Moog MSD Servo Drive Series User Manual

6.5.4.2Sin/Cosencoder
Ch1: SINCOS(1) - Sin/Cos signals
Sin/Cos encoders can...
a. Bepureincrementalencoderswithoutanabsolutevalueinterface.Inthis
case,P 540[0] - ENC_CH1_AbsmustbesettoOFF(0).
b. Beincrementalencoderswithanabsolutevalueinterface.Inthiscase,P 540
[0] - ENC_CH1_AbsmustbeaccordinglysettoSSI(1),EnDat(2),HIPER(3)
or,inspecialcases,SSI_CONT(4)sothatitwillbepossibletoreadthe
absoluteencoderpositionfortheabsolutevalueinitializationroutineonce
duringtheinitializationphase.
6.5.4.2.1PureSin/Cosincrementalencoder
To run these encoders as purely incremental encoders with a zero pulse on encoder
channel Ch1 (without an absolute value interface), the approach is basically the
same as for pure TTL operation (
see Section "TTL
encoder"
on page 60). The same
parameters apply.
However, there are the following differences:
a. TherearenodifferentsignaltypesfortheSin/Cossignal(always1Vssfor
cosineandsine).
b. ThezeropulseistheanalogzeropulsetypicalofSin/Cosencoders(seethe
“Connectionforhigh-resolutionencoders”sectionintheOperationManual
MSDServoDriveSingle-AxisSystem,forexample).
6.5.4.2.2LinearSin/Cosincrementalencoder
Linear Sin/Cos encoders are operated as rotary encoders. For linear motor
operation, P542[0] - ENC_CH1_Lines and the encoder gearing (see Section
"Encoder gearing" on page 87) are used to establish the ratio for the linear motor’s
pole pair subdivision (North-North) for commutation. 1 x North-North corresponds to
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
62
6 Encoder
one revolution from Lines. In this case, the motor pole pair number must be set to 1.
Moreover, P553[0] - ENC_CH1_PeriodLen is not used in this case.
6.5.4.2.3Signalcorrection(GPOC)
The GPOC (gain phase offset correction) routine used for track signal correction
purposes for sine/cosine signals is used to compensate for systematic errors. The
routine is controlled in encoder channel Ch1 with P549[0] - ENC_CH1_Corr and
P550[0] - ENC_CH1_CorrVal. For details see Section Signal correction GPOC
(Gain Phase Offset Correction)" on page 71
6.5.4.2.4Sin/Cosincrementalencoderwithabsolutevalue
interface
The following table lists the parameters for cyclical Sin/Cos operation on encoder
channel Ch 1 with one-time reading of the absolute encoder position via the
absolute value interface, i.e. without a zero pulse:
ID Index Name Unit Description
505 0 ENC_CH1_Sel=1 EncoderselectionsettoSINCOS(1)
510 0 ENC_CH1_Num Encodergearing:Numerator
511 0 ENC_CH1_Denom Encodergearing:Denominator
540 0 ENC_CH1_Abs Absolutevalueinterfaceselection(one-time
reading)
542 0 ENC_CH1_lines NumberofLines(Sin/Cos/TTLencoders)
543 0 ENC_CH1_MultiT NumberofMultiTurnbits(absoluteencoder)
544 0 ENC_CH1_SingleT NumberofSingleTurnbits(absoluteencoder)
545 0 ENC_CH1_Code Codeselection(SSIencoder)(binary,Gray)
546 0 ENC_CH1_Mode Modeselection(SSIencoder)
547 0 ENC_CH1_MTBase Definitionofpointofdiscontinuityinmulti-turn
range
548 0 ENC_CH1_MTEnable EnableMultiTurnuse(negativelogic,1=MToff)
Table 6.9: Parameters for Channel 1 (X7) - Sin/Cos encoder

Moog MSD Servo Drive Series Specifications

General

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