Moog MSD Servo Drive Series User Manual

ID Index Name Unit Description
507 0 ENC_CH3_Sel=3 EncoderselectionsettoTTL(3)
514 0 ENC_CH3_Num Encodergearing:Numerator
515 0 ENC_CH3_Denom Encodergearing:Denominator
570 0 ENC_CH3_Abs Selectionofabsolutevalueinterface
571 0 ENC_CH3_NpTest ENCCH1,TEST-MODE:Indexpulsesignal(s)toScope
572 0 ENC_CH3_Lines Numberoflines(Sin/Cos/TTLencoders)
2842 0 ENC_CH3_TTL_SignalType Channel3:TTLsignalselection
602 0 ENC_CH3_Period Maximumperiodofinterpolation(ttlencoder)
636 0 ENC_CH3_CycleCount Samplingcyclein:nx125μ(microseconds)
Table 6.23: Parameters for Channel 3 (X8) - TTL encoder
6.7.5.2Sin/Cosencoder
Ch3: SINCOS(1) - Sin/Cos signals
Sin/Cos encoders can...
a. Bepureincrementalencoderswithoutanabsolutevalueinterface.Inthis
case,P 570[0] - ENC_CH3_AbsmustbesettoOFF(0).
b. Beincrementalencoderswithanabsolutevalueinterface.Inthiscase,P 570
[0] - ENC_CH3_AbsmustbeaccordinglysettoSSI(1)orEnDat(2)sothatit
willbepossibletoreadtheabsoluteencoderpositionfortheabsolutevalue
initializationroutineonceduringtheinitializationphase.
6.7.5.2.1PureSin/Cosincrementalencoder
To run these encoders as pure incremental encoders with a zero pulse on encoder
channel Ch3 (without an absolute value interface), the approach is basically the
same as for pure TTL operation (
see Section "TTL
encoder"
on
page
81). The same
parameters apply.
However, there are the following differences:
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
82
6 Encoder
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).
6.7.5.2.2LinearSin/Cosincrementalencoder
Linear Sin/Cos encoders are operated as rotary encoders. For linear motor
operation, P572[0] - ENC_CH3_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
one revolution from Lines. In this case, the motor pole pair number must be set to 1.
P582[0] - ENC_CH3_PeriodLen is not used in this case.
6.7.5.2.3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 Ch3 with P586[0] - ENC_CH3_Corr and
P587[0] - ENC_CH3_CorrVal. For details, see section Signal correction GPOC
(Gain Phase Offset Correction)" on page 71.
6.7.5.2.4Sin/Cosincrementalencoderwithabsolutevalue
interface
The following table lists the parameters for cyclical Sin/Cos operation on encoder
channel Ch3 with one-time reading of the absolute encoder position via the absolute
value interface, i.e. without a zero pulse:

Moog MSD Servo Drive Series Specifications

General

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