This is the TI-3000H option for running Siemens motors with Heidenhain Endat serial encoders.
The various series of Siemens PM brushless servomotors use a wide range of encoders, often from Heidenhain. This option is necessary for running motors using Heidenhain Endat serial encoders.
General Comments
The Heidenhain serial encoders listed in the next section are supported by this selection. These are generally used on 1FT6, 1FK6, 1FT7 and 1FK7 motors.
Heidenhain incremental encoders with A, B, and Z lines should be tested as Generic Incremental encoders.
Some 1FT6, 1FK6, 1FT7 and 1FK7 motors use Heidenhain encoders with sine/cosine commutation outputs (like the RON3350 and ERN1387). These motors can be run using the Generic Incremental Encoder selection, the TI-5101 1 V p-p Adapter Module (dipswitches in the OPEN position) and the TI-5010 cable.
Siemens 1FT5 motors often use Hall effect feedback for commutation. These motors can be run using the Generic Pulse selection.
Siemens motors with resolver feedback can be run using the Generic Resolver selection.
While it is usually not necessary, the TI-5101 1Vp-p Adapter Module can be used with the Siemens motors. If problems are encountered with noise pickup, the module may be helpful. The differential amplifiers in the module can help reject noise from the 1V p-p encoder signals. Noise problems are most likely with larger motors due to the larger currents. Whenever the module is used on the TI-3000, the dipswitches should be turned OFF (OPEN) as shown below.
Image #1: DIP Switches 1 and 2 in the OPEN position (OFF).
Types Supported
The following list shows the Heidenhain encoders that are currently supported by the TI-3000H option.
Identification
The Heidenhain encoders are normally clearly marked, so identification is not a problem. Especially for the serial encoders, check the following:
For ECN1313 and EQN1325 encoders, check the label to see whether they are SSI or Endat format. You will probably see Endat most often, but it can be confusing if it is an SSI and you assume it is an Endat. Siemens motors would not normally use SSI encoders. The Siemens selection supports only the Endat format.
For ECN413, ECN1313, EQN415 and EQN1325 encoders, check to see whether they are labeled Indramat or have an additional part number that starts with DSF or HSF. These are probably Indramat encoders, and they use a format different from both SSI and Endat. See the Indramat section for more information on these. Siemens motors would not use Indramat encoders.
The part number will include a -2048, -512, and -32 which refers to the number of incremental periods in the A or B channels. This selection supports several -2048 encoders, but only one -512 encoder at this time.
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.
If properly cabled, the serial Endat encoders can be used with the 1V p-p adapter so that it is easier to check the incremental portion with the same connection. See the section on cables for more information.
Armature Connection –
The correct drive armature phase leads must be connected to the correct motor armature pins in order for the commutation alignment to be correct. Different motor models and sizes may use different connectors for the armature phases, so it is not always simple to determine the correct connection. However, the correct connection is so important that it is pointless to try to run the motor if you are not sure.
There may be other connections, but the following connections are known to be used on Siemens motors:
Feedback Type Selection
Pressing the FBK TYPE key will provide the following selections for Siemens:
P4 ECN1313-2048 – 4 pole motors using ECN1313 encoder.
P4 EQN1325-2048 – 4 pole motors using EQN1325 encoder
P6 ECN1313-2048 – 6 pole motors using ECN1313 encoder
P6 EQN1325-2048 – 6 pole motors using EQN1325 encoder
P8 ECN1313-2048 – 8 pole motors using ECN1313 encoder
P8 EQN1325-2048 – 8 pole motors using EQN1325 encoder
P6 EQI1125-512 – 6 pole motors using EQI1125 encoder
P8 EQI1125-512 – 6 pole motors using EQI1125 encoder
Note: All ECN1313-2048 selections can be used with ECI1313-2048 encoders and all EQN1325- 2048 selections can be used with EQI1325-2048 encoders.
Select the appropriate type and connect the encoder cable for the type selected.
Debugging
Section 2.2.3 provides general information about debugging the TI-3000JX setup. You will want to be familiar with that material.
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:
Press the DEBUG key to put the TI-3000 in DEBUG mode.
Rotate the motor in the forward direction (CW looking at the shaft for Siemens) 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.
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.
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
Section 2.2.4 provides general information about running motors with the TI-3000JX. You will want to be familiar with that material.
Section 2.2.5 provides safety information to be observed when running motors with the TI-3000JX. Please read this section carefully and exercise all safety considerations.
After a successful Debug check, perform the following sequence to run the motor.
Connect the motor armature leads to the amplifier using the appropriate connectors.
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?Press the RUN key again after insuring that the check list is satisfied.
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.
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.
Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.
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