Introduction
The Heidenhain ERN series and Hengstler S21 are generic incremental encoders that have 1Vpp sine wave incremental outputs, unlike the more common 5 VDC HTL/TTL square wave output. These 1Vpp encoders often test well on the TI-5000JX but sometimes cause run issues on the TI-3000JX. The major culprit to the run issues is the low level, oddly shaped index pulse. The TI-3000JX run test environment is always slightly noisier than the TI-5000JX because of the higher voltages used on the AMC amplifier, and the noisier environment can cause the index to be read incorrectly, causing run problems.
Below are waveform diagrams for both encoders. Notice how the index signal, listed as "R" (index, or Z pulse), does not have a clean square wave output and only has an average output of 0.5 V. This low level signal is very susceptible to noise.
The only way to potentially clear up the run issues is to have less noise in the run environment. Make sure all equipment is well grounded, especially the motor, and make sure to keep feedback leads separated from the power leads. If you are using 3-phase or over 200 VAC to power the AMC drive, try dropping down to single phase 120 VAC instead. We also are now offering the TI-3100 filter card, which has been proven to help clean up noisy run environments.
https://bobcat.mitchell-electronics.com/parts/625
Even if the TI-3000JX does correctly debug and run your motor using these encoders, it would be best not to spin the motor much faster than 500rpm. The faster the motor runs, the more noise can be introduced, and the more likely the run test could be interrupted and cause damage.
See more details on testing these encoder in this article: https://support.mitchell-electronics.com/hc/en-us/articles/4409340233371-Siemens-motors-with-Heidenhain-ERN1387-or-Hengstler-S21-encoders
Heidenhain ERN1387 Waveform Details
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