INFRANOR SAS • 29, avenue Jean Moulin • F-65100 LOURDES Application note December 11th, 2017 CDlpm PositionersHiperface/EnDat absolute encoder feedback1) INTRODUCTION This application note is dedicated to the commissioning of the 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-pm amplifier commissioning and parameterization can be found in the pertaining manuals. A CD1-pm application with Hiperface or EnDat absolute encoder requires the amplifier firmware version 529.C8 or higher. The parameterization for an application with Hiperface or EnDat absolute encoder requires the VDSetup software tool version 3.67 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. 2-1. DATA ENCODER CHANNEL SPECIFICATION

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. Positioner 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 For a positioner, a multi-turn absolute encoder allows to avoid the homing sequence after the power up. In this case, the absolute position value over the axis travel range is available at the power up and the positioning can be...

CD1 range: Hiperface/EnDat absolute encoder feedback Perform the positioner commisioning and the parameter setting according to the appropriate positioner manuals (installation and user) The encoder absolute position is first adjusted inside the axis travel range as described below. - Move the axis aproximatively at the center 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 (center of the absolute position range). This adjustment allows to...

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. 6.3 - "COM. CHANNEL" FAULT IN THE HIPERFACE OR ENDAT ENCODER FEEDBACK ■ Check that the encoder Data+ and Data-...

CD1 range: Hiperface/EnDat absolute encoder feedback Notes R/W Reading / Writing E These parameters are saved in the EEPROM by instruction 729. C These parameters are saved in the absolute encoder. 7-1. Reading of the absolute position range Absolute position limit_PNU : 853 This parameter defines the maximum value for the absolute position according to the user position resolution (PNU 740) and the encoder revolutions (PNU 851) for a rotary absolute encoder. The minimum value for the absolute position is 0. Absolute position control is only possible between these limits. A position rool over...

CD1 range: Hiperface/EnDat absolute encoder feedback Encoder absolute position value PNU : 852 Reading of the encoder absolute position value, for an absolute encoder type. Parameter double word. Range The max value (modulo) for an absolute single turn encoder is PNU 850 value. The max value (modulo) for an absolute multi turn encoder is PNU 850 value x PNU 851 value. Unit The scaling is given by the PNU 850 (number of increments per revolution). Note This position value is only valid when the encoder is at standstill. When the encoder is moving, this position value is wrong because of the acquisition...

CD1 range: Hiperface/EnDat absolute encoder feedback User reference position offset_PNU : 857 Reading of the user reference position offset value. This offset value is calculated when the user reference position setting procedure is executed (PNU 856) or when an homing sequence is executed. Parameter double word. Position initialisation mode_PNU : 858 Conversion 0 homing mode. 1 absolute mode (without homing). Note The absolute mode is automaticaly activated when the user reference position setting procedure is executed (PNU 856) or when the save homing procedure is executed (PNU 860). Save homing...

CD1 range: Hiperface/EnDat absolute encoder feedback Appendix A: HIPERFACE encoders list