Moog MSD Servo Drive Series, Помощь по устройству, Страница: 65 / 320

component. The reason this is a special case is that the SSI clock will continue to be
cyclically output on the SSI clock lines, in contrast to the SSI(1) setting. This means
that the connected SSI encoder will continue to cyclically deliver position data on the
SSI data lines. However, once the SSI data is read once, the drive will not evaluate
any additional SSI data. -- This functionality can be used in the special case if the
485 system is implemented as a bus system on the encoder side so that a third 485
node (e.g. a drive) can “also listen in to” the SSI position data as an SSI clock slave.
6.5.4.2.6 EnDat absolute value interface
If P 540[0] - ENC_CH1_Abs = ENDAT(2), the absolute EnDat encoder position will
be read once during the initialization phase; after this, the cyclical encoder position
will be acquired based on the Sin/Cos incremental component.
The parameters for the EnDat interface are described in Section "EnDat
(cyclical) X7" on page 58, as are the differences in using the EnDat interface with the
“cyclical” method and “one-time reading” method.
6.5.4.2.7 HIPERFACE absolute value interface
If P 540[0] - ENC_CH1_Abs = HIPER(3), the absolute HIPERFACE encoder position
will be read once during the initialization phase; after this, the cyclical encoder
position will be acquired based on the Sin/Cos incremental component. The
HIPERFACE interface will
not be used as an alternative to cyclical encoder position
acquisition.
HIPERFACE functionality: After an SW reset is carried out from the HIPERFACE
encoder as the very first step, the ID byte, referred to as the “TypeKey”, will be read
from the encoder and interpreted: If it is equal to FFh, the data for Lines, MultiT and
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 drive firmware. In the case of linear encoder types,
the corresponding parameters will be PeriodLen and DigitalResolution.
MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive - Device Help
65
6 Encoder
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

Pay attention to the encoder initialization entries in the Moog
D
RIVE
A
DMINISTRATOR
message pane. 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 “LTI 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)
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