Moog MSD Servo Drive Series User Manual

NOTE

Pleasenote thelimitations thatapply whenrunningEnDatand
SSI encoders (see Section "Limiting for EnDat and SSI" on
page50).
When using linear encoders, P554[0] - ENC_CH1_DigitalResolution is used
instead of P543[0] - ENC_CH1_MultiT and P544[0] - ENC_CH1_SingleT (which
are used for rotary encoders). The values will be read from the EnDat encoder and
written to the aforementioned parameters.
 P 543[0] - ENC_CH1_MultiT
Thenumber"n"ofmulti-turnbitsdefinesthemeasuringrangein2
n
incrementsperencodershaftrevolution;maximumtraveluntiloverflow;
maximumtravelwithinwhichtheabsolutevalueinitializationcanbe
unambiguous.Inthecaseofsingle-turnencoders,MultiT=0.
 P 544[0] - ENC_CH1_SingleT
Thenumber"n"ofsingle-turnbitscorrespondstotheencoder’sdigital
resolutionin2
n
incrementsperencodershaftrevolution.
 P 554[0] - ENC_CH1_DigitalResolution
Thisisthelengthofanincrement,innanometres,oftheencoder’sdigitally
transmittedpositionvalue.ThisvalueisreadfromtheEnDatlinearhead.
In the case of linear encoders, the number n of transmitted position bits from the
encoder will be found in SingleT only! 2
n
* DigitalResolution yields the maximum
travel in nanometres (for the encoder head).
P640 - ENC_ENDAT is intended for additional information, but is normally not
needed. This parameter does not have a Ch1 or Ch3 prefix for the encoder channel
in the name, as it applies to both encoder channels. Although usually not needed,
the parameter is helpful or required in the following cases:
1. Special EnDat encoder with diagnostics for evaluation
Inthiscase,thevaluationnumbersfromtheencoderarereadcyclicallyvia
additionalinformation.Onlythevaluationnumbersthattheencodersupports
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
59
6 Encoder
willberead.Duringtheinitializationprocess,thesystemwillreadthe
encodertodeterminewhichvaluationnumbersitsupports.WhenP 640[0] -
ENDAT_Select=1,thefunctionwillbeenabledinthedriveandtheinternal
diagnosticsintheEnDaTencoderwillbeenabledaswell.TheEnDat
encoderwillkeepthissettingevenafterbeingpoweredoff.Toexplicitly
disabletheinternaldiagnosticsintheEnDatencoder,setP 640[0] -
ENDAT_Selectto2.
2. Evaluation of internal warnings
Inthisscenario,certaininternalwarningsfromtheencoderwillbereadfrom
theencoderviaadditionalinformation.Onlythewarningssupportedbothby
theencoderandtheservodrivesoftwarewillberead.Duringthe
initializationprocess,thesystemwillreadtheencodertodeterminewhich
warningsitsupports.WhenP 640[0] - ENDAT_Select=3,thefunctionwill
beenabledinthedrive.
ID Index Name Unit Description
505 0 ENC_CH1_Sel=4 =ENDAT(4)
543 0 ENC_CH1_MultiT NumberofMultiTurnbits(absoluteencoder)
544 0 ENC_CH1_SingleT NumberofSingleTurnbits(absoluteencoder)
547 0 ENC_CH1_MTBase Definitionofpointofdiscontinuityinmulti-turn
range
548 0 ENC_CH1_MTEnable 1:Usemulti-turnencoderassingle-turn
encoder
616 0 ENC_CH1_CycleCount Positionencodersamplingcycle(nx125
µsec)
598 0 ENC_CH1_Position inc Positionencoderchannel1
554 0 ENC_CH1_
DigitalResolution
nm Lengthofoneincrement(linearabsolute
encoder)
640 ENC_ENDAT EnDatadditional(additionalinformation)
640 0 ENDAT_Select 0=off EnDatfunctionselection,1/2=diagnosis
on/off,3=warnings,FF=lock
640 1 ENDAT_DiagCount u16 countnewdiagnosisblockheader
640 2 ENDAT_BWZ_1 lowbyte vn1:incrementaltrack
640 3 ENDAT_BWZ_3 lowbyte vn3:absolutetrack
640 4 ENDAT_BWZ_4 lowbyte vn4:positionvalueformation
640 5 ENDAT_Status EnDatadditionalstatusoutput
640 6 ENDAT_Z1_Sel EnDatadditionalinformation1typeselection
Table 6.7: Channel 1 encoder configuration (X7) - EnDat parameters

Moog MSD Servo Drive Series Specifications

General

Brand	Moog
Model	MSD Servo Drive Series
Category	DC Drives
Language	English