Question: Can, in case of 9300 drive controllers and the ECS servo system, beyond the Hiperface absolute value encoders with 512 periods/rev. encoders with a different number of periods/rev. be operated?
Answer:
According to the standard the devices of range 9300 and the ECS servo system only sine/cosine absolute value encoders with Hiperface interface and 512 periods/rev. can be operated, e. g. SCS70 (singleturn) or SCM70 (multiturn) of Stegmann Company.
Nowerdays the operation with newer Hiperface absolute value encoder types with deviating number of periods/rev., e. g. 1024 or 128, is possible with higher firmware states.
Following drive controllers can also be operated with the absolute value encoders SRS50 and SRM50 with 1024 periods/rev. and a data format of 5 bit, see the attached overview.
9300 cam ≥ sw version 3.3 (VeCon control board) 9300 positioning controller ≥ sw version 2.6 (VeCon control board) 9300 positioning controller ≥ sw version 6.2 (dSMC control board) 9300 Servo PLC ≥ sw version 2.3 (VeCon control board) 9300 Servo-PLC ≥ sw version 6.3 (dSMC control board) ECS Speed&Torque, all versions ECS Posi&Shaft, all versions ECS Motion, all versions ECS Application, all versions At present, the 9300 register controller can process Hiperface absolute value encoders with 512 periods/rev. only.
As an alternative to SRS50 and SRM50 the encoders SCS60 / SCM60, which have 512 periods and a data format of 14 Bit as well, can be applied.
In case of 9300 devices the encoder is set as follows, if the number of periods (number of encoder pulses) deviates from 512:
Select the absolute value encoder multiturn or singleturn in C0025 or C0495 then adapt the number of encoder pulses in C0420. The sequence is important in order to avoid the code C0420 to be overwritten with 512 by the encoder selection C0025 or C0495.
Don´t forget the setting for the encoder supply under code C0421 Tip:
Encoders with a certain number of periods/rev. of the sine / cosine tracks always have a certain Hiperface data format transmitting the absolute value with switching on.
The older firmware states of the 9300 range (see above) do not yet support the newer data formats. Therefore, after setting of the number of encoder pulses in C0420 these firmware states show the following behaviour:
First, the drive is operated as usual, as the sine / cosine tracks are evaluated correctly according to the number of encoder pulses. But when the device is switched on again, the drive initializes with an incorrect actual position, as the encoder value read by the Hiperface interface is now evaluated with the incorrect data format. 