INFRANOR SAS • 29, avenue Jean Moulin • F-65100 LOURDES IKIFRAMOR Application note CD1a / CD1k servo drives December 11tn, 2017 This application note is dedicated to the commissioning of CD1 drives range running a motor equipped with an Hiperface or EnDat Absolute Encoder. Only the specific information concerning the Hiperface or EnDat encoder setting are described in this document. The complete information for the CD1-a or CD1-k amplifier commissioning and parameterization can be found in the pertaining manuals. A CD1-a application with Hiperface or EnDat absolute encoder requires the amplifier firmware version 12.3C or higher. CD1-k applications with Hiperface or EnDat absolute encoder require the amplifier firmware version 112.33 or higher. The parameterization for an application with Hiperface or EnDat absolute encoder requires the VDSetup software tool version 4.0 or a higher release. The “Hiperface Absolute Encoder” configuration (Stegmann or compliant) is software selectable and stored in the amplifier EEPROM. The corresponding X3 connector pin functions are described below.

CD1 range: Hiperface/EnDat absolute encoder feedback 2-2. SIN/COS ENCODER CHANNELS SPECIFICATION 3) X3 CONNECTOR FOR ENDAT ABSOLUTE ENCODER (Sub D 25 pins female) The “ EnDat Absolute Encoder” configuration (Heidenhain or compliant) is software selectable and stored in the amplifier EEPROM. The corresponding X3 connector pin functions are described below. 3-1. DATA AND CLOCK ENCODER CHANNELS SPECIFICATION

CD1 range: Hiperface/EnDat absolute encoder feedback 3-2. SIN/COS ENCODER CHANNELS SPECIFICATION 20K 4) ENCODER CABLES The encoder inputs A, B, C, D, Z and R require a pair twisted and shielded cable. The shield must have a "360°" connection via metallic collars at both ends. If the shield is connected by means of a pig tail, it must be connected at one end to the GND pin of the connector on the amplifier side with a connection as short as possible. Check that the voltage drop in the power supply lines of the encoder cable complies with the encoder technical specifications. The voltage drop value...

CD1 range: Hiperface/EnDat absolute encoder feedback 5-2. AMPLIFIER OPERATION With an Hiperface or EnDat absolute encoder feedback, the motor absolute position value over one revolution is available and the servo motor can immediately be enabled after the amplifier power up. The servo drive behaviour at the amplifier power up is similar to a resolver sensor feedback. On a CD1-a amplifier, the capabilities of an absolute multi-turn encoder cannot be fully exploited because the CD1-a operating modes are incremental: analog speed mode or pulse following mode (stepper emulation / electronic gearing)....

CD1 range: Hiperface/EnDat absolute encoder feedback 6-3. AMPLIFIER ADJUSTMENT Perform the amplifier commissioning and the parameterization according to the appropriate CD1-k amplifier manuals (Installation and User Guides). The encoder absolute position is first adjusted inside the axis travel range as described below. For a rotary encoder: - Move the axis approximately at the centre of its travel range in operation. - Open the "Scaling" window accessible in the " Application Setup" menu; and execute the Set command for setting the encoder absolute position value at the max. value / 2 (centre...

CD1 range: Hiperface/EnDat absolute encoder feedback If the Busy fault is displayed after the amplifier power up, the encoder/amplifier communication has not started. ■ Check that the encoder Data+ and Data- channels are correctly wired on the amplifier X3 connector. ■ Check for the correct encoder supply voltage value (5V for EnDat and 12V for Hiperface). Then, switch off the amplifier and switch it on again in order to restart the communication between the amplifier and the encoder. 7.3 - "COM. CHANNEL" FAULT IN THE HIPERFACE OR ENDAT ENCODER FEEDBACK CONFIGURATION ■ Check that the encoder...

CD1 range: Hiperface/EnDat absolute encoder feedback value for the absolute position is 0. Absolute position control is only possible between these limits. A position roll-over phenomenon occurs when moving beyond these limits. An absolute linear encoder is not concerned by the position rollover. In this case, the returned value for this parameter is 0xFFFFFFFF (full encoder position range). This object returns the absolute position value, for an absolute encoder type, or the incremental position value, for an incremental encoder type. For an absolute encoder type, this position value is only...

CD1 range: Hiperface/EnDat absolute encoder feedback This parameter defines the encoder absolute position offset value. This offset value is calculated when the absolute position reset procedure is executed. The max. value (modulo) for an absolute single-turn encoder is object 3216 sub 1 value. The max. value (modulo) for an absolute multi-turn encoder is object 3216 sub 1 value x object 3216 sub 2 value. The scaling is given by object 3216 sub 1 (number of increments per revolution). This parameter is saved in the amplifier EEPROM.

CD1 range: Hiperface/EnDat absolute encoder feedback Appendix A : HIPERFACE encoder list For other absolute encoder references, please contact the factory.

CD1 range: Hiperface/EnDat absolute encoder feedback The following hardware indexes are required in the CD1 amplifier in order to support the Hiperface / EnDat absolute encoder feedback functionality.