具有Hiperface接口的SinCos电机反馈系统手册

BESCHREIBUNG/DESCRIPTIONHIPERFACE®-BeschreibungDescriptionoftheHIPERFACE®Interface80107012Inhalt/ContentslistingBeschreibungHIPERFACE®DescriptionHIPERFACE®InhaltsverzeichnisHIPERFACE®Motorfeedback-Systeme3HIPERFACE®DerParameterkanal15HIPERFACE®DasÜbertragungsprotokoll16Datenformat16DialogTiming16ADDRESS-Format17BroadcastadresseFFh17COMMAND-Format17Fehlerbehandlung17HIPERFACE®DieBefehle18Positionlesen19Positionsetzen20Analogwertlesen21Zählerfunktionen22Zählerlesen22Zählererhöhen22Zählerlöschen22DatenspeicherungundVerwaltung23Datenlesen24Datenspeichern24StatuseinesDatenfeldesermitteln24Datenfeldanlegen25VerfügbarenSpeicherbereichermitteln25Zugriffsschlüsseländern25BeispielzurDatenfelddefinition26Geberstatusabfragen27Typenschildauslesen27Reset28Adressevergeben29Seriennummer&Programmversionlesen29SerielleSchnittstellekonfigurieren30PositionsetzenmitinternerSynchronisation31ContentsHIPERFACE®MotorFeedbackSystems32HIPERFACE®Theparameterchannel44HIPERFACE®Thetransmissionprotocol45DataFormat45DialogueTiming45ADDRESSFormat46BroadcastAddressFFh46COMMANDFormat46ErrorHandling46HIPERFACE®Thecommands47Readposition48Setposition49Readanaloguevalue50Counterfunctions51Readcounter51Increasecounter51Deletecounter51DataStorageandAdministration52Readdata53Storedata53Determinestatusofadatafield53Createdatafield54Determineavailablememoryarea54Changeaccesscode54Example:DataFieldDefinition55Readencoderstatus56Readouttypelabel56Reset57Allocateaddress58Readserialnumberandprogramversion58Configureserialinterface59Setpositionwithinternalsynchronisation60SinCos®MotorFeedbackwithHIPERFACE®?DescriptionHIPERFACE®32Backtocontents8010701TheHIPERFACE®interfacehasbeenestablishedonthemarketforseveralyears,featuringsignificantsavingsand,simultaneously,higherperformancecomparedwithconventionalconcepts.Conventionalconceptsinvolvetheuseofseveralencodersystemssupportingthevariouscontrollerfunctions:•Atachogeneratortoprovide“speed”data•Amagneticoropticalcommutatingencoderforblockcommutation•Afinalpositionerforoverlaidpositioncontrol.Theadvantageofthesesystemsistheireasyimplementationduetotheavailabilityoftheappropriateinterfacecomponentsandthelowcomplexityoftheindividualcomponents.Thedisadvantage,however,isnotonlythattheencodersystemsthemselvescostmoney.Thefittingofthreesy-stemsandtheircablingleadtohighcostsandthenumberofcomponentsalsomeansincreasedlikelihoodoffailu-res.Thepotentialsavingsassociatedwithcompactlow-powercontrollersare,ofcourse,amajorconsiderationwithsomerelevantaspectsbeing:•thedesignofthecommutatingencoderwithHallsensors•omittingthefinalpositioner,ifnotabsolutelyessential•replacingthetachogeneratorby“SensorlessControl”softwareconceptsThesesavings,however,arealwaysbalancedagainstperformancelimitsoftheoverallsystem.TheknowledgeoftheserequirementsandthewishtoprovideallthesefunctionsinjustonedevicetriggeredthedevelopmentoftheinnovativemotorfeedbackbySICK-STEGMANN,equippedwithanovelinterface:HIPERFACE®ItisshortforHighPerformanceInterfaceandisthestandardinterfaceforSICK-STEGMANNmotorfeedbacksy-stems.Thisinterfacewasspeciallydevelopedfortherequirementsofdigitaldrivecontrolandofferstheuserstandardisedandsimplifiedmechanicalandelectricalinterfaces.Fig.1PreviouslyControlControlanaloguenominalvalue(default)Digital,bidirectionalFrequencypowerconverterPowerMotorMotorDigitalspeedcontrolleronly8wiresupto15cablesAngleSpeedCommutation33Backtocontents8010701WhatisMotorFeedback?DescriptionHIPERFACE®HIPERFACE®motorfeedback–Overviewofthemostimportantfeatures:•Onlyoneelectricalinterfaceonthespeedcontrollerforallapplicationsandonlyonetypeofcablebetweenspeedcontrollerandmotorfeedbacksystem•Implementationofbothlow-endandhigh-endapplicationswithonlyoneelectricalinterface•Hybridinterfacefrom•theanalogueprocessdatachannelonwhichsineandcosinesignalsaretransmitteddifferentially,withalmostnodelay•thebidirectionalparameterchannelcorrespondingtotheRS485specificationfortransmittingabsolutepositioninformationandvariousotherparameters•Only8wires•Electronictypelabelforidentificationofthemotorfeedbackandstorageofdrive-relatedinformationinthemotorfeedbacksystem•Widetemperaturerange,highshock-andvibrationresistance,immunitytoelectromagneticinterferenceandcompactdimensions.Thedevicescanbefittedinsidetheservomotor.•Analoguesine/cosinesignalsareavailableforspeedcontrol.Theseenablebothhighresolutionforuseatlowspeedsandsufficientlylowsignalbandwidthforthecontrolofhighspeeds.•Cablelengthsupto100m.•Standardisedmechanicalinterfaces.•Theencodershafthasarigidlinktothemotorshaft,enablinghighamplificationfactorstobeused.•Easilyfittedintheservomotor.Axialandradialtolerancesarecompensatedviaaflexiblestatorcoupling(also:torquesupport).•Therelationshipoftheabsolutevaluetothemechanicalshaftpositioncanbeelectronicallymanipulatedtoadjustthecommutation.•Forthepositioncontrolofmechanicallygearedapplications,motorfeedbacksystemswiththesamephysicaldimensionsarealsoavailableasabsolutemultiturnunits,forabsolutepositioningoverupto4096revolutions.CharacteristicsPreviously,opticalencoderswereclassified