Specification AC Servo Controller YukonDrive® TTL

Specification AC Servo Controller YukonDrive® TTL
Specification
AC Servo Controller YukonDrive®
TTL Encodersimulation /
Master Encoder
QUICKLINK
www.harmonicdrive.de/1100
This document describes the functionality of the following devices: YukonDrive®-10xx-xxA-xx
Content
1.1 TTL module operation modes.............................................................................................4
1.2 Technical data.......................................................................................................................4
1.2.1 1.2.2 1.2.3 1.2.3 TTL signal evaluation...................................................................................................................................................4
TTL encoder simulation...............................................................................................................................................4
Voltage supply for external encoders.........................................................................................................................4
Cable type and layout...................................................................................................................................................4
1.3 Pin assignment....................................................................................................................5
1.4. Configuration .......................................................................................................................6
1.4.1 1.4.2 1.4.3
1.4.4
2
Configuration of TTL encoder simulation and repeater mode................................................................................6
Configuration of TTL encoder channel X8.......................................................................................................................8
Zero pulse wiring test................................................................................................................................................ 10
Interface configuration of encoder for closed loop control.................................................................................... 11
100337205/2015
NOTE:
This document does not replace the YukonDrive® Operation Manual. Please be sure to observe the information
contained in the "For your safety", "Intended use" and "Responsibility" sections of the Operating Manual. For
information on installation, setup and commissioning, and details of the warranted technical characteristics of the
YukonDrive®, refer to the additional documentation (Operating Manual).
We reserve the right to make technical changes.
The content of our Operation Manual was compiled with the greatest care and attention, and based on the latest
information available to us. We should nevertheless point out that this document cannot always be updated in line
with ongoing technical developments in our products. Information and specifications may be subject to change at
any time. Please visit www.harmonicdrive.de for details of the latest versions.
100337205/2015
3
1.1 TTL module operation modes
•
•
•
•
Evaluation of a TTL encoder
Simulation of a TTL encoder (signals from other encoders are converted into TTL signals and made available as output signals [for a slave axis])
TTL repeater (evaluation and transmission of incoming TTL signals for additional axes)
Simultaneous evaluation and simulation of a TTL encoder
1.2 Technical data
1.2.1 TTL signal evaluation
Electrical specification of the TTL encoder input on X8
Table 4.1
Interface
• Differential voltage input, RS422-compatible;
Pay attention to voltage range!
• Max. cable length: 10 m
• Connector: 15-pin D-SUB, High-Density, female
• Terminating resistor built-in to device: 120 Ω
Input frequency
min.
max.
0 Hz
500 kHz
Input voltage
Differential switching level "High"
+ 0.1 V
Differential switching level "Low"
-0.1 V
Signal level referred to ground
0
+5V
1.2.2 TTL encoder simulation
Table 4.2 Interface
Electrical specification of the TTL encoder simulation on X8
• RS422-compliant
• Electrically isolated from the drive controller
• Connector: 15-pin D-SUB, High-Density, female
min.
max.
0 Hz
1000 kHz
Signal level referred to ground
0 V
+5V
Differential output voltage IUI
2.0 V
5 V
Output frequency
Output voltage
Terminating resistor
≥ 100 Ω
1.2.3 Voltage supply for external encoders
Table 4.3 Output voltage
Output current
4
Electrical specification of voltage supply for external encoders on X8
min.
max.
typ.
+ 4.75 V
+ 5.25 V
+5V
250 mA
100337205/2015
ATTENTION: No provision is made for connection of sensor cables to compensate for the voltage drop. So the
chosen supply cable cross-section should take account of the voltage drop.
Please note: The encoder supply on X8/3 is short-circuit-proof.
1.2.4 Cable type and layout
The cable type should be chosen as specified by the motor/encoder manufacturer.
Recommended:
• TTL signal evaluation: 3 x 2 x 0.14 mm² and 1 x 2 x 0.5 mm²
• TTL encoder simulation: 4 x 2 x 0.14 mm²
The following conditions must be met:
• Use only shielded cables.
• Shield on both sides.
• Interconnect the differential track signals A, B and R by twisted cable strands.
• Do not separate the encoder cable, for example to route the signals via terminals in the switch cabinet.
1.3 Pin assignment
The assignment of the 15-pin D-Sub female connector on slot X8 is set out in the following table:
Pin assignment of the TTL module X8
Table 5.1 TTL encoder
Connection
11
12
2
1
6
7
13
14
3
8
9
4
5
15
10
Encoder/ TTL
X8
Pin
Signal
Comments
TTL encoder simulation
Pin
1
A–
Track A–
2
A+
Track A+
2
3
+5V
Encoder suppply
3
Signal
Comments
1
4
4
A+
Track A+
5
5
A–
Track A–
R+
Zero pulse +
6
B–
Track B–
8
GND
+ 5 V reference potential
8
9
R–
Zero pulse–
9
10
R+
Zero pulse +
10
11
B+
Track B+
11
7
6
7
12
12
R–
Zero pulse–
13
13
GND
Ground, required for potential equalization
14
14
B+
Track B+
15
15
B–
Track B–
100337205/2015
5
1.4 Configuration
1.4.1 Configuration of TTL encoder simulation and repeater mode
The TTL module can simulate a TTL encoder with the aid of encoder simulation. In this, the encoder simulation
forms incremental encoder-compatible pulses from the position of the rotary encoder connected to the motor.
Two 90° offset signals are generated on tracks A and B as well as a zero pulse (track R) (see figure 1.1). The lines per
revolution of the encoder simulation can be set over a range from 0 to 65535 by way of P 2621.
Encoder simulation signals looking towards the motor shaft
Illustration 6.1 A+
A-
B+
B-
R+
R-
6
100337205/2015
In repeater mode (only TTL signals can be evaluated) the TTL signal connected to X7 or X8 is outputted as a
floating signal by way of encoder simulation. The signal delay of the repeater function is < 2 μs.
Selector settings
Table 7.1 Parameter no.
Setting
Designation in DM5
Function
EncSimSel
Configuration of signal selection
Encoder simulation (1) to (5)
2825
Repeater mode(6), (7)
(0)
Off
Off
(1)
Act.Pos
Actual position
(2)
Act.Pos.Inv
Actual position inverse
(3)
Ref.Pos
Reference position
(4)
Ref.Pos.Inv
Reference position inverse
(5)
Virtual Master
Virtual Master
(6)
Repeater X7
Repeater mode X7
(7)
Repeater X8
Repeater mode X8
P2621
0...65535
EncSimLines
P2622
0...65535
EncSimIndexPulse
Table 7.2
Off
Actual position
Actual position, inverted
Reference position
Reference position, inverted
Virtual position of the module
Repeater mode active, TTL input signals on
X7/8 are outputted without taking into account
the preset lines per revolution in parameter P
2621 by way of encoder simulation.
Configuration of lines per revolution for encoder
simulation
Position of the zero pulse scaled to 216 per
revolution (360°)
Rotation speeds for high resolution encoders (max. signal frequency)
Lines per revolution
Encoder simulation rpm
Master encoder input rpm
8192
6000
3000
16384
3660
1830
32768
1830
915
100337205/2015
7
1.4.2 Configuration of TTL encoder channel X8
Signal sources:
• TTL encoder with zero pulse
• Master encoder signal with two 90° offset track signals A/B
• Pulse/direction signal e.g from a stepper motor control
Illustration 8.1
Configuration of encoder channel X8
(3) TTL-Encoder
only
Encoder
type
selection
P 0507
Table 8.2
0 = OFF
1 = SinCos
2 = SSI
3 = TTL
4 = EnDat
5 = HALL
6 = TWINsync
Seting
Signal
Gear
numerator
Actual value
P 0514
P 0515
Multiturn
P 502 - 1
Singleturn
P 502 - 0
P 2824
ON
OFF
P 0571
Seting
lines
P 0572
Parameter no.
Control
Basic setting of encoder channel
Setting
P 0502
(0)
00...00hex
(1)
00...00hex
P 0507
Designation in DM5
Function
ENC_CH3_ActVal
Actual value parameter: Raw data of single-turn and multi-turn
information to test encoder evaluation
Singleturn
Multiturn
ENC_CH3_Sel
(0)
OFF
No function
(1)
SinCos encoder
SinCos
(2)
SSI encoder
SSI
The raw data are displayed after the electronic gearing and before the scaling (see illustration 8.1);
Unit: Increments
Selection of encoder
OFF
Function not supported
(3)
TTL encoder
TTL
(4)
EnDat
ENDAT
Function not supported
(5)
TTL encoder with
commutation signals
TTL_COM
Function not supported
Function not supported
TTL encoder with zero pulse
(6)
TWINsync
TWINsync
P 0514
-(2 15)...+ (2 15-1)
ENC_CH3_Num
P 0515
1...(2³¹-1)
ENC_CH3_Denom
Denominator of encoder gearing
ENC_CH3_NpTest
Zero pulse wiring test
(more details following)
P 0571
8
Index signal
Testmode
(0)
OFF
No function
(1)
ON
ENABLE_ISR
P 0572
Input of number of lines
per revolution 1...65536
ENC_CH3_Lines
P 2824
See table 9.1
ENC_CH3_TTL_Signal
Type
Numerator of encoder gearing
No function
Zero pulse test mode active
Setting of number of lines (max.65536) of TTL encoder per motor revolution
TTL signal type
100337205/2015
Function description - parameter P 2824 (SignalType)
Table 9.1 Setting
Function
Example
•• TTL signals
AF_B (0)
(track A, track B)
•• Direction of rotation of "slave axis" equal to
"master axis"
•• TTL signals
AR_B (1)
(track A, track B)
•• Direction of rotation of "slave axis" in inverse
proportion to "master axis"
•• Pulse-direction signals (track A: pulse; track B:
direction)
ABDFN (2)
•• With a rising edge of track B positive direction
•• Only falling edges of track A are evaluated.
•• Pulse-direction signals (track A: pulse; track B:
ABDRP (3)
direction)
•• With a falling edge of track B negative direction
•• Only rising edges of track A are evaluated.
100337205/2015
9
1.4.3 Zero pulse wiring test
To enable evaluation for the wiring test, parameter P 0571 = ON (1) is set. On the oscilloscope it can then be depicted with the measurement variables CH3-Np. To make the zero pulse clearly visible, the measurement variable
remains at High level until the next zero pulse appears. Conversely, the measurement variable remains at Low
level until another zero pulse appears. In this, the pulse width of the scope signal does not match the pulse width
of the actual zero pulse.
Zero pulse recording via measurement variable CH3-NP
Illustration 10.1 CH3-Np
Index signal
Scope signal CH3-Np
Time between
two index signals
t
Please note:
In zero pulse test mode zero pulse evaluation of homing runs is disabled
10
100337205/2015
1.4.4 Interface configuration of encoder for closed loop control
By way of P 0520, P 0521, P 0522 the physical encoder interface is adapted to the current, speed or position controller (see illustration 11.2)
Encoder configuration
Table 11.1 Parameter
Setting
no.
Designation in DM5
Function
P 0520
ENC_MCon:
Encoder Channel Select for Motor Commutation
and Current control
Selection of encoder channel for commutation
angle and current control. Feedback signal for fieldoriented regulation
P 0521
ENC_SCon:
Encoder Channel select for Speed control
Selection of encoder channel for speed configuration.
Feedback signal for speed controller.
P 0522
ENC_PCon:
Encoder Channel select for Position Control
Selection of encoder channel for position information.
Feedback signal for position controller
Parameter settings apply to P 0520, P0521, P 0522
(0)
OFF
No encoder selected
(1)
CH1
Channel 1: SinCos on X7
(2)
CH2
Channel 2: Resolver on X6
(3)
CH3
Channel 3: Option on X8
Display of encoder configuration for encoder channel X8
Illustration 11.2 0 OFF
Singleturninformation
P 0520
1 Channel 1
2 Channel 2
3 Channel 3
Current control
0 OFF
1 Channel 1
Speedinformation
P 0521
2 Channel 2
3 Channel 3
Speed control
0 OFF
Positioninformation
P 0522
1 Channel 1
2 Channel 2
3 Channel 3
Position control
Attention: A parameter can only be written or read with the appropriate access rights
(e.g. "Local administrator"). A changed parameter must always be saved on the device. When editable online, a parameter executes a reaction on the device immediately, so inputs must always be carefully checked.
100337205/2015
11
1003372
T +49 6431 5008-0
F +49 6431 5008-119
info@harmonicdrive.de
www.harmonicdrive.de
Subject to technical changes.
05/2015
Germany
Harmonic Drive AG
Hoenbergstraße 14
65555 Limburg/Lahn
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising