moog MSD Servo Drive Specification Option 2 - Technology TTL Encoder / TTL Encoder simulation

Transcription

1 moog MSD Servo Drive Specification Option - Technology TTL Encoder / TTL Encoder simulation

2 moog Specification TTL Encoder / TTL Encoder simulation Specification Option - Technology TTL encoder / TTL encoder simulation ID no.: CB8758-, Rev.. Date: /6 Applicable as from firmware version: V.5- NOTE: This document does not replace the MSD Servo Drive Operation Manual. Please be sure to observe the information contained in the For your safety, Intended use and Responsibility sections of the Operation Manual (ID no.: CA6564-). For information on installation, setup and commissioning, and details of the warranted technical characteristics of the MSD Servo Drive series, refer to the additional documentation (Operation Manual, User Manual, etc.). This documentation applies to: Series Model Firmware version MSD Servo Drive Single-Axis System G9-xxxxx6xxxxx G95-xxx-x6xxxxx from V.5 MSD Servo Drive Multi-Axis System MSD Servo Drive Compact G9-xxx-x6xxxxx G97-xxx-x6xxxxx not available -- from V.5 Technical alterations reserved. The contents of our documentation have been compiled with greatest care and in compliance with our present status of information. Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products. Information and specifications may be changed at any time. For information on the latest version please refer to drives-support@moog.com. Table. Applicability

3 Table of contents. TTL Module Technical data and pin assignment TTL encoder TTL encoder simulation Pin assignment...5. Configuration Configuration of TTL encoder simulation and TTL repeater function Configuration of TTL encoder channel Interface configuration of encoder for loop control...9

4 TTL Module 4. TTL Module With the TTL module the following operation modes are possible:... Evaluation of a TTL encoder Simulation of a TTL encoder (signals from other encoders are converted into TTL signals and made available as output signals [for a slave axis]) TTL repeater (evaluation and transmission of incoming TTL signals for additional axes) Technical data and pin assignment TTL encoder.. Interface TTL encoder simulation EIA4 Electrically isolated from the drive controller Rec. cable cross-section: >.4 mm, (e.g. 4 x x.4 mm ) Maximum cable length: m Connector: 5-pin D-SUB, High-Density, female Output frequency Hz khz Output voltage High level Low level Differential Wave terminating resistance Table..5 V. V Minimum Maximum Comments Ω.5 V Electrical specification of the TTL encoder simulation on X8 I OH = - ma I OL = 48 ma Interface EIA4 (not EIA485 conformant, see technical data below) Recommended cable cross-section: >.4 mm, (e.g. x x.4 mm + x x.5 mm ) Maximum cable length: m Connector: 5-pin D-SUB, High-Density, female Minimum Maximum Typ. Input frequency Hz 5 khz Input voltage High level Low level Differential. V -. V ± 5 V Wave terminating resistance Voltage supply to external encoder Ω 4.5 V 5.5 V 5 V / ma Table. Electrical specification of the TTL encoder input on X8

5 .. Pin assignment The assignment of the 5-pin D-Sub female connector on slot X8 is set out in the following table. TTL encoder TTL encoder simulation Connection Pin Signal Comments Pin Signal Comments Geber/ TTL 5 4 X Table A Track A A+ Track A+ +5V Encoder supply 4 4 A+ Track A+ 5 5 A Track A 6 B Track B R+ Zero pulse + 8 GND + 5 V reference potential 9 R Zero pulse 9 R+ Zero pulse + B+ Track B+ R Zero pulse GND Ground, required for potential equalization 4 4 B+ Track B+ 5 5 B Track B Pin assignment of the TTL module on X8 8. Configuration Configuration of TTL encoder simulation and.. TTL repeater function In the "encoder simulation" function the expansion module can simulate a TTL encoder. Two 9 offset signals are generated on tracks A and B as well as a zero pulse. In "Repeater" mode the TTL signal connected to X8 is outputted isolated by way of the encoder simulation. A+ A- B+ B- R+ R- Figure. Encoder simulation signals looking onto the motor shaftt (at left when motor rotating clockwise) P 6 TTL encoder simulation Interface X 8 EncSimMode TTL encoder input TTL card TTL-Repeater Figure. Configuration of TTL encoder simulation mode enabled 5 TTL Module

6 TTL Module 6 P 6 Interface X8 Parameter No. Setting Designation in MDA 5 Function EncSimMode TTL encoder simulation TTL encoder input TTL card P µs EncSimDlyComp Dead time compensation for encoder simulation TTL-Repeater P 8 InOut_Enc_Sim_Source Selection of source for encoder simulation Figure. Configuration of TTL repeater function enabled ACT_POS () REF_POS () Actual position value Target position value Parameter No. Setting Designation in MDA 5 Function RESERVED () RESERVED () reserved reserved P 6 InOutMode Configuration of mode VIRTUAL_MASTER (4) Virtual master () Expansion module disabled Table.5 Parameters for TTL encoder simulation and TTL repeater function TTL_OUT () TTL encoder simulation enabled TTL_IN () TTL encoder input enabled Lines per revolution Encoder simulation rpm Master encoder input rpm TTL_REPEAT () TTL repeater enabled, TTL encoder input and transmission of counter reading to output for connected slave axes P 6 64 Inc () 8 Inc () EncSimLines Configuration of lines per revolution for encoder simulation: Table Maximum mappable rotation speeds for high lines per revolution (max. signal frequency) 56 Inc () 5 Inc () 4 Inc (4) 48 Inc (5) 496 Inc (6).. Configuration of TTL encoder channel By way of TTL encoder channel the following signal sources can be connected: TTL encoder with zero pulse 89 Inc (7) Master frequency signal with two 9 offset track signals A/B 648 Inc (8) 768 Inc (9) Pulse/direction signal e.g from a stepper motor control 6556 Inc () P EncSimIndexPulse P EncActPos Position of the zero pulse scaled to 6 per revolution (6 ) Current counter reading, for encoder simulation and encoder input P 6 EncSimMode TTL encoder simulation TTL encoder input TTL-Repeater Interface X 8 TTL card Table.5 Parameters for TTL encoder simulation and TTL repeater function Figure.4 Configuration of TTL encoder input mode enabled

7 Figure.5 Parameter No. P 5 P 57 Encoder Channel TTL (X8) = P 57 Test mode Zero pulse evaluation ON For test purposes only! Configuration of encoder channel Field index Setting Actual value parameter P 57 P 84 Setting of number of lines + signal type P 57 Designation in MDA 5 Actual Value ST, MT ()...hex Single-turn ()...hex Multi-turn P 54 P 55 Gear ratio Motor control (see chap...) Function Raw data of single-turn and multi-turn information to test encoder evaluation. The raw data are displayed after the electronic gearing and before the factor group (see drawing). Parameter No. Field index Setting TTL encoder () Designation in MDA 5 TTL encoder Function TTL encoder with zero pulse (to be set for this function) P 54 ± ( -) Gear Numerator Numerator of encoder gearing P 55...( -) Gear Denominator P 57 P 57 Index Pulse Test Mode Denominator of encoder gearing Zero pulse wiring test (more details following) () No function No function ON () Function active Zero pulse evaluation active Input of number of lines per revolution Number of lines (Sin/Cos encoders/ TTL encoders) Setting of number of lines (maximum 6555) of TTL encoder per motor revolution P 6 InOutMode Configuration of mode Encoder evaluation P 57 P 54 Encoder- Gear P 55 P 5 - P 5 - Encoder raw data Actual value Multiturn Singleturn Encoder Channel Select Selection of encoder () No function No function Sin/Cos encoder () SinCos encoder ) - - Reserved Standardization/Units Standardization Sin/Cos encoder without absolute information and zero pulse ) Sin/Cos encoder with absolute information and without zero pulse ) P 64 () TTL_OUT () TTL_IN () TTL_REPEAT () EncActPos Expansion module disabled TTL encoder simulation enabled TTL encoder input enabled TTL repeater enabled, TTL encoder input and transmission of counter reading to output for connected slave axes Current counter reading, for encoder simulation and encoder input P 84 See table.7 SignalType TTL signal type )Only with Sin/Cos option Table.7 Basic setting of encoder channel )Only with Sin/Cos option Table.7 Basic setting of encoder channel 7 TTL Module

8 TTL Module 8 Setting Function Example Zero pulse wiring test AF_B () AR_B () TTL signals (track A, track B) Direction of rotation of "slave axis" equal to "master axis" TTL signals (track A, track B) Direction of rotation of "slave axis" in inverse proportion to "master axis" Zero pulse evaluation is only active during homing with evaluation of a zero pulse. To check the wiring, a zero pulse can be recorded via test mode on the digital oscilloscope of the Moog Dri v ead m i n i s t r a t o r. Parameter P 57 = ON () must be set for this. On the oscilloscope it can then be represented with the measurement variables CH-Np (High level for s) or CH-Np (High level for ms). In this, the pulse width of the scope signal does not match the pulse width of the actual zero pulse. The representation on the oscilloscope appears wider, permitting better detection of the zero pulse. The decisive factor here is the rising edge of the scope signal. ABDFN () Pulse-direction signals (track A: puls; track B: direction) With a rising edge of track B positive direction Only falling edges of track A are evaluated. ABDRP () Pulse-direction signals (track A: puls; track B: direction) With a falling edge of track B negative direction Only rising edges of track A are evaluated. Table.8 Function description parameter P 84 (SignalType)

9 .. Interface configuration of encoder for loop control TTL encoder as actual value encoder (e.g. motor feedback) Single turn info from Speed info from Absolute position from Figure.6 Channel Channel Channel Channel Channel Channel Channel Channel Channel P 5 P 5 P 5 Display of encoder configuration for encoder channel Current control and motor commutation Speed control feedback Position control feedback Control! Parameter no. P 5 P 5 P 5 P 5 Table.9 ATTENTION: A parameter can only be written or read with the appropriate access rights (e.g. "Local administrator"). A changed parameter must always be saved on the device. When editable online, a parameter executes a reaction on the device immediately, so inputs must always be carefully checked. Designation MDA 5 designation Function ENC_MCon ENC_SCon ENC_PCon Encoder: Channel Select for Motor Commutation and Current control Encoder: Channel select for Speed Control Encoder: Channel select for Position Control Encoder: Channel select ENC_RefCon for Master IN Encoder configuration TTL encoder as master frequency input (setpoint) Selection of encoder channel for commutation angle and current control. Feedback signal for fieldoriented regulation. Selection of encoder channel for speed configuration. Feedback signal for speed controller Selection of encoder channel for position information. Feedback signal for position controller Selection of channel to act as master encoder The TTL input on X8 can also be used as a master frequency input for an electronic gear. For this parameter P 9 CamMaster_AxisType = 8 must be set. More details on the function can be found in the MSD Servo Drive Device Help. 9 TTL Module

10 TAKE A CLOSER LOOK. Moog solutions are only a click away. Visit our worldwide Web site for more information and the Moog facility nearest you. moog Moog GmbH Hanns-Klemm-Straße 8 D-74 Böblingen Telefon Telefax drives-support@moog.com Moog is a registered trademark of Moog, Inc. and its subsidiaries. All quoted trademarks are property of Moog, Inc. and its subsidiaries. All rights reserved. 6 Moog GmbH Technical alterations reserved. The contents of our documentation have been compiled with greatest care and in compliance with our present status of information. Nevertheless we would like to point that this document cannot always be updated parallel to the technical further development of our products. Information and specifications may be changed at any time. For information on the latest version please refer to drives-support@moog.com. ID no: CB8758- Rev.., /6