Efficient Networks S120 manual General description, Basic functions 6.15 Terminal Module 41 TM41

Basic functions 6.15 Terminal Module 41 (TM41)

–Settable zero mark position (p4426)

–Operating display (r0002)

●Pulse encoder emulation by presetting of an encoder position actual value (p4400 = 1)

–Deadtime compensation (p4421)

–Settable pulse number (p0408) (range 1000 to 8192 pulses)

–Settable fine resolution (p0418) (2 to 18 bits)

–Enable zero marks (p4401.0)

–Apply r479 (Diagnostics encoder position actual value, SERVO/VECTOR) to input P4420 (Incremental encoder emulation encoder position actual value). Parameter r482 must not be applied for encoder emulation.

–No gear ratio between the encoder to be emulated and the associated TM41 is supported.

–The pulse number and fine resolution setting of the TM41 must match that of the encoder so that the zero marks of TM41 and encoder are synchronized.

–Only one Encoder Data Set (EDS) can be applied to exactly one TM41.

If the same EDS is applied to another TM41, it is possible to emulate only the position actual value but not the zero mark position.

–A TM41 cannot emulate the zero mark position and the position actual value of another TM41.

–When an absolute encoder is emulated, the TM41 can only emulate the encoder actual position of the absolute encoder. In this case, the zero mark on the TM41 is output once per encoder revolution of the TM41. The zero mark does not correspond to the zero position of the absolute encoder but will have a different position at each POWER ON. It can only be used to detect a movement of the absolute encoder. If required, the output of the zero mark can be disabled via p4401.0=0.

–Resolvers are not supported

–The TM41 can only emulate a single zero mark of an incremental encoder. The search for the first zero mark requires at least one full encoder revolution. The detected zero mark is then output during the subsequent encoder revolution on the TM41.

General description

The TM41 outputs incremental encoder signals (TTL). The signals can be generated using a speed value via a process data word (p4400 = 0) or using an encoder position actual value of a drive (p4400 = 1). The incremental encoder signal can, for example, be evaluated by a control or other drives. One analog input, 4 digital inputs and 4 bidirectional digital inputs/outputs are available. The can, for example, be used to enter an analog speed setpoint and transfer control and status signals - e.g. OFF1/ON, ready or fault.

Example: Description (p4400 = 0) incremental encoder emulation using a speed setpoint

A speed setpoint is received via PROFIdrive telegram 3 (r2060), which is interconnected to p1155. The speed setpoint can be filtered using a (p1414.0) PT2 element (p1417 and p1418) and delayed with a deadtime (p1412). The number of encoder pulses per revolution can be set using parameter p0408. The distance between the zero marks and the position when enabling the A/B tracks (r4402.1) can be entered into parameter p4426 and enabled with p4401.0.

Drive Functions	213
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4