ServoOne. Specification. Option 2 - Technology. x 11. x 8 X 8. x 10. x 9. x 7. x 6 TTL Encoder / TTL Encoder simulation

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1 x x L L L AC SO 4-45 A DC SO 4- A ServoOne Specification x x 7 x 8 X 8 Option - Technology x 6 TTL Encoder / TTL Encoder simulation

2 Specification ServoOne Specification Option - Technology TTL encoder /TTL encoder simulation ID No.: 6.B.- Date: / This documentation applies to: Series Model Hardware version Firmware version ServoOne Single axis system AC SO 4-45 A SO8.xxx.xx SO84.xxx.xx up to...xxxx. up to...xxxx. from V.5 NOTE: This document does not replace the ServoOne Operation Manual. Please be sure to observe the information contained in the For your safety, Intended use and Responsibility sections of the Operation Manual. For information on installation, setup and commissioning, and details of the warranted technical characteristics of the ServoOne series, refer to the additional documentation (Operation Manual, User Manual, etc.). ServoOne Multi axis system DC SO 4- A ServoOne junior AC SO junior SO84.xxx.xx up to...xxxx. from V.5 not available Subject to technical modifications. The contents of our documentation have been compiled with greatest care and in compliance with our present status of information. Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products. Information and specifications may be changed at any time. For information on the latest version please refer to Table. Applicability

3 Table of Contents. TTL Module Technical data and pin assignment TTL encoder TTL encoder simulation Pin assignment...5. Configuration Configuration of TTL encoder simulation and TTL repeater function Configuration of TTL encoder channel Interface configuration of encoder for loop control...9 Specification ServoOne [ TTL Module ]

4 Specification ServoOne 4. TTL Module With the TTL module the following operation modes are possible: 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). Technical data and pin assignment.. TTL encoder Specification Interface RS4 (not RS485 conformant, see technical data below) Recommended cable cross-section: >.4 mm, (e.g. x x.4 mm + x x.5 mm ) Max. cable length: m Connector: 5-pin D-SUB, High-Density, female min. max. typ. Input frequency Hz 5 khz Input voltage High level Low level Differential. V -. V ± 5 V Surge terminating impedance Ω Voltage supply to external 4.5 V 5.5 V 5 V / ma encoder Table. Electrical specification of the TTL encoder input on X8.. TTL encoder simulation Specification Interface RS4 Electrically isolated from the drive controller Recommended cable cross-section: >.4 mm, (e.g. 4 x x.4 mm ) Max. cable length: m Connector: 5-pin D-SUB, High-Density, female min. max. Comments Output frequency Hz khz Output voltage High level.5 V Low level.5 V Differential. V Surge terminating impedance Ω Table. Electrical specification of the TTL encoder simulation on X8 I OH = - ma I OL = 48 ma

5 .. Pin assignment The assignment of the 5-pin D-Sub female connector on slot X8 is set out in the following table. TTL encoder TTL encoder simulation Connection Pin Signal Comments Pin Signal Comments Encoder/ TTL 5 4 X Table A Track A A+ Track A+ +5V Encoder supply 4 4 A+ Track A+ 5 5 A Track A 6 B Track B R+ Zero pulse + 8 GND + 5 V reference 8 potential 9 R Zero pulse 9 R+ Zero pulse + B+ Track B+ R Zero pulse GND Ground, required for potential equalization 4 4 B+ Track B+ 5 5 B Track B Pin assignment of the TTL module on X8. Configuration.. Configuration of TTL encoder simulation and TTL repeater function In the "encoder simulation" function the expansion module can simulate a TTL encoder. Two 9 offset signals are generated on tracks A and B as well as a zero pulse. In "Repeater" mode the TTL signal connected to X8 is outputted isolated by way of the encoder simulation. A+ A- B+ B- R+ R- Figure. Encoder simulation signals looking onto the motor shaft (at left when motor rotating clockwise) P 6 TTL encoder simulation Interface X 8 EncSimMode TTL encoder input TTL card TTL-Repeater Figure. Configuration of TTL encoder simulation mode enabled Specification ServoOne 5 [ TTL Module ]

6 Specification ServoOne 6 Figure. Parameter No. P 6 EncSimMode TTL encoder simulation TTL encoder input TTL-Repeater Configuration of TTL repeater function enabled Setting Designation in DM5 Interface X8 TTL card Function P 6 InOutMode Configuration of mode () Expansion module disabled TTL_OUT () TTL encoder simulation enabled TTL_IN () TTL encoder input enabled TTL repeater enabled, TTL encoder input TTL_REPEAT () and transmission of counter reading to output for connected slave axes P 6 EncSimLines Configuration of lines per revolution for encoder simulation: 64 Inc () 8 Inc () 56 Inc () 5 Inc () 4 Inc (4) 48 Inc (5) 496 Inc (6) 89 Inc (7) 648 Inc (8) 768 Inc (9) 6556 Inc () P EncSimIndexPulse Position of the zero pulse scaled to 6 per revolution (6 ) P EncActPos Current counter reading, for encoder simulation and encoder input P µs EncSimDlyComp Dead time compensation for encoder simulation Table.5 Parameters for TTL encoder simulation and TTL repeater function Parameter No. P 8 Table.5 Setting Designation in DM5 Function InOut_Enc_Sim_Source Selection of source for encoder simulation ACT_POS () Actual position value REF_POS () Target position value RESERVED () reserved RESERVED () reserved VIRTUAL_MASTER (4) Virtual master Parameters for TTL encoder simulation and TTL repeater function Lines per revolution Encoder simulation rpm Master encoder input rpm Table.6 Maximum mappable rotation speeds for high lines per revolution (max. signal frequency).. Configuration of TTL encoder channel By way of TTL encoder channel the following signal sources can be connected: TTL encoder with zero pulse Master frequency signal with two 9 offset track signals A/B Pulse/direction signal e.g from a stepper motor control Figure.4 P 6 EncSimMode TTL encoder simulation TTL encoder input TTL-Repeater Configuration of TTL encoder input mode enabled Interface X 8 TTL card

7 Parameter No. P 5 Encoder evaluation P 57 P 57 Encoder Channel TTL (X8) = Field index P 57 Test mode Zero pulse evaluation ON For test purposes only! Setting Actual value parameter P 57 P 84 Setting of number of lines + signal type P 57 Designation in DM5 Actual Value ST, MT ()...hex Single-turn ()...hex Multi-turn P 54 Encoder- Gear P 55 P 5 - P 5 - Actual value Multiturn Singleturn P 54 P 55 Gear ratio Encoder raw data Motor control (see chap...) Function Raw data of single-turn and multi-turn information to test encoder evaluation. The raw data are displayed after the electronic gearing and before the factor group (see drawing). Standardization/Units Standardization Encoder Channel Selection of encoder Select () No function No function SinCos encoder () SinCos encoder ) SinCos encoder without absolute information and zero pulse ) SinCos encoder with absolute information and without zero pulse ) - - Reserved TTL encoder () TTL encoder TTL encoder with zero pulse (to be set for this function) ) Only with SinCos option Table.7 Basic setting of encoder channel Parameter Field Designation in Setting Function No. index DM5 P 54 ± ( -) Gear Numerator Numerator of encoder gearing P 55...( -) P 57 P 57 Gear Denominator Index Pulse Test Mode Denominator of encoder gearing Zero pulse wiring test (more details following) () No function No function ON () Function active Zero pulse evaluation active Number of lines per revolution Number of lines (SinCos encoder/ TTL encodes) Setting of number of lines (max. 6555) of TTL encoder per motor revolution P 6 InOutMode Configuration of mode () Expansion module disabled TTL_OUT () TTL encoder simulation enabled TTL_IN () TTL encoder input enabled TTL repeater enabled, TTL encoder TTL_REPEAT () input and transmission of counter reading to output for connected slave axes P 64 EncActPos Current counter reading, for encoder simulation and encoder input P 84 see Table.8 SignalType TTL signal type ) Only with SinCos option Table.7 Basic setting of encoder channel Specification ServoOne 7 [ TTL Module ]

8 Specification ServoOne 8 Einstellung Function Example Zero pulse wiring test AF_B () AR_B () TTL signals (track A, track B) Direction of rotation of "slave axis" equal to "master axis" TTL signals (track A, track B) Direction of rotation of "slave axis" in inverse proportion to "master axis" Zero pulse evaluation is only active during homing with evaluation of a zero pulse. To check the wiring, a zero pulse can be recorded via test mode on the digital oscilloscope of the DriveManager. Parameter P 57 = ON () must be set for this. On the oscilloscope it can then be represented with the measurement variables CH-Np (High level for s) or CH-Np (High level for ms). In this, the pulse width of the scope signal does not match the pulse width of the actual zero pulse. The representation on the oscilloscope appears wider, permitting better detection of the zero pulse. The decisive factor here is the rising edge of the scope signal. ABDFN () Pulse-direction signals (track A: puls; track B: direction) With a rising edge of track B positive direction Only falling edges of track A are evaluated. ABDRP () Table.8 Pulse-direction signals (track A: puls; track B: direction) With a falling edge of track B negative direction Only rising edges of track A are evaluated. Function description parameter P 84 (SignalType)

9 .. Interface configuration of encoder for loop control TTL encoder as actual value encoder (e.g. motor feedback) Single turn Info von Speed Info von Absolute Position von Channel Channel Channel Channel Channel Channel Channel Channel Channel P 5 P 5 P 5 Figure.6 Display of encoder configuration for encoder channel Current control and Motor Commutation Speed Control Feedback Position Control Feedback Control! Parameter No. P 5 P 5 P 5 P 5 Table.9 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. Designation DM5 designation Function ENC_MCon ENC_SCon ENC_PCon Encoder: Channel Select for Motor Commutation and Current control Encoder: Channel select for Speed Control Encoder: Channel select for Position Control Encoder: Channel select ENC_RefCon for Master IN Encoder configuration TTL encoder as master frequency input (setpoint) Selection of encoder channel for commutation angle and current control. Feedback signal for fieldoriented regulation. Selection of encoder channel for speed configuration. Feedback signal for speed controller Selection of encoder channel for position information. Feedback signal for position controller Selection of channel to act as master encoder The TTL input on X8 can also be used as a master frequency input for an electronic gear. For this parameter P 9 CamMaster_AxisType = 8 must be set. More details on the function can be found in the ServoOne Application Manual. Specification ServoOne 9 [ TTL Module ]

10 Specification Option - Technology TTL encoder /TTL encoder simulation ID No.: 6.B.- Date: / LTi DRiVES GmbH Gewerbestraße Lahnau Germany Fon +49 () 644/ FAX +49 () 644/ Heinrich-Hertz-Straße Unna Germany Fon +49 () / FAX +49 () / We reserve the right to make technical changes. The contents of our documentation have been compiled with greatest care and in compliance with our present status of information. Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products. Information and specifications may be changed at any time. For information on the latest version please refer to [email protected]