Efficient Networks S120 Hardware requirements, Block diagram of the incremental encoder emulation

Basic functions

6.15 Terminal Module 41 (TM41)

QBVHWSBILOW  IQBQ	QBVHWSBILOW  'BQ
S	S	QBVHWGHDGWLPH
		S

QBFWUOQ BVHWS	_\_
S	'
>@
	I	'HDGWLPH
	37ORZSDVV

(QFRGHUSXOVH1R

S

)RUPDW

DGMXVWPHQW

70

Figure 6-14 Block diagram of the incremental encoder emulation

Description (p4400 = 1) incremental encoder emulation using encoder position actual value

The encoder position actual value of a drive (r0479) is interconnected to the TM41 via a connector input (p4420) and is therefore available at the TM41 as pulse encoder emulation. The signals of the pulse encoder emulation can, for example, be read-in from one control. In this way, it is possible, for example, to implement the position controller in a higher-level control without PROFIBUS and to assign the speed setpoint to the drive via the analog output of the control and the analog input of the TM41 (see example TM41). The number of encoder pulses per revolution (p0408) and the fine interpolation (p0418) must be set the same as the drive.

The runtime of the encoder position actual value up to the pulse encoder emulation can be compensated using the deadtime compensation with p4421. If p4422 = 1, input signal p4420 is inverted.

The sampling time for encoder emulation (p4099[3]) is automatically adjusted to the application cycle of the connected encoder (connector input p4420) if the factory setting of p4099[3] does not match the application cycle. The adjustment is made after initial POWER ON and following the logical application (connector input p4420) of the encoder. The error message F35228 indicates that the value p4099[3] has been changed.

The message can be acknowledged immediately. The new sampling time is active after saving (RAM to ROM) and a POWER ON.

Hardware requirements:

●The TM41 shall operate on a DRIVE-CLiQ line that is separated from the Motor Modules. The communication cycle of the DRIVE-CLiQ line must match the application cycle of the associated encoder.

●If multiple TM41s operate on the same DRIVE-CLiQ line, the sampling times p4099[3] must be identical for all TM41s. In this case, the emulated encoders must have the same application cycle.

Example: Commissioning the incremental encoder emulation using the encoder position actual value (p4400 = 1)

Encoder signals from the motor encoder are to be output from the SERVO drive object via TM41.

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