Encoders And Bldc Motor With +5 Volt Hall Sensors - Bosch rexroth NYCe 4000 Hardware Manual

164/233
Encoders
13.4

Encoders and BLDC motor with +5 Volt Hall sensors

BLDC
axis 0 5V Hall sensor
24V Hall sensor
axis 1 5V Hall sensor
24V Hall sensor
Bosch Rexroth AG R911337671_Edition 18
32 kHz (31.25 µs)
latch latch
calculated
displacement
¼
PVL (on drive)
sync
MCU sample
Fig. 13-6: Relation between MCU sample (setpoint generator) and PVL sample
Note that this division in smaller displacements is only done if the PVL on the
drive module is used.
No interpolation is possible when the PVL on the MCU is used as the PVL
frequency (on the MCU) equals the MCU sample frequency (node
frequency).
The NY4120 and NY4140 drive modules have +5 Volt digital inputs which
can be used to connect the +5 Volt Hall sensors of a BLDC motor. For the
first axis, axis0, these inputs are Dig5VIn0a, Dig5VIn0b, Dig5VIn0c, and for
the second axis, if supported by the drive module, axis1, these inputs are
Dig5Vin1a, Dig5Vin1b, Dig5Vin1c.
The digital encoders (Rexroth MSM incremental and absolute, Sanyo Denki
absolute, EnDat2.1, EnDat2.2, Hiperface) and SinCos encoders also use
these +5 Volt digital inputs. This means that a BLDC motor with +5 Volt Hall
sensors and a digital encoder cannot be used on the same axis. There is one
exception, see "SinCos encoder" below.
See NYCe 4000 Standard Housings & Accessories, chapter "Encoder
connections" of the system housing for complete information of the pinout of
the encoder header.
The following table gives a summary of the possible or not possible
combinations of a BLDC motor with Hall sensors and a specific encoder on
the axes of a drive module.
Rexroth MSM Sanyo Denki
- -
OK OK
- -
OK OK
Tab. 13-4: BLDC motor with Hall sensors on axis 0 or axis 1 possibilities
Rexroth MSM incremental and absolute encoder
The combination of a Rexroth MSM incremental or absolute encoder with a
BLDC motor (with +5 Volt Hall sensors) is not possible. Note that if the Hall
sensors are used on the +24 Volt digital inputs, the Rexroth MSM
incremental or absolute encoder can be used with a BLDC motor.
Sanyo Denki absolute encoder
NYCe 4000 Multi-axis motion control system Hardware Sys‐
latch
¼
¼
PVL (on drive) PVL (on drive)
MCU sample (node) frequency 8 kHz (125 µs)
SinCos EnDat2.1
OK -
OK OK
- -
OK OK
tem Manual
latch latch
¼
PVL (on drive)
MCU sample
EnDat2.2 Hiperface
- -
OK OK
- -
OK OK