note the limitations that apply when running EnDat and
SSI encoders (see Section "Limiting for EnDat and SSI" on page
52).
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
82
6 Encoder
ID
Index Name
Unit Description
507
0
ENC_CH3_Sel = 4
= ENDAT(4)
573
0
ENC_CH3_MultiT
Number of MultiTurn bits (absolute encoder)
574
0
ENC_CH3_SingleT
Number of SingleTurn bits (absolute encoder)
584
0
ENC_CH3_MTBase
Definition of point of discontinuity in multi-turn
range
585
0
ENC_CH3_MTEnable
1: Use Multi-turn encoder as a single-turn
encoder
636
0
ENC_CH3_CycleCount
Position encoder sampling cycle (n x 125 µsec)
600
0
ENC_CH3_Position
inc
Position encoder channel 3
583
0
ENC_CH3_
DigitalResolution
nm
Length of one increment (linear absolute encoder)
640
0..29 ENC_ENDAT
EnDat additional (additional information)
Table 6.22: Channel 3 encoder configuration (X8) - EnDat (cyclical) parameters
6.7.4 Hall sensor X8
Encoder channel Ch3 does not support Hall effect sensors!
6.7.5 Sin/Cos / TTL X8
6.7.5.1 TTL encoder
Ch3: TTL(3) - TTL signals
TTL encoders are ...
a. ... ... usually pure incremental encoders
without
an absolute value interface.
In this case,
P 570[0] - ENC_CH3_Abs
must be set to OFF(0).
b. ... ... in a few exceptional cases, incremental encoders
with
an SSI absolute
value interface. In this case,
P 570[0] - ENC_CH3_Abs
must be accordingly
set to SSI(1) so that it will be possible to read the absolute encoder position
for the absolute value initialization routine once during the initialization
phase.
