Stepper Ssi Motor Type (4); Analog Pwm Motor Type (5); Stepper Ndx Motor Type (6); Analog/Analog Motor Type (7) - Addi-Data APCI-8001 Commissioning Manual

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3.12.1.3 STEPPER SSI motor type (4)

Alternative method to define a stepper axis with SSI encoder feedback.

3.12.1.4 ANALOG PWM motor type (5)

This motor type has an analog input for actual value acquisition and a pulse width modulated output signal
(PWM) as a manipulated variable. The PWM output has a basic frequency of 20 kHz and a resolution of
3500 steps with the APCI-8001 (3333 steps with the APCI-8008) plus sign. For this option a specific firmware
RWMOS.ELF is necessary. In mcfg, this axis has to be set as SERVO.
With axes that can also be defined as STEPPER, this option is only possible to a limited extent:
•
The axes must not include any SSI option.
•
RWMOS.ELF must include the option optionSTPPWM.
•
PWM and direction output are the pins CHA-CLKSSI and CHB-DATSSI.

3.12.1.5 STEPPER NDX motor type (6)

For this motor type, the directional signal is not given to the RS422 outputs Sign+ and Sign- but through the
digital output. This digital output must be configured in mcfg (from the version V2.5.3.3) by selecting the
option „SIGN SPEC". Herewith, the zero track of the encoder can also be connected and evaluated when the
encoder inputs are used.
This option is available from the version RWMOS.ELF V2.5.3.3.

3.12.1.6 ANALOG/ANALOG motor type (7)

Motor type with analog manipulated variable output and analog actual value acquisition. For this, also the
environment variable FBCH? (Section 3.12.7) can be set to assign an analog actual value channel to an axis.

3.12.1.7 Encoder Emulation motor type (8)

Stepper motor type. Yet the command value is not output as a step or directional signal but as an emulated
incremental encoder signal. For this option, a specific firmware RWMOS.ELF is necessary.

3.12.1.8 Piezo-Motor motor type (9)

The motor type is adapted to Piezo motors of the company Nano-Motion. The filter parameters kp, ki, kd and
kfcv have the same significance as for standard controllers except the integral component which is handled in
a different way. For the controller parameter kpl an amplitude value (peak/peak) can be entered in digits. This
is superposed to the command value with half the sampling frequency. The position value entered in the
target window is used for commuting the controller structure. Therefore the value to be entered must
absolutely be targeted as resolution.
Further important parameters for this motor type are the compensation voltages mcpcp and mcpcn.

3.12.1.9 PSM motor type (10)

This motor type is a motor that is controlled through a digital performance end level at the serial field bus
PSM bus. At the moment hereto the module PSM-1150 is available, that was designed for the control of
brush covered direct current motors for the performance class up to approx. 12 A (nominal current) 60 V.
CM / C M
OMMISSIONING ANUAL