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User Manual for Danfoss models including: OPTBE Board Functional Extensions, OPTBE Board, Functional Extensions, Extensions
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DocumentDocumentvacon® nx ac drives endat/ssi, sin-cos option board, optbe sin-cos option board, optak user manual ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE vacon 3 TABLE OF CONTENTS Document code: DPD01174C Date edited: 26.01.2024 1. ENDAT/ SSI, SIN- COS option boar d OPTBE...................................................................... 4 1.1 OPTBE l ayout and descr iption ...................................................................................................... 4 1.2 OPTBE jumpers ............................................................................................................................. 5 1.3 OPTBE LEDs .................................................................................................................................. 6 1.4 I/O terminals on OPTBE, encoder terminal X6............................................................................ 6 1.5 OPTBE Parameters ....................................................................................................................... 7 1.6 OPTBE monitored values .............................................................................................................. 8 2. Sin- Cos option boar d OPTAK .......................................................................................... 9 2.1 OPTAK layout and description ...................................................................................................... 9 2.2 OPTAK jumper settings............................................................................................................... 10 2.3 I/O terminals on OPTAK, encoder terminal X6.......................................................................... 10 2.4 OPTAK parameters...................................................................................................................... 11 2.5 OPTAK monitor ed val ues ............................................................................................................ 11 3. Instal l ation................................................................................................................... 12 3.1 Installing option boards .............................................................................................................. 12 NOTE! You can downl oad the Engl ish and Fr ench pr oduct manual s with appl icabl e safety, war ning and caution infor mation fr om https:/ / www.danfoss.com/ en/ ser vice-and- suppor t/ . REMARQUE Vous pouvez tél échar ger l es ver sions anglaise et fr ançaise des manuel s pr oduit applicabl es sur l e site https:/ / www.danfoss.com/ en/ ser vice- and- suppor t/ . Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ 4 vac on ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE 1 . ENDAT/ SSI , SI N- COS OPTI ON BOARD OPTBE 1 . 1 OPTBE l a yo u t a n d d esc r i p t i o n X2 Yellow LED (Boar d Status LED) Green LED (Encoder X1 Descr ipt ion: Allowed slots: Type ID: Ter minals: Jumper s: Board parameters: Encoder board for VACON® NXP with an input for EnDat/SSI absolute encoder and Sin/Cos type encoder. C, D, E (Sin/Cos signals can only be used in slot C) 16965 One terminal block; Screw terminals (M2.6); No coding. X1 and X2 (see page 5) Yes (see page 7) An absol ute encoder is a type of encoder capable of specifying its absolute position. The position data is retained even during a power failure or breakdown. The position data carried by the absolute encoder can be used by the AC drive in motor control and position control applications. Sin/ Cos encoder produces a pair of analog sinusoidal signals. There are several sine cycles (for example 1024 or 2048) per mechanical revolution. Encoder cable Encoder voltage Measuring steps/ revolution Distinguishable revolutions Sin/Cos signal periods/revolution EnDat and SSI data transfer rate Heidenhain cable Max. length 100m It is recommended to use a cable which contains individual shield for each twisted pair. 5V, 12V or 15V Max. current consumption 300mA 4.2 billion (max. 32bit) 0 65535 (max. 16bit) 1 65535 200 kHz Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE vacon 5 EnDat is a bidirectional synchronous serial interface for encoders. For example, the absolute encoder position data can be read and encoder parameters can be set via the EnDat connection. It also forwards the messages related to the encoder functions. All EnDat connections are available in terminal X6. The board uses EnDat version 2.1. SSI (Synchronous Serial Interface) is a single directional interface for transmitting absolute position val ue. The absolute position value beginning with the Most Significant Bit (MSB first) is transferred on the DATA lines in synchronism with a CLOCK signal transmitted by the control. The SSI standard data word length for single turn absolute encoders is 13 bits, and for multiturn absolute encoders 25 bits. More information on EnDat/SSI: http://www.heidenhain.com. 1 . 2 OPTBE j u mp er s NOTE! It is recommended to use a 12 V or 15 V supply voltage instead of 5 V. OPTBE interface does not support "sense" function to compensate voltage drop with a long cabling. Therefore with 5 V supply voltage the cable length limit is about 60 meters with 0.5 mm2 wire section. With 5 V supply voltage it is recommended to use two or more wir es in parallel for the supply connection. Jumper X1 selects encoder supply voltage on the OPTBE board, see jumper settings below: 5V (Default) 12V 15V Jumper X2 selects Sin/Cos signals connection on the OPTBE board, see jumper settings below: Sin/Cos signals connected Note! This setting can only be used in slot C. Sin/Cos signals not connected (Default) Note! This setting must be used in slots B, D and E. NOTE! Be careful with the jumper settings, wrong settings may damage the encoder. Local contacts: http://www.danfoss.com/en/contact-us/contacts-list/ 6 vac on ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE 1 . 3 OPTBE LEDs There are two LEDs on the OPTBE board: 1) Yellow LED (Board Status LED) Slow blinking - > Board state is ready Fast blinking - > Board state is faulted 2) Green LED (Encoder LED) ON - > Encoder serial communication is OK OFF - > No serial connection to encoder 1 . 4 I / O t er mi n a l s o n OPTBE, en c o d er t er mi n a l X6 Ter minal 1 DATA+ 2 DATA 3 CLOCK+ 4 CLOCK 5 A+, COS+ 6 A ,COS7 B+, SIN+ 8 B , SIN9 GND 10 Encoder voltage Heidenhain colour code Gr ey Pink Violet Yellow Gr een/ bl ack Yellow/black Blue/black Red/black Whit e/ gr een Br own/ gr een Technical data Data line 120/RS-485 Clock line 120/RS-485 (200kHz) 1Vpp (±0.5V); impedance 120; Max. input 350 kHz 1Vpp (±0.5V); impedance 120; Max. input 350 kHz Input ground Selectable encoder voltages: 5V, 12V and 15V Max. current consumption 300mA Analog Sin/Cos signals deserve some mor e pr ecautions for noise immunity than pulse encoders. It is recommended to use a cable which contains individual shield for each twisted pair . Use one pair for SIN+/SIN- signals, another pair for COS+/COS- signals, another pair for DATA+/DATA- signals and another pair for CLOCK+/CLOCK- signals. Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE vacon 7 1 . 5 OPTBE Pa r a met er s Notes for selecting Operating Mode: In modes "EnDat + Sin/Cos" and "SSI+Sin/Cos" Sin/Cos signals and absol ute serial information are used: · Modes can be used in VACON® NXP option board slot C. · Closed loop motor control mode can be used. · Jumper X2 is installed into OPTBE board because Sin/Cos signals are used. In modes "Endat Only" and "SSI Only", only the absolute serial information is used: · Modes can be used in VACON® NXP option board slots C, D and E. · Closed loop motor control mode cannot be used. Usage of closed loop in these modes causes Fault 43 (Encoder fault) with Subcode 10. · Jumper X2 is removed from OPTBE board because Sin/Cos signals are not used. · Number Par ameter 7.x.1.1 Operating Mode 7.x.1.2 Pulse/revolution 7.x.1.3 Invert direction 7.x.1.4 Reading rate 7.x.1.5 Interpolation 7.x.1.6 SSI data coding 7.x.1.7 7.x.1.8 SSI total bits SSI revol bits Min Max 4 8 1 65535 0 1 0 4 0 1 0 1 0 55 0 16 Defaul t Not e 4 = EnDat + Sin/Cos (default) 5 = EnDat Only 4 6 = SSI+Sin/Cos 7 = SSI Only 8 = Sin/Cos Only 1024 0 0 = No 1 = Yes Time used to calculate speed actual value. Note: Use value 1 in Closed Loop mode. 1 0 = No 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms If activated, the sinusoidal incremental pulses are used to calculate the polar angle in order to optimize the encoder 0 accur acy 0 = No 1 = Yes 1 0 = Binary 1 = Gray 13 0 Local contacts: http://www.danfoss.com/en/contact-us/contacts-list/ 8 vac on ENDAT/ SSI , SI N- COS op t i on b oa r d OPTBE 1 . 6 OPTBE mo n i t o r ed va l u es Code Monitor ed val ue Unit 7.x.2.1 Encoder frequency Hz 7.x.2.2 Encoder speed r pm 7.x.2.3 Com Counter 7.x.2.4 Revolution counter 7.x.2.5 Absolute position Hi word 7.x.2.6 Absolute position Lo word Descr iption Encoder frequency in Hz Encoder Speed in rpm Message counter for serial encoder communication 0-65535 In case multiturn encoders this monitored value counts the revolutions. 0-65535 absolute position up from 16 bits to 32bits absolute position up to 16 bits Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ Si n- Co s o pt i on bo a r d OPTAK 2 . SI N- COS OPTI ON BOARD OPTAK 2 . 1 OPTAK l a yo u t a n d d esc r i p t i o n vacon 9 X1 Descr ipt ion: Allowed slots: Type ID: Ter minal s: Jumper s: Board parameters: Encoder board for VACON® NXP with an input for Sin/Cos type encoder. Programmable control voltage. C (Sin/Cos signals can only be used in slot C) 16715 One terminal block; Screw terminals (M2.6); No coding. X1 (see page 10) Yes (see page 11) Sin/Cos encoder produces a pair of analog sinusoidal signals. There are several sine cycles (for example 1024 or 2048) per mechanical revolution. Local contacts: http://www.danfoss.com/en/contact-us/contacts-list/ 10 vac on Si n- Co s o pt i on bo a r d OPTAK 2 . 2 OPTAK j u mp er set t i n g s NOTE! It is recommended to use a 12 V or 15 V supply voltage instead of 5 V. OPTAK interface does not support "sense" function to compensate voltage drop with a long cabling. Therefore with 5 V supply voltage the cable length limit is about 60 meters with 0.5 mm2 wire section. With 5 V supply voltage it is recommended to use two or more wir es in parallel for the supply connection. Jumper X1 selects encoder supply voltage on the OPTAK board, see jumper settings below: 5V (Default) 12V 15V NOTE! Be careful with the jumper setting, wrong voltage may damage the encoder . 2 . 3 I / O t er mi n a l s o n OPTAK, en c o d er t er mi n a l X6 Ter minal 1 N.C. 2 N.C. 3 R+ 4 R- 5 SIN+ 6 SIN7 COS+ 8 COS9 GND 10 Encoder voltage Technical data Not Connected Max 10Vpp (±5V), Min 1Vpp (±0.5V). Typically signal is ~2.5Vpp (±1.25V): at reference mark moment positive signal, other time negative signal. Impedance 120 Max input 350 kHz Reference mark signal 1Vpp (±0.5V); impedance 120; Max. input 350 kHz, 1Vpp (±0,5V); impedance 120; Max. input 350 kHz Input ground Selectable encoder voltages: 5V, 12V and 15V Max. current consumption 300mA NOTE! Analog Sin/Cos signals deserve some more precautions for noise immunity than pulse encoders. It is r ecommended to use a cable which contains individual shield for each twisted pair . Use one pair for SIN+/SIN- signals, another pair for COS+/COS- signals and another pair for R+/Rsignal s. Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ Si n- Co s o pt i on bo a r d OPTAK vacon 11 2 . 4 OPTAK p a r a met er s Number Par ameter Min 7.3.1.1 Pulse/revolution 1 Max 65535 7.3.1.2 Invert direction 0 1 7.3.1.3 Reading rate 0 4 7.3.1.3 Interpolation 0 1 Defaul t 1024 0 1 0 Not e 0 = No 1 = Yes Time used to calculate speed actual value. Note: Use value 1 in Closed Loop mode. 0 = No 1 = 1 ms 2 = 5 ms 3 = 10 ms 4 = 50 ms If activated, the sinusoidal incremental pulses are used to calculate the polar angle in order to optimize the encoder accuracy 0 = No 1 = Yes 2 . 5 OPTAK mo n i t o r ed va l u es Code Monitor ed val ue Unit 7.3.2.1 Encoder frequency Hz 7.3.2.2 Encoder speed r pm Descr iption Encoder frequency in Hz Encoder Speed in rpm Local contacts: http://www.danfoss.com/en/contact-us/contacts-list/ 12 vac on I nst al l at i on 3 . I NSTALLATI ON WARNING! Internal components and circuit boards are at high potential when the AC drive is connected to the power source. This voltage is extremely dangerous and may cause death or severe injury if you come into contact with it. 3. 1 I nst al l i ng opt i on boar ds Option boards OPTBE, OPTAK and OPTAR can only be used with VACON® NXP drives. OPTAK and OPTAR can be connected to sl ot C. OPTBE board can be connected to sl ots C, D or E, but Sin/Cos signals can only be used in slot C. If OPTBE board is connected to slots D or E, the Sin/Cos signals have to be disconnected using the jumpers (see chapter 1.2). Disconnect the drive from the mains before starting the installation. A VACON® NXP AC drive B Remove the cable cover. Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ I nst al l at i on C Open the cover of the control unit. vacon 13 D Install the option board in correct slot on the contr ol board of the AC drive. Make sure that the grounding plate fits tightly in the clamp. Strip the cable at such distance from the terminal that you can fix it to the frame with the gr ounding clamp. E Make a sufficiently wide opening for your cable by cutting the grid as wide as necessar y. Local contacts: http://www.danfoss.com/en/contact-us/contacts-list/ 14 vac on F Close the cover of the control unit and the cable cover. I nst al l at i on Local contacts: https://www.danfoss.com/en/contact-us/contacts-list/ www.danfoss.com Danfoss Drives Oy Runsorintie 7 65380 Vaasa Finland Document ID: DPD01174C Rev. C Sales code: DOC-OPTBE/AK+DLUK