Table of Contents - TG Drives

EXTENDED REGISTER GROUPS
XENDAT,
Group Group
No.
Description
XENDAT,
XENDAT 56 The ENDAT transducer interface group. Purpose is to
initialize, control and readout position/speed from the
ENDAT sensor.
The interface supports ENDAT sensors that conforms
to the Heidenhain document D297403-00-A-02,
version 2.1.
GENERAL
This group is not affected by a GDisp terminal mode command.
FUNCTION
The sensor can be operated in four modes
MANUAL MODE.
In this mode the PL program controls each transmission and reception from the
sensor. This is the mode used to initialize, configure and troubleshoot the sensor.
AUTOMATIC SERIAL MODE
The serial position of the sensor is read every servo cycle, or as often as the
sensor/sensor clock allows, if this is slower.
This position is absolute up to the capacity of the serial capacity of the encoder,
and then incrementally extended to the 32-bit position the DMC 2 uses. In case the
encoder has a capacity of more than 32 bits, only the 32 least significant bits are
used.
If this mode is used for commutating and regulating the motor, it must be ensured
that the encoder is setup in such a way that it can respond every servo cycle. Also
no manually transmitted commands that disturbs this is allowed. (At 2 MHz endatclock
it is possible to run both parameter reads and regulation at the same time)
ANALOG MODE ONLY
The analog signals from the sensor is counted in and up/down quadrate counter to
extract a coarse position and an Arctangent calculation is performed on the sin and
cos signals to extract a fine position. These positions are then combined to a total
position. The extra resolution that can be extracted this way is maximum 11 bits.
The 13 least significant bits of this information is absolute, all other higher order
bits are incremental.
COMBINED SERIAL AND ANALOG MODE
In this mode the position from the analog mode is combined with the serial data to
get an absolute position from the encoder, and to extend it with up to 11 more bits.
Thus for a 25 bit encoder the position can be extended by 7 bits to 32 bits fully
absolute position. Extending the position with more than 7 bits will in this case
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001
163