Pulse Acquisition Channels; Ssi Absolute Encoder - Addi-Data APCI-8001 Commissioning Manual

CM / C M
OMMISSIONING
Pin (SUB-D) Name
6 AGND0
7 AGND1
8 AGND2
9 AGND3

5.2.6 Pulse acquisition channels

The APCI-8001 / APCI-8008 is fitted with up to three pulse acquisition channels, to which various encoder
types, such as linear scales or incremental or absolute encoders can be connected. Two 90° phase-shifted
quadrature signals are processed as input signals, with a maximum pulse frequency of 2.0 MHz (optionally
5 MHz) and TTL sensors. A zero track (index signal) can also be evaluated. The signal levels acquired by the
encoders are electronically quadrupled and processed internally as floating-point numbers with double
accuracy. This means that the value range for the traverse path is virtually unrestricted.
The pulse acquisition of the APCI-8008 is provided with effective line break monitoring.

5.2.6.1 SSI absolute encoder

If SSI absolute encoders are to be used for position feedback, corresponding environment variables must be
set in fwsetup.exe for the respective axis channels (see section on "Environment variables for control system
hardware".
Table: Environment variables for SSI absolute encoders
Variable Value Comment
MT? 2
4
SSIF? X
SSIP? X
SSIBIN? 1
SSIPCK 1
SIZE?
SSIOUT 1
OF
RANGE?
Furthermore, for the application of SSI absolute encoders, an operating system version (RWMOS.ELF) with
the option "option SSI" must be used. The available RWMOS.ELF options can be verified in the "fwsetup"
program, on the "Monitor" tab when the control unit is booted.
ANUAL
Function
Reference potential for analog output
Reference potential for analog output
Reference potential for analog output
Reference potential for analog output
Servo motor with SSI absolute encoder
Stepper motor with SSI absolute encoder
? is the number of the respective axis channel (starting from 0)
X = Numerical value for SSI frequency in Hz
Permitted values: 100,000 to 4,000,000
Default value:
Note: With bigger cable lengths, the SSI frequency must be reduced in
order to compensate the signal runtimes.
? is the number of the respective axis channel (starting from 0)
X = Numerical value for the number of SSI bits
Permitted values: 2 to 30
Default value:
? is the number of the respective axis channel (starting from 0)
The binary code at the SSI data word is selected with a nonzero value.
Default: Gray code.
? is the number of the respective axis channel (starting from 0)
(from RWMOS.ELF V2.5.3.130) With this variable, the word length of the
encoder is indicated in bits. Only if this value is correctly indicated, an
extension of the traversing range via the measurement range of the
encoder and the addition of a sign to the position value is possible.
The default value is 24 bits.
? is the number of the respective axis channel (starting from 0)
(from RWMOS.ELF V2.5.3.130) With this variable, an error bit can be
identified and displayed. This bit is indicated in the system variable DIGI in
the EnkoderError bit. Moreover, in the IFS register, the bef bit is set. Thus,
also an event can be triggered in the SAP programming environment.
500000
26 (25 bits + 1 extra bit)
39
Pin at P5
or X6
(FB)
2
4
6
8