Rexroth Motors

Overview

This is the TI-3000JX option for Rexroth MSK and MSM motors with Tamagawa Smart ABS, Stegmann Hiperface, and Heidenhain Endat serial encoders.

The Rexroth serial encoders listed in the next section are supported by this selection.

Rexroth MSK Series motors use singe-turn and multi-turn serial absolute encoders of both Stegmann Hiperface and Heidenhain Endat brands. These encoders include memory, and the MSK motors utilize this memory area for motor parameters including alignment information. The TI-3000JX will read the memory and set up the necessary parameters for running the MSK motors.

The Rexroth MSM series motors use incremental and Tamagawa MFE0017 serial encoders. The incremental encoder is not supported. Please see the section on Tamagawa encoders for more detail.

This selection does not support Rexroth motors that are not MSK or MSM series. Models such as MDD, MHD, MKD, and MKE are supported under the Indramat selection. See the Indramat section for more detail.

The Rexroth MSM motors (using the MFE0017 encoder) require a 5 VDC power supply.

The Rexroth MSK motors require an 8 VDC power supply. This is true for both Stegmann Hiperface and Heidenhain Endat encoders. Normally Heidenhain Endat encoders are 5 VDC devices, but the Rexroth motors use a voltage regulator to step down the 8 VDC to 5 VDC for the Endat encoders. It is recommended that the TI-5104 Adapter Module, which provides 8 VDC, be used with the MSK motors (Caution: Always verify that the motor is a Rexroth MSK!). The TI-5104 also provides the additional advantage of amplifying the 1V p-p sine outputs from the incremental lines and reducing noise pickup.

Types Supported

The following list shows the encoders that are currently supported by the TI-3000JX option.

This list includes Rexroth MSK series motors using Heidenhain Endat and Stegmann Hiperface encoders.

Note: Endat encoders are not supported on the TI-3000JX at this time but will be added in the future. In the meantime, they can be run using the Generic Heidenhain option.

This support includes Rexroth MSM series motors using Tamagawa serial encoders.

The MSM series also includes an incremental encoder that is currently not supported. It may be called MFE2500. Rexroth calls it an incremental, but it is a serial encoder. It uses 10,000 counts/rev for the position count. But it does not count revolutions, so it does not need battery backup. More information will be included in the future when it is supported.

Note: The first count is the number of counts/rev for the incremental signals, the second is the number of counts/rev for the absolute serial position count, and the last count is the number of revolutions that can be counted (for multi-turn encoders only). 

Identification

MSK Series –

The part number breakdown for these motors is as follows:

MSM Series –

Connection

Feedback Connection –

Feedback connection requires using the correct cable as shown in the chart in the ‘Types Supported section’ above. Those are the connections that we have figured out so far. See the end of the ‘Pin Configurations and Reference Information’ section for information on finding cable pinout sheets at http://www.mitchell-electronics.com. 

The MSK motor feedback connector is compatible with the TI-5093 cable for either the Stegmann or Heidenhain encoders. The TI-5104 Adapter Module should be use with this cable in order to provide 8 VDC supply voltage to the encoder. When the Heidenhain encoders are used, the MSK encoder wiring includes a 5VDC voltage regulator that reduces the 8 VDC to 5VDC for the Heidenhain encoders. The TI 5094 generic cable connects directly to the 9 pin connector on the Hiperface encoder. It should also be used with the TI-5104 Adapter Module.

The TI-5079 generic cable connects directly to the 12 pin connector on the Heidenhain Endat encoder. The TI-5104 Adapter Module should not be used with this cable. The Endat encoders are 5V encoders, and the 8VDC from the module may damage them. It is not recommended to run the motor using the TI-5079 cable. It is better to run the motor in its normal configuration using the TI-5093 cable.

The MSM motor feedback connector is compatible with the TI-5080 cable when the MFE0017 serial absolute encoder is used.

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Rexroth:

1. P8 C131072 MFE17 – 8 pole motors using MFE0017 encoder on MSM motor
2. P- MSK SKS36 – All pole motors using SKS36 encoder on MSK motor
3. P- MSK SKM36 – All pole motors using SKM36 encoder on MSK motor

Note: For MSK motors, the pole numbers are filled in when the TI-3000JX reads the memory information in DEBUG.  Select the appropriate type and connect the encoder cable for the type selected.

Debugging

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

1. Press the DEBUG key to put the TI-3000JX in DEBUG mode.
   a. The correct number of poles should show on the display as the TI-3000JX reads the memory data.
   b. If the display shows ‘Stegmann error’, check for proper cabling and proper use of the TI-5104 adapter module.
   c. If the display shows Stegmann ID: xx (where xx is an ID number), it is telling you the ID number of the encoder it is reading and that ID number is not the same as the encoder you have selected. Try the other MSK selection.
   
   
2. Rotate the motor in the forward direction (CW looking at the shaft for Rexroth MSK and MSM) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.
   
   
3. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity
   +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the
   motor shaft.
   
   
4. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check. After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

Running

After a successful Debug check, perform the following sequence to run the motor.

1. Connect the motor armature leads to the amplifier using the appropriate connectors.
   
   
2. Press the RUN key to enable the amplifier. The following check list will appear on the display.
   a. Are hands and clothing clear of moving parts?
   b. Is the motor mounted securely?
   c. Is the speed pot set to the zero (stopped) position?
   
   
3. Press the RUN key again after insuring that the check list is satisfied.
   
   
4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.
   
   
5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading.
   
   
6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.