Ssi Motor Type (2); Inc Pwm Motor Type (3); Stepper Ssi Motor Type (4); Analog Pwm Motor Type (5) - Addi-Data CPCI-8004 Commissioning Manual

CM / C M
OMMISSIONING
Value Name
23 ETM
24 ANA_SIGN_SSI
25 ANA_SIGN
ENDAT2_2
Example: set MT2 6
3.12.1.1

SSI motor type (2)

With this motor type, an SSI absolute value encoder can be used for the acquisition of actual values. This
type is valid for stepper and servo axes. For the configuration of the SSI parameters, the environment
variables SSIF and SSIP can still be set. These have to be set in an axis-specific way. The "?" character
represents the axis index 0...7.
With SSIF the clock frequency can be reduced for reading the encoder. The wished frequency is entered as
a value in Hz between 100 kHz and 4 MHz. The default value is 500 kHz. For long transmission lines the
frequency must be generally reduced.
By assigning the environment variable SSIBIN? with the value 1, encoder axes can be set on binary code.
Default: Gray code (see also section 5.2.7.1.).
3.12.1.2

INC PWM motor type (3)

This motor type has an incremental encoder for the acquisition of actual value and a pulse width modulated
output signal (PWM) as command value. 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 and is available as RS422
signal at the pins servo/puls+ and AGND/puls-. For this option a specific firmware RWMOS.ELF is
necessary. In mcfg, this axis has to be set as SERVO. This option is not available for axes which can also be
defined as STEPPER.
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.
ANUAL
Description
Customer-specific special version with actual value acquisition
through pulse duration measurement
Axis with analog manipulated variable output and actual value
acquisition through SSI absolute encoder. The analog output signal
is always positive; the directional information is output through the
digital output.
Axis with analog manipulated variable output and actual value
acquisition through ENDAT 2.2 absolute encoder. The analog output
signal is always positive; the directional information is output through
the digital output.
21