Bosch Rexroth IndraDrive MPB-02, Функциональное описание

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5-58
Motor, Mechanical Axis System, Measuring Systems MPH-02, MPB-02, MPD-02
DOK-INDRV*-MP*-02VRS**-FK01-EN-P
Analog sine encoder signals are monitored with regard to two criteria:
•
monitoring the signal amplitude
•
monitoring the quadrant allocation
The signals are monitored on the hardware side and on the firmware side.
The signal amplitude must be within the allowed voltage range:
nom B A B A nom B A
U U U U
_ ,
2 2
_ ,
5 , 1 2 , 0
∗ ≤ + ≤ ∗
U
A
: amplitude of encoder track A
U
B
: amplitude of encoder track B
U
A,B_nom
: nominal amplitude value of the encoder tracks, in this case 1.0 V
pp
Fig. 5-74: Allowed voltage range for the signal amplitudes of sine encoders
The quadrant allocation is checked by counting the zero crossings of the
sine or cosine signal. In the case of trouble-free operation, the count is
changed by the value
±
1 at every zero crossing of a track.
When the encoder signals temporarily leave (e.g. due to interference
injection or local accumulation of dirt on the code disk) the allowed
voltage range that is monitored in the hardware side, the controller
outputs the respective warning:
•
E2074 Encoder 1: encoder signals disturbed
•
E2075 Encoder 2: encoder signals disturbed
The warning remains active until the drive is switched off or switched to
communication phase P2!
Incorrect counts caused by injected noise and permanently reduced
signal amplitudes caused by dirty code disks can be the reason why an
error message for the motor encoder or the external encoder is
generated:
•
F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)
•
F2042 Encoder 2: encoder signals incorrect
The drive then reacts with the error reaction that has been set.
Monitoring the analog resolver encoder signals with carrier frequency is
only possible by the calculated analysis of digitized values:
nom B A B A nom B A
U U U U
_ ,
2 2
_ ,
2 , 1 5 , 0
∗ ≤ + ≤ ∗
U
A,B_nom
= U
out_Resolver
* ü
Resolver
U
A
: amplitude of resolver track A
U
B
: amplitude of resolver track B
U
A,B_nom
: nominal amplitude value of the resolver tracks
U
out_Resolver
: controller output voltage for resolver supply
ü
Resolver
: gear ratio of the resolver
Fig. 5-75: Allowed voltage range for the signal amplitudes of resolvers
Note: The resolver data and resolver voltage supply data are
contained in the Project Planning Manuals for motors and
controllers!
Monitoring the signals of square-wave encoders with regard to amplitude
and quadrant allocation is not possible with IndraDrive controllers!
Signal Monitoring for Sine
Encoders
Signal Monitoring for Resolver
Encoders
Signal Monitoring for Square-
Wave Encoders
Courtesy
of
CMA/Flodyne/Hydradyne
▪
Motion
Control
▪
Hydraulic
▪
Pneumatic
▪
Electrical
▪
Mechanical
▪
(800)
426-5480
▪
www.cmafh.com