ID
Index Name
Unit
Description
640
7
ENDAT_Z1_1
Z1 info: dword 1
640
8
ENDAT_Z1_2
Z1 info: dword 2
640
9
ENDAT_Z1_3
Z1 info: dword 3
640
10
ENDAT_Z1_4
Z1 info: dword 4
640
11
ENDAT_Z2_Sel
EnDat additional information 2 type selection
640
12
ENDAT_Z2_1
Z2 info: dword 1
640
13
ENDAT_Z2_2
Z2 info: dword 2
640
14
ENDAT_Z2_3
Z2 info: dword 3
640
15
ENDAT_Z2_4
Z2 info: dword 4
640
16
ENDAT_Mode1
0=off
EnDat additional mode 1 selection
640
17
ENDAT_Mode2
EnDat additional mode 2 selection
640
18
ENDAT_Mode3
EnDat additional mode 3 selection
640
19
ENDAT_Mode4
EnDat additional mode 4 selection
640
20
ENDAT_res1
reserved 1
640
21
ENDAT_res2
reserved 2
640
22
ENDAT_res3
reserved 3
640
23
ENDAT_HwSyncStop
0=SyncOn EnDat cyclic hw sync, stop/start 1/0
640
24
ENDAT_CyclCount
call counter of cyclic function
640
25
ENDAT_BWZ_Supported
vn supported (bit3=vn4, bit2=vn3, bit0=vn1)
640
26
ENDAT_BWZ1_
ThresholdLevel
vn1: bits[7..0] threshold level, bits[31..16]
how often number
640
27
ENDAT_BWZ3_
ThresholdLevel
vn3: bits[7..0] threshold level, bits[31..16]
how often number
640
28
ENDAT_BWZ4_
ThresholdLevel
vn4: bits[7..0] threshold level, bits[31..16]
how often number
640
29
ENDAT_BWZ_TEST_
Overwrite
vn: bits[15..12] 'F', bits[11..8] vn.no., bits
[7..0] vn overwrite value
Table 6.7: Channel 1 encoder configuration (X7) - EnDat parameters (continued)
6.5.3 Hall sensor X7
Ch1:
HALL(5) - Digital Hall signals
Ch1:
HALL_TTL(7) - Digital Hall signals
NOTE
The operation and configuration of Hall effect sensors is reserved
for special applications. Consult with Moog
if needed
.
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
60
6 Encoder
6.5.4 Sin/Cos / TTL X7
6.5.4.1 TTL encoder
Ch1: TTL(3) - TTL signals
TTL encoders are ...
a. ... usually pure incremental encoders
without
an absolute value interface. In
this case,
P 540[0] - ENC_CH1_Abs
must be set to OFF(0).
b. ... in a few exceptional cases, incremental encoders
with
an SSI absolute
value interface. In this case,
P 540[0] - ENC_CH1_Abs
must be accordingly
set to SSI(1) (SSI_CONT(4) in special cases), so that it will be possible to
read the absolute encoder position for the absolute value initialization
routine once during the initialization phase.
6.5.4.1.1 Pure TTL incremental encoder
Set P 505[0] - ENC_CH1_Sel to TTL(3) and P 540[0] - ENC_CH1_Abs to OFF(0)
when using pure TTL encoders, i.e. encoders without an absolute value interface but
with a TTL zero pulse.
Linear TTL encoders are run as rotary encoders. For linear motor operation, P 542
[0] - ENC_CH1_Lines and the encoder gearing (see the “Encoder gearing” section)
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. Moreover, P 553[0] - ENC_
CH1_PeriodLen is not used in this case.
The TTL interface accepts various TTL signal types, which can be selected using
P 558[0] - ENC_CH1_TTL_SignalType:
(0)AF_B - A/B tracks (forward counting, X4 encoding) - AB
(1)AR_B - A/B tracks (reverse counting, X4 encoding) - AB_inv
