January 2012 6.19 Configuring the Controller Unit and Drive Motors 1053
6.19.6 Comparison of the CC 61xx and CC 424 controller units
Function CC 61xx CC 424
Hardware Position encoder inputs X201(A) to
X206(A) and X201B to X206B on the
CC 61xx
Position encoder inputs X201 to
X206 and X207 to X210 on the
CC 424
Assignment of speed
encoder inputs to the PWM
outputs
Permanent assignment, position
encoder inputs are also permanently
assigned. Always in one row, e.g.
X16A, X51A and X202A are
permanently assigned to each other.
Fixed assignment,
MP_speedEncoderInput not
required
MP_hsciCcindex Assignment of axes and spindles to
drive-control motherboards
Not present
MP_pwmSignalOutput Assignment of axes and spindles to
the speed outputs (X15 to X18, X15
to X20)
Assignment of axes and
spindles to speed outputs
MP_posEncoderType New possible choice
"CC_EXTERN_ENDAT_2_2" for
CC 61xx.
The choice
"CC_EXTERN_ENDAT_2_2" has
no function
Encoders with EnDat 2.2
interface
Encoders with EnDat 2.2 interface can
be operated without analog encoder
signals. The position is evaluated
purely digitally via a serial data
protocol. The parameter
MP_posEncoderSignal has no effect.
EnDat 2.2 encoders can be selected as
motor encoders in parameter
MP_motEncType.
Encoders can only be operated
via analog encoder signals.
PWM frequency Same as CC 424, only the controller
groups for which the same PWM
frequency must be set have
changed, see page 1046.
Can be set via
MP_ampPwmFreq (switchable
during operation); the calculation
of the current-controller cycle
time must be adapted via
MP_iCtrlPwmType
Control loops can be
switched from single speed
to double speed for higher
controller performance
Option 49 "Double speed" is not available on lathes.
Control-loop cycle times
(at 5000 Hz PWM frequency)
(position/speed/current)
Single-speed:
200 µs/200 µs/100 µs
Double-speed:
100 µs/100 µs/100 µs (with position
encoder)
100 µs/100 µs/100 µs (without
position encoder)
Single-speed:
200 µs/200 µs/100 µs
Double-speed:
200 µs/100 µs/100 µs (with
position encoder)
100 µs/100 µs/100 µs (without
position encoder)
Following error in the jerk
phase
(MP_compIpcJerkFact)
Same as CC 424 Typical input values:
0.001 to 0.005
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