Festo Контроллер двигателя CMMD-AS - Manual (Page 42)

3. Product description
42 Festo P.BE-CMMD-AS-HW-EN 1002NH
The second axis gets the address of the first axis +1
Node number
Slave
= node number
Master
+1
3.5.7 Multi-firmware strategy
A firmware update can be achieved using any desired customer firmware through the
built-in SD card reader. Automatic bootloader.
3.5.8 Motor feedback
Position return takes place purely digitally via EnDat.
EnDat interface V2.x for single and multiturn encoders
Parameter Value
Communication protocol Heidenhain EnDat 2.1 (without analogue track) and 2.2
Signal level DATA, SCLK 5 V differential / RS422 / RS485
Angle resolution /
number of lines increment
generator controller-internal up to 16 bit / revolution
Cable length L 25 m
Cable design in accordance with Heidenhain specification
Limit frequency SCLK 1 MHz
Generator supply from the controller, 5 V –0% / +5%
I
A
= 200 mA max.
Sense lines for power supply not supported
Table 3.12 Signal description of shaft encoder motor EnDat 2.1 and 2.2 [X2]
3.5.9 Brake chopper (Brake control)
A brake chopper with a braking resistor is integrated into the output stage. If the
permitted load capacity of the intermediate circuit is exceeded during the energy
recovery, the braking energy may be converted to heat by the internal braking resistor.
The brake chopper is actuated with software control. The internal braking resistor is
protected against overloading via software and hardware.
3.5.10 Feedback from motor (angle encoder)
The CMMD-AS has a connection for an angle encoder mounted on the motor shaft. This
encoder is used for commutation of a 3-phase synchronous motor and as an actual-value
recorder for the built-in speed and position controller.
The controller supports the following encoders:
EnDat 2.1 encoder – exclusively digital angle information
EnDat 2.2 encoder – digital angle information and service parameters (temperature)