KEBCO COMBIVERT F5 User manual
COMBIVERT
INSTRUCTION MANUAL Encoder Interface
Channel 1 BiSS + 1Vpp
Translation of original manual
Document Part Version Date
20097260 GBR 00 0115
3
Table of contents
Table of contents
1. Preface............................................................................................................. 4
1.1 Information on special measures.......................................................................................4
1.2 Documentation.....................................................................................................................4
1.3 Validity and liability .............................................................................................................4
1.4 Copyright..............................................................................................................................5
1.5 Pay attention to markings...................................................................................................6
2. Product Description ....................................................................................... 7
2.1 General .................................................................................................................................7
2.2 Operation..............................................................................................................................7
2.2.1 Operation TTL with zero singal ..............................................................................................8
2.2.2 Operation BiSS and Endat.....................................................................................................8
2.3 Material number ...................................................................................................................9
2.4 Scope of delivery (option or replacement delivery) .......................................................10
2.5 Mechanical installation .....................................................................................................10
3. Description of the Interface ......................................................................... 11
3.1 Voltage supply ................................................................................................................... 11
3.2 Channel 1............................................................................................................................ 11
3.2.1 Specications....................................................................................................................... 11
3.2.2 Description of X3A ...............................................................................................................12
3.3 Connenction of the encoder Biss + 1 Vpp / EnDat + 1 Vp ..............................................13
3.3.1 Encoder cable for evaluation without 1 Vpp-signals ............................................................14
3.3.2 Encoder cable for evaluation with 1 Vpp-signals .................................................................14
3.3.3 Encoder line length ..............................................................................................................14
3.3.4 Tested encoders ..................................................................................................................15
3.3.5 Connection of the encoder cable shield...............................................................................15
4. Start-up.......................................................................................................... 16
4.1 Encoder 1 status (Ec.37) ...................................................................................................16
4.1.1 Error Messages ...................................................................................................................17
4.1.2 Encoder 1 read/write (Ec.38, if supported by the encoder) .................................................17
4
Preface
1. Preface
The described hard- and software are developments of the Karl E. Brinkmann GmbH. The
enclosed documents correspond to conditions valid at printing. Misprint, mistakes and techni-
cal changes reserved.
1.1 Information on special measures
Theusedpictogramshavefollowingsignicance:
Danger Is used, when death or serious bodily injury may be the consequence
of non-observance of the measure.
Warning Is used, when bodily injury and/or substantial property damage may
be the consequence of non-observance of the measure.
Caution Is used, when property damage may be the consequence of non-ob-
servance of the measure.
Attention Is used, when noise sensitive or unrequested operation may be the
consequence of non-observance of the measure.
Info Is used, when a better or simpler result can be the consequence of the
measure.
For a special case the instructions can be supplemented by additional pictograms and text.
1.2 Documentation
Prior to performing any work on the unit the user must familiarize himself with the unit. This
includes especially the knowledge and observance of the safety and operating instructions.
Attention Observe safety and operating instructions
Precondition for all further steps is the knowledge and observance of the
safety and operating instructions. This is provided accompanied by the de-
vice or by the download site of www.keb.de.
Non-observance of the safety and operating instructions leads to the loss of any liability
claims. The warnings and safety instructions in this manual work only supplementary. This
list is not exhaustive.
1.3 Validity and liability
The use of our units in the target products is beyond of our control and therefore exclu-
sively the responsibility of the machine manufacturer, system integrator or customer.
Theinformationcontainedinthetechnicaldocumentation,aswellasanyuser-specicadvice
in spoken and written and through tests, are made to best of our knowledge and information
about the application. However, they are considered for information only without responsibil-
ity. This also applies to any violation of industrial property rights of a third-party.
5
Preface
Selection of our units in view of their suitability for the intended use must be done generally
by the user.
Tests can only be done within the application by the machine manufacturer. They must
be repeated, even if only parts of hardware, software or the unit adjustment are modi-
ed.
Danger by tamper from unauthorized personnel
Unauthorised opening and tampering may lead to death, bodily injury, prop-
ertydamageandmalfunctions.Modicationorrepairispermittedonlyby
authorized personnel by KEB. Infringement will annul the liability for result-
ing consequences.
Thesuspensionofliabilityisespeciallyvalidalsoforoperationinterruptionloss,lossofprot,
data loss or other damages. Disclaimer of warranty will cause void the guarantee. This is also
valid,ifwereferredrsttothepossibilityofsuchdamages.
If single regulations should be or become void, invalid or impracticable, the effectivity of all
other regulations or agreements is not affected.
Through multitude applications not each possible case of installation, operation or mainte-
nance can be considered. If you require further information or if special problems occur which
are not treated detailed in the documentation, you can request the necessary information via
the local Karl E.Brinkmann GmbH agency.
1.4 Copyright
The customer may use the instruction manual as well as further documents or parts from it for
internal purposes. Copyrights are with KEB and remain valid in its entirety.
KEB®, COMBIVERT®, COMBICONTROL®and COMBIVIS®are registered trademarks of Karl
E. Brinkmann GmbH.
Other wordmarks or/and logos are trademarks (™) or registered trademarks (®) of their re-
spectiveownersandarelistedinthefootnoteontherstoccurrence.
When creating our documents we pay attention with the utmost care to the rights of third par-
ties. Should we have not marked a trademark or breach a copyright, please inform us in order
to have the possibility of remedy.
6
Preface
1.5 Pay attention to markings
Info Pay attention to markings
Functional
FS
Safety Pay special attention to units with one of these markings on
the nameplate..See documentation for special installation or
operation requirements!
7
Product Description
2. Product Description
X3A
Channel 1
X3A
Channel 1
TTL, BiSS + 1Vpp, EnDat + 1Vpp
Figure 1: Encoder Interface
2.1 General
The instruction covers the installation of the interface card, the connection as well as the
start-up of a suitable encoder.
Further information and the parameter adjustments are described in the application manual
for the inverter/servo.
2.2 Operation
The encoder card supports TTL, BiSS-C1(with or without 1Vpp signals). and EnDat2(2.1,
2.2, with or without 1Vpp signals). During initialization the CPU determines the connected
encoderbycheckingtheencodersignals:TTL,BiSS-CorEnDat.Theencoderstatusisdis-
played in Ec.36.
PossiblevaluesforEc.36:
21: TTL with zero signal
48 Endat without 1Vpp signals
49: EnDat 2.1 Singleturn
with 1 Vpp signals
52: Endat 2.1 multiturn
53: Endat 2.2 singleturn
54. Endat 2.2 multiturn
further on next page
1 BiSS is a registered trademark of iC-Haus GmbH
2 EnDat is a registered trademark of Dr Johannes Heidenhain GmbH.
8
Product Description
57: BiSS-C Hengstler singleturn
with 1 Vpp-signal
58: BiSS-C Hengstler multiturn
59: BiSS-C without electronic type plate
67: BiSS-C Kübler singleturn
68: BiSS-C Kübler multiturn
72: BiSS-C without electronic type plate with 1 Vpp signals
Detection of the encoder manufacturer is only possible, if the encoder has an electronic type
plate, such as all Hengstler encoder. Kübler does not support actually an electronic type
plate. Consequently, only values 72 and 59 for Kübler encoder are currently possible.
2.2.1 Operation TTL with zero singal
The correct inc/r must be entered in Ec.01 for the operation of a TTL encoder (possible values
from 1...16384)
All three signals are checked for encoder breakage during operation.
Info If no zero signal is recognized, error Ec.37 = 68 is triggered after
initialization.
2.2.2 Operation BiSS and Endat
The inc/r must be set to 2048 in Ec.01 for the operation with BiSS and Endat, independent on
the real increments of the encoder.
If a BiSS-C encoder without electronic type plate is used, the following parameters must be
adjustedadditionally:
Ec.44 Singleturn resolution
Ec.53 Multiturn resolution
Ec.43 data code binary or gray
Furthermorethedatawordmustbeconstructedasfollows:
Structuredataword: | MT | ST | ERR | WARN | CRC |
MT Multiturn resolution
ST Singleturn resolution
ERR Error bit 0-active
WARN Warning bit 0-active
CRC x^6 + x^1 + 1 (0x43)
The encoder must also transmit an error and warning bit.
If the encoder has an electronic type plate (the manufacturer is then also displayed in Ec.36),
only the inc/r must be set to 2048.
9
Product Description
If the encoder has 1Vpp signals, the encoder must support 2048 increments per revolution .
The numbers of increments must be set on 2048 in Parameter Ec.01.
If 1Vpp signals are detected during initialization, they are also tested for encoder breakage.
If none signals are detected, non signals are checked.
If no position value can be read from the encoder for the actual control cycle (e.g. due to er-
rors) a position value is interpolated from the two previous position values. If no position value
can be read for three times successively, the encoder interface sends the error message
Ec.37 = 68, which causes error ru.00 = E.EnCC = 35.
If the encoder supports this, data storage/-reading in/from the encoder is possible at nOP
of the control card with Ec.38 = 1/2. The data structure in the encoder is compatible with all
other F5-encoder cards.
If an error is sent directly by the encoder, the highest bit of the error value is set and sent to
the control card as status. Values > 128 are error messages directly from the encoder.
2.3 Material number
xM F5 K8G X X X X
Term of deliv-
ery 0 installed Z Option, spare part
Interface
X3B 9
none
9019
F5 Series
suitable for 1M D, E (circuit board 1MF5280-xxxx see above)
10
Product Description
2.4 Scope of delivery (option or replacement delivery)
• Encoder Interface
• INSTRUCTION MANUAL
• xingbolt
• packing material
2.5 Mechanical installation
All kind of works on the inverter may be carried out by authorized personnel in accordance
with the EMC and safety rules only.
• Switch inverter de-energized and await capacitor discharge time
• Pull off operator
• Remove plastic cover
•Removexingbolt
• Fix interface board beginning from the socket connector straightly
•Screwinxingbolt
• Adjust desired supply voltage with DIP-switch (if it exists)
• Attach plastic cover
11
Description of the Interface
3. Description of the Interface
3.1 Voltage supply
Uint 24 VDC Internal voltage supply of COMBIVERT X2A
X3A
24V
5V
Uint
Uext
100mA
500mA
Uext Control terminal strip (X2A) of the COMBIVERT with exter-
nal voltage supply 24…30 Vdc.
24 V
Voltage output of encoder interfaces X3A for encoder sup-
ply.
At 100 mA load the voltage can be reduced upto 4 V (com-
pared to no-load operation).
5 V Voltage output for encoder supply (Imax 500mA). 5.25 V are
obtained from the 24 V voltage.
Figure 2: Voltage supply of control and encoder interfaces
3.2 Channel 1
Info Storing and reading of data to/from the encoder is possible with Ec.38
= 1/2 at status nOP of the control board.
3.2.1 Specications
X3A 18-pole socket
Interface type BiSS, TTL, Endat
Input signals Signals A, B, N (max. 300 kHz), data und clock according to RS-422/
RS-485.SignalsSinandCos:1Vppdiferentialsignal(max.200kHz)
Resolution Sin-
gleturn
depending on the encoder, max. 24 Bit. If the resolution of the encod-
erishigher,theleastsignicant,additionalbitsaredeleted.
Resolution Multiturn max. 15 Bit
Input resistance 120Ω
Max. line length 50 m, the value is additionally limited by the signal frequency, cable
capacity and supply voltage.
12
Description of the Interface
3.2.2 Description of X3A
Line length dependent on baud rate
2 4 6 8 10 12 14 16 18
1357911 13 15 17
Encoder
PIN
Inc-TTL BiSS and Endat
1 A+ COS+
2 A- COS-
3 B+ SIN+
4 B- SIN -
5 N+ Data+
6 N- Data-
7 Clock-
8
9 Clock+
10
11
12
13 GND GND
14 GND GND
15
16 5V 5V
17 24V 24V
18 GND GND
shielding
The shield have to be mounted on the grounding bar
withashieldingclamp(see"gure4:encodercable
shield with shielding clamp on grounding bar“).
13
Description of the Interface
3.3 Connenction of the encoder Biss + 1 Vpp / EnDat + 1 Vpp
Encoder cable at terminal X3A
• Encoder cable double-shielded and twisted in pairs
• connect both sides of the external shield to PE
• connect the internal shield one-sided to Pin 14 (X3A)
• Do not connect internal and external shield!
Motor encoder plug Socket X3A
2 4 6 8 10 12 14 16 18
1357911 13 15 17
Name PIN PIN Core color
GND – – external shielding
(see„Figure 4“
A+ 15 1 green
A- 16 2 yellow
B+ 12 3 blue
B- 13 4 red
Data+ 14 5 gray
Data- 17 6 pink
Clock+ 8 9 black
Clock- 9 7 purple
COM 10 13 white
+5,25 V 7 16 brown
14 internal shielding
Figure 3: Connection of the encoder
14
Description of the Interface
3.3.1 Encoder cable for evaluation without 1 Vpp-signals
KEBencodercablesarecorrespondingtothefollowingspecication:
Signal lines (2 x 2 x 0,15 mm²
twisted pair and single shielded
Supply line 2 x 0,38 mm²)
Particularities trailing capable, oil resistand, suitable for
high clock frequeny
Temperature range to 80 °C durable
Color green RAL 6018
Material number 00H6L51-2xxx
Attention Due to high clock frequencies use only original KEB cables for BiSS
and Endat evaluation, without 1Vpp signals.
3.3.2 Encoder cable for evaluation with 1 Vpp-signals
KEBencodercablesarecorrespondingtothefollowingspecication:
Signal lines (4 x (2 x 0,14 mm²)
twisted in pairs and double-shielded
Supply line 2 x (0,5mm²))
Particularities trailing capable, oil-resistant
Temperature range to 80 °C durable
Color green RAL 6018
Material number 00H6L53-2xxx
3.3.3 Encoder line length
The maximum line length is 50 m. It is limited by the signal frequency, cable capacity and the
line resistance.
Encoder cable length = U - Umin
––––––––––
Imax • 2 • R
max. encoder current Imax:see encoder description
SupplyvoltageU: 5.2 V
min. supply voltage Umin:see encoder description
e.g.KEBencodercableresistanceR: 0,048Ω/mat0,38mm²
15
Description of the Interface
3.3.4 Tested encoders
ThefollowingencodershavebeentestedbyKEBonitapplication:
BiSS-C: Hengstler Acuro AD58, AD36, AD34, Kübler Sendix 5853,
EnDat:HeidenhainROQ437,ECI1317,EQN1125
Info However, this does not restrict the use of rotary encoder with same
specicationsofothermanufacturers.
3.3.5 Connection of the encoder cable shield
Attention The encoder cable shield must be mounted to the grounding bar with
a shield clamp .
Figure 4: encoder cable shield with shielding clamp on grounding bar“).
16
Start-up
4. Start-up
After the installation or exchange of an encoder interface some adjustments of the inverter/
servosoftwarehavetobedonebeforeoperation:
• Switch on inverter
• Select application mode
• When using synchronous motors set Ud.02 to F5-S
• Select parameter Ec.38; if automatic read in is not adjusted in Bit 2, read out encoder
data with Bit 0.
• At BiSS-C without electronic type plate, select and adjust parameter Ec.44 and Ec.53.
• Select parameter Ec.37 and control encoder status. Acknowledge possibly error mes-
sages.
4.1 Encoder 1 status (Ec.37)
This parameter displays, by means of different status messages, the status of encoder and
interface. All errors are only triggered at control release in inverter state ru.00, although they
are already displayed in Ec.37.
With Ec.42 can be adjusted if an error message of the encoder card triggers an error in the
inverter or not (ru.00).
Value Description
Thefollowingvalueisdisplayedatcorrectoperation:
16 Position values are transferred, encoder and interface are working
The following status messages triggers „Error Encoder Change“ (E.EnCC) because the
correct evaluation of the position is no longer guaranteed .
Error E.EnCC can only be reset via parameter Ec.00. Exception ! An error due to wrong
increments per revolution (value 70) is reset immediately, if the correct increments per
revolution are adjusted.
Attention, the modulation is released, when the control release is still set!
64 Encoder is unknown and will not be supported
66 No communication to the encoder. Initialization is not possible
67 Incremental signals invalid
68 Absolute signals are faulty. All signals are checked at TTL-encoders, at BiSS-C
and Endat the digital communication.
Differencetoerror66:
The communication was o.k. before. Can also occur at BISS -C without el. type
plate:theconnectiontotheencoderiso.k.,butthesettingofthedatalength
(Ec.44 and Ec.53) is still wrong. Error must be reset then.
further on next page
17
Start-up
Value Description
69 For encoder with incremental signals, the incremental counted position is com-
pared with the absolute position (e. g. zero signal or position via BiSS/Endat). If
there is a difference, which cannot be corrected the following error is triggered.
The following status messages triggers „Error Encoder 1“ (E.EnC1), if encoder data is
read:
96 New encoder type detected. An encoder type can also be detected if an error
reset is carried out at defective encoder signal.
97 This value generates the control card software after the encoder data are readout
and the data content was checked for plausibility. If the encoder is not written,
Ec.37 = 97 is set.
Thisvaluecanalsoappeariftheencoderinterfaceisswitchedonrst
with the control card and no encoder is connected! Then error value 66
should be displayed, however which has a lower priority. After reset of
error value 97 (e.g. by writing on Ec.02) the correct value Ec.37 = 66 is
output.
The following error messages are directly displayed by the encoder.
>128 Error message directly derived from the encoder, depending on the encoder/-
protocol
4.1.1 Error Messages
Error messages >128 are directly coming from the encoder. The encoder card sets the high-
est bit and displays them in Ec.37.
If the encoder supports a detailed error state (see data sheet of the encoder), this state is
displayedinEc.37andcanbedeterminedby:
Errormessagefromtheencoder:Ec.37-128
If Ec.37 displays value 128, the encoder has set only one error bit in the BiSS communication
and supports no further information.
4.1.2 Encoder 1 read/write (Ec.38, if supported by the encoder)
With Ec.38 the parameter are read/write from/to the encoder.
Bit Val-
ue
Function
0 1 Reading out of the parameters. Then the parameter is reset.
1 2 Storing of the parameters in the encoder (only with supervisor-password and in
nOP status)
2 4 Automatic reading out of the parameters when connecting a new encoder (load-
ing after acknowledgement with Ec.00 and default values)
At F5-S bit 2 is default-moderately set, not at F5-M and F5-G. Thus at F5-S encoder data are
reading out after default loading.
18
Notizen / Notes
19
Notizen / Notes
KEB Antriebstechnik Austria GmbH
Ritzstraße 8 • A-4614 Marchtrenk
fon:+43724353586-0•fax:+43724353586-21
net:www.keb.at•mail:[email protected]
KEB Antriebstechnik
Herenveld 2 • B-9500 Geraadsbergen
fon:+3254437860•fax:+3254437898
mail:[email protected]
KEB Power Transmission Technology (Shanghai) Co.,Ltd.
No.435QianpuRoad,ChedunTown,SongjiangDistrict,
CHN-Shanghai 201611, P.R. China
fon:+862137746688•fax:+862137746600
net:www.keb.de•mail:[email protected]
KEB Antriebstechnik Austria GmbH
Organizačnísložka
K.Weise1675/5•CZ-37004ČeskéBudějovice
fon:+420387699111•fax:+420387699119
mail:[email protected]
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Wildbacher Str. 5 • D–08289 Schneeberg
fon:+49377267-0•fax:+49377267-281
mail:[email protected]
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C/ Mitjer, Nave 8 - Pol. Ind. LA MASIA
E-08798 Sant Cugat Sesgarrigues (Barcelona)
fon:+34938970268•fax:+34938992035
mail:[email protected]
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Z.I. de la Croix St. Nicolas • 14, rue Gustave Eiffel
F-94510LAQUEUEENBRIE
fon:+33149620101•fax:+33145767495
net:www.keb.fr•mail:[email protected]
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Morris Close, Park Farm Industrial Estate
GB-Wellingborough, NN8 6 XF
fon:+441933402220•fax:+441933400724
net:www.keb.co.uk•mail:[email protected]
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Via Newton, 2 • I-20019 Settimo Milanese (Milano)
fon:+39023353531•fax:+390233500790
net:www.keb.de•mail:[email protected]
KEB Japan Ltd.
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RUS-140091 Moscow region
fon:+74956320217•fax:+74956320217
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KEB America, Inc.
5100 Valley Industrial Blvd. South
USA-Shakopee, MN 55379
fon:+1952224-1400•fax:+1952224-1499
net:www.kebamerica.com•mail:[email protected]
© KEB
Document 20097260
Part/Version GBR 00
Date 2015-01-19
More and latest addresses at http://www.keb.de
Karl E. Brinkmann GmbH
Försterweg 36-38 • D-32683 Barntrup
fon:+495263401-0•fax:+495263401-116
net:www.keb.de•mail:[email protected]
KEB worldwide…
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