Hiperface absolute encoder: Hiperface communication does not start up (corrected from V01.06.04)
Corrected from:
Servo Inverter i950 FW: from V01.06.04.2154
Response of the new version:
HIPERFACE communication starts as expected after correct parameterisation, even if the connected HIPERFACE encoder was previously operated with a supply voltage below its rated voltage.
What happens?
The HIPERFACE communication is not running. The absolute position of the absolute encoder is not available. A previously known reference position cannot be reconstructed. The recognised type code (e.g. 0x2C41:1) and the serial number (e.g. 0x2C41:5) are not displayed.
When does the behaviour occur?
The HIPERFACE encoder is supplied with a supply voltage below its rated voltage in 0x2C42:2.
If HIPERFACE is parameterised as an encoder in 0x2C40:0, the HIPERFACE communication can freeze permanently. There is no error message! A later increase of the supply voltage in 0x2C42:2 e.g. to 8.0V offers no remedy. The i950 must be restarted.
This behaviour is strongly dependent on the respective encoder. There are examples of the same type on the same cable that already work with 5.0V and there are examples that require at least 5.5V. The manufacturer SICK specifies the minimum permissible voltage as 7.0V.
Which products are affected? Basic devices Firmware i950
Short-term measures / recommendations: Observe the sequence when setting the encoder parameters: First increase the encoder supply voltage and then activate HIPERFACE.
Evaluation:
Typically, the encoder is configured using the EASY Starter catalogue function. This means that the behaviour cannot occur.
In applications with i950 CiA base, the HIPERFACE encoder is only correctly supplied with 8 V when the axis has been parameterised via the motion controller. However, since the encoder type 'HIPERFACE' is selected only then, the behaviour does not occur. This only affects user scenarios in which the encoder type 'HIPERFACE' is randomly selected first.
