Stepper Ndx Motor Type (6); Analog/Analog Motor Type (7); Encoder Emulation Motor Type (8); Piezo-Motor Motor Type (9) - Addi-Data CPCI-8004 Commissioning Manual

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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.
3.12.1.10

ENDAT motor type (11+16)

For this motor type, an ENDAT absolute value encoder or an incremental encoder for the actual value
acquisition can be used. Here you have to distinguish between the Endat versions 2.1 and 2.2 (MT = 11 or
MT = 16). Currently, this type is only available for servo axes. For the additional configuration of ENDAT
parameters, the environment variable ENDATF can be set. With ENDATF, the clock frequency can be
projected for reading and writing of the encoder. The value to be entered is the desired frequency in Hz
(between 100 kHz and 2 MHz). The default value is 500 kHz. For long transfer lines, the frequency must be
reduced. As each ENDAT axis can be projected with different frequency, the axis index must be attached to
ENDATF (e.g. ENDATF3)
3.12.1.11

INC_PULSE motor type (12)

The bearing regulation of this motor type is done as with standard servo systems. The variable motor type
{mt} in mcfg must be set to SERVO. The default frequency range of the pulse output is +/-2MHz. Using the
variables {mcpmax} and {mcpmin}, the frequency range can be limited. The unit of this variable is 200 kHz.
For the output of a set value jump (OL Response), the output frequency is also indicated in the unit 200 kHz.
CM / C M
OMMISSIONING ANUAL