10
DSL component interoperability
To support future implementations of this technology especially with interchangeable
components SICK provides a description of a preferred HDSLsystem configuration. This
contains information of components, communication as well as installation conditions
for a HIPERFACE DSL
®
Motor feedback system.
By reason of the wide range of different application conditions, e.g. for machine tooling,
automated handling or robots, not all particular requirements can be foreseen and con‐
sidered within one system configuration. It is within the obligation of the user to verify
the presented preferred system configuration for particular application requirements
and carry out necessary changes. In case of questions or concern SICK will provide fur‐
ther support for implementation and application assessment of the HDSL-technology.
The HDSL-system consists of “internal” and “external” components. The “internalHDSL-
chain” contains the following main parts:
•
Servo controller (with IP-core)
•
Connection line (with cables and connectors)
•
Servo motor (with encoder)
These three parts belong together and for a reliable running system all of them need to
be considered and optimized as one system during design and realization.
The “external” contributor which impacts a stable and reliable function of the HDSLsys‐
tem is the Installation site (application & environment).
Conditions can vary significant between different installation sites worldwide, especially
for power supply and grounding conditions but not limited to them. Within (Whitepaper
Doc. 8018857) information are provided about potential subjects which need to be
considered and checked for a successful installation.
10.1
Servo controller recommendations
The servo controller part within the system configuration contains software routines as
well as hardware design and components for interface and connections. Within the
servo controller the master part of the HDSL system – the IP-core – needs to be inte‐
grated.
10.1.1
IP-Core
Based on field experiences and customer feedback SICK continuously improves the
HDSL technology. The information presented within this document are based on an IP-
core version of 1.06 at least.
10.1.2
Position Estimator
For an increased system stability and robustness against short time fast position losses
caused by multiple reasons the system contains the position estimator functionality. As
soon as the system recognizes invalid position information the fast position is provided
by the position estimator, which is indicated to the user. For a stable and optimized sys‐
tem function the SICK-position estimator shall be used which is integrated within the IP-
core. Based on system features and application requirements the position estimator
can be configured by the help of the parameter “max system acceleration” (MAXACC-
register) and the “max acceptable position deviation” (MAXDEV-register/dev_thr_errsig‐
nal). For further information please refer to
DSL COMPONENT INTEROPERABILITY
10
8017595/ZTW6/2018-01-15 | SICK
T E C H N I C A L I N F O R M A T I O N | HIPERFACE DSL
®
161
Subject to change without notice