def5zemk001 endat

def5zemk001 endat
COMBIVERT
DE.F5.ZEM-K001
EnDat Encoder Interface
11/2005
Content
GB
1.
Product description ................................................................................. 3
2.
Installation and start-up .......................................................................... 6
3.
Line length ................................................................................................ 9
1.1
1.2
1.3
1.4.
1.5
1.6
1.6.1
1.7
1.7.1
1.7.2
1.7.3
1.7.4
1.7.5
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2
General ...................................................................................................................3
Description of encoder interface channel 1 ........................................................3
Part number ............................................................................................................3
Scope of delivery (option or replacement delivery) ...........................................3
Description of socket X3A ....................................................................................4
Power supply .........................................................................................................4
Max. load capacity in dependence of voltage supply ..............................................4
Signal inputs and outputs .....................................................................................5
Technical data ..........................................................................................................5
Input signals of encoder inputs ................................................................................5
Description of encoder signals .................................................................................5
Encoder breakage recognition .................................................................................6
Adjustment of increments per revolution (Ec.1) .......................................................6
Mechanical installation .........................................................................................6
Tested encoder ......................................................................................................6
Electrical installation .............................................................................................7
Start-up ...................................................................................................................7
EnDat® - parameter ...............................................................................................7
Encoder 1 status (Ec.37) .......................................................................................8
Read/write Encoder 1 (Ec.38) ...............................................................................9
EnDat
1.
Product description
For housing size G…U
X3
Cha B
nne
l2
For housing size D and E
X3
Cha B
nne
l2
X3
Cha A
nne
l1
1.1
General
1.2
Description of encoder interface channel 1
Each of the interface cards delivered by KEB include two interfaces. As there are numerous
different combinations available each interface will be described by means of separate
instructions. The instruction covers the installation of the interface card, the connection as
well as the start-up of a suitable encoder. Further information and the parameter adjustments
are described in the application manual for the inverter/servo.
Encoder type:
Voltage level:
Inputs/Tracks:
EnDat Version 2.1
1 Vss
A, B (process data channel)
Data (parameter channel)
Clock (clock signal)
-
Particularities:
1.3
Part number
2M.F5.K8G-P Z 2 X
Term of delivery 0: installed
2. Encoder interface P: TTL-output
applicable for housing size 1: D, E
1.4
X3
Cha A
nne
l1
Z: Option, spare part
Q: TTL-input
2: G…U
Scope of delivery (option or replacement delivery)
• encoder interface
• two instruction manuals
• fixing bolt
• packing material
3
1.5
Description of socket X3A
Socket X3A (top view)
SubD 15pole
5
10
15
PIN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1.6
Name
ABClock+
ClockA+
B+
+5,25 V
COM
-DATA
+DATA
4
3
2
1
9
8
7
6
14
13
12
11
Description
Signal input A- (difference signal to A+)
Signal input B- (difference signal to B+)
Clock signal RS485
Clock signal RS485
Incremental signals A for counter and direction detection
Incremental signals B for counter and direction detection
Power supply for encoder
Reference potential for supply voltage
data channel RS485
data channel RS485
Power supply
1.6.1 Max. load capacity in dependence of voltage supply
Max. load capacity at +5,25 V:
300 mA
The specified current is reduced by the current taken from the second interface (see application
manual Chapter 6.10).
4
1.7
Signal inputs and outputs
1.7.1 Technical data
Input resistance:
Process data channel:
Parameter channel:
Clock signal output:
Limiting frequency:
Encoder line number:
Max. line length:
120 Ω
1 Vss typical (0,6…1,2)
EIA RS485 half duplex, synchronous serial
EIA RS485
200 kHz
1…2048 Inc (Recommendation: 1024 Inc at rotary
speed < 4500 rpm
see annex
1.7.2 Input signals of encoder inputs
Input Signals of the Process Data Channel
360°mechanical
Increments per revolution
A
0
typically 1 Vss
B
0
typically 1 Vss
Signal form A and B respectively to differential operation
1.7.3 Description of encoder signals
During start-up and then all 30 ms an inquiry is transmitted to the encoder and the absolute
position is serial read out. Thus a reference point search is not necessary.
As the increments per revolution are stored in the encoder, error Ec.37=70 is triggered
immediately, if a deviating value is entered in Ec.1.
A position difference is tracked after filter with ramp time. If this difference increases to quickly,
so that it cannot keep tracked or a max. value is exceeded (e.g.at encoder breakage), the
interface state Ec.37 changes to „69“ and the inverter switches off.
The clock signal is used for synchronization.
5
Installation and Start-up
1.7.4 Encoder breakage recognition
The recognition of encoder breakage is a software function and dependent on the encoder
type. It is possible to insert the encoder during operation. By writing on Ec.0 the initialization
starts. After fault-free initialization the correct position will be send.
The incremental track is monitored approx. all 16 ms. An error is triggered, if the permissible
signal levels are fallen below. Also the absolute track, i.e. the serial communication to the
encoder is monitored. If the encoder gives not an answer, or a communication is not possible,
the respective state message will be transmitted to the inverter. Dependent on the encoder
type the response time can be 100 ms and more.
1.7.5 Adjustment of increments per revolution (Ec.1)
The inc/r of the inverter has to correspond with the inc/r of the encoder. In case of different
adjustment, error message Ec.37=70 is generated immediately.
2.
Installation and Start-up
2.1
Mechanical installation
All kind of works on the inverter may be carried out by authorized personnel in accordance
with the EMC and safety rules only.
•
•
•
•
•
•
•
2.2
Switch inverter de-energized and await capacitor discharge time
Pull off operator
Remove plastic cover
Remove fixing bolt
Fix interface board beginning from the socket connector straightly
Screw in fixing bolt
Attach plastic cover
Tested encoder
The following EnDat encoder have been tested by KEB on it application:
• Heidenhain ECN 1313 Singleturn; ECI 1317 Singleturn
• Heidenhain ROQ 425 Multiturn; EQI 1329 Multiturn
However, this does not restrict the use of rotary encoder with same specifications of other
manufacturers.
6
2.3
Electrical installation
Connection of the encoder cable
Encoder male connector servo motor
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Start-up
2.5
EnDat® - parameter
3
2
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8
7
6
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13
12
11
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green
yellow
blue
red
gray
pink
black
purple
brown
white
After the installation or exchange of an encoder interface some adjustments of the inverter/
servo software have to be done before operation:
• Switch on inverter
• Select application mode
• when using synchronous motors set ud.2 to F5-S
• Select parameter Ec.0 and control whether „EnDat“ is entered. The displayed value has
to be confirmed by „ENTER“ in any case.
• Select parameter Ec.10 and carry out the same for the 2. encoder interface
• Select parameter Ec.1 and control/adjust the increments per revolution
• Select parameter Ec.38; if automatic read in is not adjusted in Bit 2, read out encoder data
with Bit 0.
• Select parameter Ec.37 and control encoder status.
The following parameters are stored in the EnDat-encoder and automatically read in
e.g.manually read/write by Ec.38:
Synchronous motors: dr.23…dr.28, dr.30…32
Asynchronous motors: dr.0…dr.7
Encoder parameter: Ec.1…3, In.31…32
Controller parameter: cS.19
7
2.6
Encoder 1 status (Ec.37)
This parameter displays, by means of different status messages, the status of encoder and
interface. Dependent on the encoder only special messages are possible. All errors are only
set at control release, although they are already displayed in Ec.37.
The following value is displayed at correct operation:
16:
position values are being transferred, encoder and interface are working
The following status messages triggers „Error Encoder Change“ (E.EncC) because the
correct evaluation of the position is no longer guaranteed :
64:
encoder is unknown and will not be supported
67:
The signals of the incremental track are not correct, e.g. no encoder is connected or
the encoder cable is defective.
68:
The signals of the absolute track are not correct. The absolute track at Endat, Hiperface
and SSI-Sin/Cos is digital. The absolute track at Sin/Cos is analog.
69:
position deviation too high. The position determined by the incremental signals and
the absolute position (of absolute track, zero signal or serial selected) does no longer
correspond or cannot be corrected.
70:
increments per revolution adjusted in the inverter does not correspond with encoder
increments per revolution.
71:
interface type is unknown: Interface has not been recognized.
75:
encoder temperature too high (message from encoder)
76:
rotary speed is too high (message from encoder)
77:
encoder signals are outside the specification (message from encoder)
78:
encoder has internal defect (message from encoder)
92:
encoder will be formatted. When writing an encoder with memory structures different
from the KEB-definition, their memories will be re-organized in such a manner that they
can be written. This procedure can take some seconds, depending on the respective
memory structure.
96:
new value detected, because an another encoder is attached.
98:
Interface is busy
Error E.EncC can only be reset via parameter Ec.0. Exception ! An error due to wrong
increments per revolution (value 70) is reset immediately, if the correct increments per
revolution are adjusted (from software 2.7). Attention, the modulation is released, when the
control release is still set!
The following status messages triggers „Error Encoder 1“ (E.Enc1), if encoder data is
read:
97:
KEB-reference is undefined. Memory structure of the encoder does not correspond
to the KEB-definition and therefore data cannot be read. The encoder is defined by
writing data. At F5-S the error is reset as follow:
• writing a position to Ec.2.
• perform a system position trimming
Following status messages trigger error „Error Hybrid“ (E.HYb):
0, 255: no communication between interface and control card
8
2.7
Read/write Encoder 1 (Ec.38)
With Ec.38 the parameter are read/write from/to the encoder.
Bit Value Function
0
1
Reading out of the parameters. Then the parameter is reset.
Storing of the parameters in the encoder (only with supervisor-password and
1
2
in nOP status)
Automatic reading out of the parameters when connecting a new encoder
2
4
(loading after acknowledgement with Ec.0 and default values)
At F5-S bit 2 is default-moderately set, not at F5-M and F5-G. Thus at F5-S encoder data are
reading out after default loading.
3.
Line length
The maximum line length results from the voltage drop of the supply line. The value is
calculated as follows:
U - Umin
Encoder cable length = ––––––––––
Imax • 2 • R
max. encoder current input Imax:
Supply voltage U:
min. supply voltage Umin:
KEB encoder cable resistance R:
see encoder description
5,25 V
4,75 V
0,036 Ω/m
9
10
11
Karl E. Brinkmann GmbH
Försterweg 36-38 • D-32683 Barntrup
fon: +49 5263 401-0 • fax: +49 5263 401-116
net: www.keb.de • mail: info@keb.de
KEB CHINA Karl E. Brinkmann GmbH
(Xinmao Building, Caohejing Development Zone)
No. 99 Tianzhou Road (No.9 building, Room 708)
CHN-200233 Shanghai, PR. China
fon: +86 21 54503230-3232 • fax: +86 21 54450115
net: www.keb.cn • mail: info@keb.cn
KEB CHINA Karl E. Brinkmann GmbH
No. 36 Xiaoyun Road • Chaoyang District
CHN-10027 Beijing, PR. China
fon: +86 10 84475815 + 819 • fax: +86 10 84475868
net: www.keb.cn • mail: hotline@keb.cn
KEB Antriebstechnik Austria GmbH
Organizační složka
K. Weise 1675/5 • CZ-370 04 České Budějovice
fon: +420 387 699 111 • fax: +420 387 699 119
net: www.keb.cz • mail: info.keb@seznam.cz
KEB España
C/ Mitjer, Nave 8 - Pol. Ind. LA MASIA
E-08798 Sant Cugat Sesgarrigues (Barcelona)
fon: +34 93 897 0268 • fax: +34 93 899 2035
mail: vb.espana@keb.de
Société Française KEB
Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel
F-94510 LA QUEUE EN BRIE
fon: +33 1 49620101 • fax: +33 1 45767495
net: www.keb.fr • mail: info@keb.fr
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6 Chieftain Buisiness Park, Morris Close
Park Farm, Wellingborough GB-Northants, NN8 6 XF
fon: +44 1933 402220 • fax: +44 1933 400724
net: www.keb-uk.co.uk • mail: info@keb-uk.co.uk
KEB Italia S.r.l.
Via Newton, 2 • I-20019 Settimo Milanese (Milano)
KEB Nederland
Leidsevaart 126 • NL–2013 HD Haarlem
fon: +31 23 5320049 • fax: +31 23 5322260
mail: vb.nederland@keb.de
KEB Polska
ul. Budapesztańska 3/16 • PL–80-288 Gdańsk
fon: +48 58 524 0518 • fax: +48 58 524 0519
mail: vb.polska@keb.de
KEB Portugal
Avenida da Igreja – Pavilão A n. º 261 Mouquim
P-4770 - 360 MOUQUIM V.N.F.
fon: +351 252 371318 + 19 • fax: +351 252 371320
mail: keb.portugal@netc.pt
KEB Taiwan Ltd.
No.8, Lane 89, Sec.3; Taichung Kang Rd.
R.O.C.-Taichung City / Taiwan
fon: +886 4 23506488 • fax: +886 4 23501403
mail: info@keb.com.tw
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Room 1709, 415 Missy 2000
725 Su Seo Dong, Gang Nam Gu
ROK-135-757 Seoul/South Korea
fon: +82 2 6253 6771 • fax: +82 2 6253 6770
mail: vb.korea@keb.de
KEB Sverige
Box 265 (Bergavägen 19)
S-43093 Hälsö
fon: +46 31 961520 • fax: +46 31 961124
mail: vb.schweden@keb.de
KEB America, Inc.
5100 Valley Industrial Blvd. South
USA-Shakopee, MN 55379
fon: +1 952 224-1400 • fax: +1 952 224-1499
net: www.kebamerica.com • mail: info@kebamerica.com
11/2005
KEB Antriebstechnik
Herenveld 2 • B-9500 Geraadsbergen
fon: +32 5443 7860 • fax: +32 5443 7898
mail: vb.belgien@keb.de
KEB - YAMAKYU Ltd.
15–16, 2–Chome, Takanawa Minato-ku
J–Tokyo 108-0074
fon: +81 33 445-8515 • fax: +81 33 445-8215
mail: info@keb.jp
DE.F5.ZEM-K001
KEB Antriebstechnik Austria GmbH
Ritzstraße 8 • A-4614 Marchtrenk
fon: +43 7243 53586-0 • fax: +43 7243 53586-21
net: www.keb.at • mail: info@keb.at
fon: +39 02 33500782 • fax: +39 02 33500790
net: www.keb.it • mail: kebitalia@keb.it
© KEB
KEB Antriebstechnik GmbH & Co. KG
Wildbacher Str. 5 • D–08289 Schneeberg
fon: +49 3772 67-0 • fax: +49 3772 67-281
mail: info@keb-combidrive.de
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