LTi Drives ServoOne Single axis system Series Manuel utilisateur
x
10
x
9
x
6
x
7
x
8
x
11
L1
L2
L3
-
+
-
+
-
+
-
+
X8
AC
4-450 A4-450 A
SO
DC
4-210 A4-210 A
SO
ServoOne
Specification
Option 2 - Technology
SSI Encoder simulation
Specification ServoOne
NOTE: This document does not replace the ServoOne Operation Manual.
Please be sure to observe the information contained in the “For your safety”,
“Intended use” and “Responsibility” sections of the Operation Manual. For
information on installation, setup and commissioning, and details of the war-
ranted technical characteristics of the ServoOne series, refer to the additional
documentation (Operation Manual, User Manual, etc.).
Subject to technical modifications.
The contents of our documentation have been compiled with greatest care and in com-
pliance with our present status of information.
Nevertheless we would like to point out that this document cannot always be updated
parallel to the technical further development of our products.
Information and specifications may be changed at any time. For information on the lat-
est version please refer to http://drives.lt-i.com.
Specification Option 2 - Technology
SSI encoder simulation
ID No: 1106.22B.1-00
Date: 02 / 2011
This documentation applies to:
Series Model Hardware version Firmware version
ServoOne
Single axis system
AC
4-450 A4-450 A
SO SO82.xxx.0xx4
SO84.xxx.0xx4
from ...4.xxxx.0
from ...4.xxxx.0from V2.15 / V201.07
ServoOne
Multi axis system
DC
4-210 A4-210 A
SO
SO84.xxx.1xx4from ...4.xxxx.0 from V2.15 / V201.07
ServoOne junior
AC
juniorjunior
SO
not available -- --
Table V.1 Applicability
[
SSI Module
]
Specification ServoOne 3
Table of Contents
1. SSI Encoder Simulation............................................................. 4
1.1 Features ..................................................................................................................4
1.2 Pin assignment of SSI Encoder Simulation ...............................................................4
2. Use of SSI Encoder Simulation.................................................. 5
2.1 Enabling SSI Encoder Simulation .............................................................................5
2.2 Parameter description for SSI Encoder Simulation ...................................................5
2.3 Notes on parameterizing the SSI resolution.............................................................5
2.4 Parameterization of polarity and phase ...................................................................6
2.5 Suffixing a parity bit................................................................................................6
2.6 Using synchronization.............................................................................................6
Specification ServoOne 4
1. SSI Encoder Simulation
This document describes the SSI Encoder Simulation technology function of the
ServoOne firmware and associated parameters, and provides information for commis-
sioning.
!
ATTENTION: For more information on safety, mechanical and electrical instal-
lation, pin assignments and parameter configuration refer to the ServoOne
Operation Manual and user documentation.
1.1 Features
Using SSI Encoder Simulation, the current actual position of the drive controlled by the
ServoOne can be read by a higher-level control system. The ServoOne then behaves like
an SSI encoder in relation to the control. SSI Encoder Simulation uses the technology
board slot (X8). The technology board is automatically detected.
–Parameterizable number of multi-turn and single-turn bits
–Binary transfer
–Clock rates between 200 kBit/s and 1500 kBit/s are supported
–Fastest possible cycle time: 125 µs
–Optional transfer with parity bit (Odd/Even)
–Optional synchronization of control to read cycle
–Display of synchronization status
–Encoder monoflop time: ~25 µs
–Clear parameter structure for quick and easy commissioning
1.2 Pin assignment of SSI Encoder Simulation
Figure 1.1 Pin assignment of SSI Encoder Simulation
Pin Assignment
1 -
2 -
3GND
4CLK-
5DATA+
6 -
7 -
8CLK-
9DATA-
Table 1.2 Pin assignment of SSI Encoder Simulation
[
SSI Module
]
Specification ServoOne 5
2. Use of SSI Encoder Simulation
2.1 Enabling SSI Encoder Simulation
SSI Encoder Simulation is enabled as soon as parameter TOPT_SSI_EncSimEnable
(P 2800) is set to 1. The parameter is located in the parameter group
"Encoder > SSI Encoder simulation".
2.2 Parameter description for SSI Encoder
Simulation
The parameters are in the parameter group "Encoder > SSI Encoder simulation", and all
have the prefix "TOPT_SSI".
ID Parameter Unit Access Data
type
Description
2800 EncSimEnable r/w UInt16 Enable SSI Encoder Simulation
2801 MultiT Bit r/w UInt16 Number of multi-turn bits to transfer
2802 SingleT Bit r/w UInt16 Number of single-turn bits to transfer
2803 Polarity r/w UInt16 No-load level of data line
False Clock line resting at Low level
True Clock line resting at High
level
2804 Phase r/w UInt16 Indicates the clock edge at which new data
are set
False Sets data on the leading
edge
True Sets data on the following
edge
2805 ParityEnable r/w UInt16 Enable the parity bit
2806 ParityType r/w UInt16 ODD Odd parity
EVEN Even parity
Table 2.3 SSI Encoder Simulation parameters
ID Parameter Unit Access Data
type
Description
2807 SyncOffset µs r/w Float32 Shift of synchronization signal to closed-loop
control cycle
2808 SyncUse r/w UInt32 Synchronization to read cycle
2809 InSync r UInt32 False ServoOne does not run
synchronously with the read
clock
True ServoOne has synchronized
to the read cycle
2810 EncobsUse r/w UInt32 Enables transfer of an additional encoder
monitoring bit
Table 2.3 SSI Encoder Simulation parameters
2.3 Notes on parameterizing the SSI resolution
The ServoOne supports transfer of a total of 32 information bits which can be broken
down in any way into single-turn and multi-turn information. When generating the
position information, parameter CON_PCON_ActPosition (P 0412), likewise presenting a
32-bit variable, is used as the data source. The 32 bits of this parameter can likewise be
broken down into multi-turn and single-turn information. It is important in parameter
setting that the SSI Encoder Simulation does not, for example, transfer more single-turn
bits than correspond to the internal resolution, as they could otherwise not be filled
with information. Parameter MPRO_FG_PosNorm (P 0270) defines this resolution. The
default setting for this parameter is 1048576, corresponding to 2^20. So with default
settings the ServoOne expects 12 multi-turn and 20 single-turn bits. In this case it would
not make sense to transfer more than 12 multi-turn bits, as the number overflow would
occur at the 12th bit, despite a higher parameter setting. Nor would it make sense to set
the number of single-turn bits higher than 20 here, as in this case the additional bits are
always filled with 0.
Specification ServoOne 6
2.4 Parameterization of polarity and phase
Correct configuration of the polarity and phase is important for error-free operation of
the SSI interface. The polarity setting is determined by the resting level of the SSI clock
line. If the clock line rests at a Low level, parameter TOPT_SSI_Polarity (P 2803) should
be set to False. True means the clock level rests at High level. The phase indicates when
a new bit is placed on the data line and when the bit is then evaluated. If parameter
TOPT_SSI_Phase (P 2804) is set to False, the data are always applied back to the resting
level at the edge. If the setting is True, the data are applied away from the resting level
at the edge.
Polarity Phase
False False
False True
True False
True True
Daten
Table 2.4 Parameterization of polarity and phase
2.5 Suffixing a parity bit
A parity bit can optionally be suffixed after the user data. The parity bit is then trans-
ferred after the least significant bit (LSB). The parity bit is enabled by way of parameter
TOPT_SSI_ParityEnable (P 2805). The parity can be set either as "odd" or "even". This
can be selected by way of parameter TOPT_SSI_ParityType (P 2805).
2.6 Using synchronization
Where the SSI information is scanned at equidistant time intervals it is possible to
synchronize the control cycle of the ServoOne to the scan cycle. The synchronization
is executed to the first clock edge of a transfer. When using synchronized mode, it is
important that the read cycle of the control system is an integer multiple of the speed
control cycle. Synchronized scanning can be used to ensure that position values polled
at the equidistant time intervals can be transferred to the higher-level control system. If
multiple synchronized ServoOne units were scanned simultaneously, all actual position
values would be generated at the same time.
Synchronization is enabled by way of parameter TOPT_SSI_SyncUse (P 2808). Parameter
TOPT_SSI_InSync (P 2809) displays the synchronization status.
[
SSI Module
]
7
Specification ServoOne
We reserve the right to make technical changes.
The contents of our documentation have been compiled with
greatest care and in compliance with our present status of infor-
mation.
Nevertheless we would like to point out that this document can-
not always be updated parallel to the technical further develop-
ment of our products.
Information and specifications may be changed at any time. For
information on the latest version please refer to
http://drives.lt-i.com.
LTi DRiVES GmbH
Gewerbestraße 5-9
35633 Lahnau
Germany
Fon +49 (0) 6441/ 96 6-0
FAX +49 (0) 6441/ 96 6-137
Heinrich-Hertz-Straße 18
59423 Unna
Germany
Fon +49 (0) 2303/ 77 9-0
FAX +49 (0) 2303/ 77 9-397
www.lt-i.com
Specification Option 2 - Technology
SSI encoder simulation
ID No: 1106.22B.1-00
Date: 02 / 2011
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