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Moog MSD Servo Drive Series User Manual

Moog MSD Servo Drive Series
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P552 - ENC_CH1_AbsEncStatus=Errorandstatuscodes(absolute
encoder)
AbsEncStatusisusedtodisplaystatusinformationforHIPERFACE
encoders.Inindex[0],theread“TypeKey”fortheHIPERFACEencoderwill
beindicated(onebyte),forexample.Bytes1–4oftheHIPERFACEencoder’s
internal4-byteerrorstatusmemorywillbeshowninindexes[5..8](00h
means“noerror”).Index[9]willspecifyhowmanyerrorstatusbyteswere
readinthelastreadoperation.
ID Index Name Description
552 ENC_CH1_AbsEncStatus 0000h Errorandstatuscodes(HIPERFACEencoder)
552 0 Encoder_Type_Key Encodertypeinformation(IDbyte)
552 1 Interface_Status Errorandstatuscodes
552 2 Request_COMMAND_Key Requestcommandoflasttransmission
552 3 Response_COMMAND_Key Responsecommandoflasttransmission
552 4 Error_Bit_Response_
COMMAND
Encodersignalserrorwithlastresponse
552 5 Encoder_Status_1_code Encoderstatusinformation1(int.errormemory)
552 6 Encoder_Status_2_code Encoderstatusinformation2(int.errormemory)
552 7 Encoder_Status_3_code Encoderstatusinformation3(int.errormemory)
552 8 Encoder_Status_4_code Encoderstatusinformation3(int.errormemory)
552 9 Communication_index Indexofcommunicationdataset
(readcounter,statuscompletely)
552 10 Additional_1 Interfaceadditionalinformation1
552 11 Additional_2 Interfaceadditionalinformation2
552 12 Additional_3 Interfaceadditionalinformation3
552 13 Additional_4 Interfaceadditionalinformation4
552 14 Additional_5 Interfaceadditionalinformation5
552 15 Bytes_of_last_protocol highbyte:toencoder,lowbyte:fromencoder
552 16 Bytes_of_last_protocol
552 17... ...
Table 6.11: Parameters for Channel 1 (X7) - HIPERFACE status
Starting from index [15], the byte sequences for the last command that was
transmitted (request to encoder “left” + response from encoder “right”) will be shown
completely.
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
66
6 Encoder
6.5.4.2.8SSI_CONTabsolutevalueinterface
P540[0] - ENC_CH1_Abs = SSI_CONT(4)
See Section "SSI absolute value interface" on page 64.
6.5.5SSI(cyclical)X7
Ch1: SSI(2) - Cyclical SSI
The software versions required to run the SSI encoder interface are the standard
software versions for the MSD Servo Drive and MSDSingle-Axis Servo Drive
Compact.
NOTE
Pleasenote thelimitations thatapply whenrunningEnDatand
SSI encoders (see Section "Limiting for EnDat and SSI" on
page50).
SSI (Synchronous Serial Interface) SSI is a digital encoder interface that is
supported by a large number of manufacturers. It is not standardized, meaning that
manufacturers are free to support the interface as they like. The pseudo-standard
described below has however been established for motor feedback interfaces. Moog
supports this version first and foremost.
The following table lists the parameters for cyclical SSI operation on encoder
channel Ch 1. It also points out possible differences between the use of the SSI
interface with the “cyclical” method and “one-time reading” method when using
Sin/Cos encoders with an SSI absolute value interface.

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Moog MSD Servo Drive Series Specifications

General IconGeneral
BrandMoog
ModelMSD Servo Drive Series
CategoryDC Drives
LanguageEnglish

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