Servotronix CDHD Series - Encoder Sim Ulat Ion out Put

Application Setup CDHD
140 User Manual
CDHD supports the EnDat 2.1 communication protocol, which is a subset of the
EnDat 2.2 protocol. All EnDat 2.2 capable devices support the 2.1 prot ocol,
including the com mands and queries that are relevant to CDHD; accordingly, all
EnDat 2.2 capable devices will work with CDHD.
EnDat 2.x can be used with the CDHD in following ways:
 En Dat 2 .x Com m unication Only: for set ups in which the drive relies only
on the serial data from the feedback device as the source of position
inform ation.
 EnDat 2 .x w it h Sine/ Cosine : for setups in which (a) the drive perform s
encoder initialization and uses the serial data for position initialization, and
(b) position update during operation is derived from the sine/ cosine signals.
N ot es:
 CDHD does not support the ability to query and set paramet ers during
position-feedback operat ions.
 CDHD comm unication rate is 2 MHz.
 EnDat 2 .1 Encoder : The value of PFB is calculat ed from the value of
HWPOS and the sine/ cosine signals during EnDat initialization upon power
up, and upon clearing a feedback related fault. Initialization takes a few
seconds. During this time, the value of PFB value is undetermined, and
t herefore the dr ive cannot be enabled.
 Initialization of the EnDat encoder takes about 2.5 seconds; during this
process the message “ENDAT initialization incom plete” will be displayed if
the drive status is queried (using com m and ST).
 The + 5 VDC supply to the EnDat encoder must be switched off during
(re)init ialization. During the EnDat initialization, the CDHD swit ches off the
+ 5 VDC it supplies to the encoder. However, if the encoder receives + 5 VDC
from a different source, and it is not switched off, initialization is likely to
fail.
6 .5 .6 Encoder Sim ulat ion Output
An encoder sim ulation output, also referred t o as an equiva lent en coder
out pu t (EEO) or a buffered encoder output, is available on the Controller I/ F
connect or.
The following param eters are used t o configure simulation.
Va rCom D e script ion
ENCOUTMODE
Switches the encoder simulation on or off, and sets the
functionality.
ENCOUTRES
The resolution, in equivalent lines-per-revolut ion, of the
encoder simulation output
ENCOUTZPOS The index offset value of t he encoder sim ulation out put .
The encoder simulation out put process is described in Figure 6-4.