4100-5.2, AEC Absolute Encoder Converter, Installation and Setup
Contents
1. Switches Control SSI Configuration Encoder Power Encoder Configuration 5 2 55 SSI Control Switches ll The AEC can only be mounted on the left side when IMPORTANT IMPORTANT looking directly at the mounted 1394 of the 1394 GMC System This is due to cable specifications and module expansion of the 1394 Publication 4100 5 2 March 2000 Installation amp Hook Up 15 Figure 4 Mounting the AEC next to an S Class Compact motion controller S Class Gom pact x AEC e Allen Bradley ING S Class The AEC can also be placed to the left of the Compact Control SSI Optional Second AEC for Axis 2 and Axis 3 Axis 0 Axis 1 Servo amp Servo amp Feedback Feedback IMPORTANT The AEC can be mounted on either side of the S Class Compact motion controller on the system panel Connecting the AEC The following section details how to connect the AEC encoder connectors to the 1394 GMC System and the S Class Compact motion controller Do not attempt to make any electrical connections to the eee AEC while power is applied Doing so risks damage to the AEC peripheral equipment and your health and safety Publication 4100 5 2 March 2000 16 Installation amp H2. mm and in 13 5 x 6 0 x 1 75 Product weight 2 27 kg and Ibs 5 0 Material Painted Steel Publication 4100 5 2 March 2000 10 Overview Publication 4100 5 2 March 2000 Chapter Objectives Installing the AEC Complying with European Union Directives Chapter 2 Installation amp Hook Up Read this entire chapter before beginning to mount connect or wire any of the components to the AEC It is the responsibility of the installer to see that the installation conforms to the directions in this manual and local codes and procedures This chapter covers the following topics Furopean Union Compliance Mounting the AEC Connecting the AEC to the 1394 GMC system Connecting the AEC to the Compact motion controller Connecting the AEC to the 1746 MO2AE e Wiring the SSI transducer to the AEC Wiring the Control connector An example of a Fault relay Wiring the Power connector The AEC is designed to mount in an electrical cabinet using the flanges on its back panel This installation method should be observed for all applications Before powering the AEC make sure it has been configured correctly and that the transducer s and control devices controller are connected to it correctly The information contained in this document pertains to the Absolute Encoder Converter CAEC an Allen Bradley product If the AEC is installed within the European Union or EEA regions and has the C
3. Commander and do the following Setup 33 1 Select the Configure menu option from the opening GML Commander screen 2 Select Axis Use from the Configure pull down menu 3 Select the axis to configure for the AEC from the Axis Use pull down The Configure Axis Use screen displays 4 Atthe General screen select the Axis Type 5 Go to the Position Mode field select either rotary or linear 6 Select the Feedback Tab from the Configure Axis Use screen 7 Select AEC for the Transducer Type field 8 Check the Transducer Loss Detection box Setting the Transducer Resolution 1 Enter the Transducer Resolution Conversion Constant 2 Enter a value for the External Conversion Constant 1394 series only 3 Enter the value for the Unwind Constant rotary axis only 4 Enter the Unwind Reference rotary axis only This defines the point where the Unwind returns at each cycle For more information about the above fields see the GML Commander User Manual publication number GMLC 5 1 and the GML Commander Reference Manual publication number GMLC 5 2 Selecting Homing Procedure The AEC only uses the Absolute Serial procedure for Homing the axis 1 Select the Homing tab from the Configure Axis Use screen 2 Select Absolute Serial from the pull down list of the Procedure option box For more information on Homing procedures refer to the GML Commander User Manual publication number GMLC 5 1 the Configuring Your
4. This manual is an installation and set up guide for the AEC and describes the procedures necessary to properly install and configure it into your motion control system Publication 4100 5 2 March 2000 Preface 2 Safety Precautions ATTENTION ATTENTION Publication 4100 5 2 March 2000 The following general precautions apply to the AEC Electric shock can kill Make sure the AEC is safely installed in accordance with the Installation and Set up chapters of this manual Avoid contact with electrical wires and cabling while power is on Only trained service personnel should open the electrical cabinet This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E and BS EN60204 The system integrator is responsible for local safety and electrical codes Electric shock can kill Make sure the AEC is safely installed in accordance with the Installation and Set up chapters of this manual Avoid contact with electrical wires and cabling while power is on Only trained service personnel should open the electrical cabinet This product contains stored energy devices To avoid hazard of electric
5. 0 6 1 A B AEC Specifications Figure A 1 shows the connector locations for the AEC The following tables provide the pin numbers and their respective descriptions SSI Connector Plug A Plug B 10 Clock 5 Clock 9 Data 4 Data 8 Shield 3 Transducer Power 5V DC 7 Transducer Power Return 2 Transducer Power 15V DC 6 Shield Transducer Power 24V DC Control Connector Plug A Plug B 8 Reference 4 Reference 7 N O Fault Relay Contact 3 N O Fault Relay Contact 6 N C Fault Relay Contact 2 N C Fault Relay Contact 5 Shield Shield Encoder Connector Plug A Plug B 1222 627 4 11 B 5 B 10 A 4 A 9 Strobe 3 No Connection 8 Reference Shield Input 2 Strobe 7 Reference Input 1 Reference Input Publication 4100 5 2 March 2000 42 Specifications Power Connector 2 Supply 1 Supply Mechanical Specifications Specification Description Enclosure Type Steel case with integral mounting tabs Enclosure Size 295 x 343 x 43 mm 11 6 x 13 5 x 1 7 in Environmental Specification Specification Description Operating Temperature 0 to 60 C Storage Temperature 40 to 85 C Humidity 95 non condensing 60 C Supported Devices Manufacturer Model Allen Bradley All series 842A Encoders Stegmann AG661 AG626 Heidenhain R0C424 amp 417 BEI MT40 Multi Turn
6. 0 25ms 0 25ms Ts2hpe time from Strobe2 inactive to end of encoder stream 0 1ms 0 1ms Tpei time from MSW pulse train end to incremental updating 0 indefinite N A N A Thold N A N A 500ms 500ms Operation mode dependent Locked or Free Running An absolute position request is an asynchronous event initiated by the controlling hardware The first strobe starts the absolute position update cycle The first strobe Ts1 must be active for a minimum of 100ms but for less than 1000ms to be valid A strobe is sourcing Publication 4100 5 2 March 2000 Incremental Strobe Period Strobe Quadrature Pulse Train Strobe Position For Applications Not Using the 1394 or Compact 49 input on the AEC Internally the AEC holds it high when inactive and to activate it must be connected and pulled low Within 30ms tph of the strobe going active the encoder output A and B signals are held at their current state any incremental updating is prohibited On Ts1 going inactive the lower 16 bits of the absolute position is transmitted Anywhere from 0 to 65535 counts can be transmitted It can take up to 25ms Ts1hpo to transmit the least significant word LSW of the transducer position After the LSW has been transmitted the second strobe Ts1s2 is brought active When the second strobe goes inactive ts2 it triggers the transmission of the most significant word MSW Anywhere from 0 to 511 counts can be transmitted Thi
7. 1 CHB 1 CHB 1 CHZ I PPPRRER Axis 0 Encoder Connector Switches DC Output 2L o e O o o 6 Oo Os O On Me On Oo Os O Or Oo On 2O On O Om BO Os BO or o o BO Os uO Os sO Os Eroa Configuration Encoder Power Encoder Configuration DJ SSI Control Publication 4100 5 2 March 2000 Wiring the AEC Installation amp Hook Up 21 There are several connectors on the front of the AEC All are duplicated for each axis except the power input connector Each axis has two five pin plugs for connecting the SSI transducer and two four pin plugs for connecting a control In the center is a 2 pin plug for the power cable The flying leads wire directly to the screw terminals on the plugs Wiring Cable Flying Leads to the Plugs To wire the cable leads to the plug 1 Look at the plug to make sure the terminal is open The following figure shows both an open and a closed terminal Figure 8 Terminal diagram Terminal open Clamping screws Terminal closed Terminal Steps If the terminals are Do this Not open Go to step 3 Open Go to step 4 3 Using a small flat head screwdriver turn the clamping screw counter clockwise several times 4 Using a proper stripping tool strip the wire insulation back on the cable l
8. AEC with the GML Commander software Homing Procedure Aligning Absolute Device Setting the rotary switches located on the front panel configures the AEC Before you apply power to the AEC you must configure each axis to suit the transducer connected to it A total of four parameters per axis must be configured For each axis determine the following 1 Transducer resolution in counts turn this is in counts stroke for linear displacement transducers Parameter 1 is set by configuration switch A The table Configuration Switch A lists all the options supported by the AEC Use this table to select the switch setting that matches the value for your transducer IMPORTANT Configuration switch B is used for setting the next three parameters You must find the setting that meets the combination of values for all three parameters 2 Whether the transducer is a single or multi turn device 3 Whether Grey or Binary is used for transducer data 4 The operation mode Locked or free running Publication 4100 5 2 March 2000 30 Setup The Compact and 1394 motion controllers must use the ATENTON LOCKED mode of operation Configuration Switch Configuration Switch A Tables Transducer Resolutions Transducer Resolution Switch Setting Counts Turn Bits Turn 0 128 27 1 256 28 2 512 28 3 1024 210 4 2048 211 5 4096 212 6 8192 213 7 16384 214 8 32768
9. Electric power transmission products Dodge mechanical power transmission components and Rockwell Software Rockwell Automation s unique flexible approach to helping customers achieve a competitive advantage is supported by thousands of authorized partners distributors and system integrators around the world Americas Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 European Headquarters SA NV avenue Herrmann Debroux 46 1160 Brussels Belgium Tel 32 2 663 06 00 Fax 32 2 663 06 40 Asia Pacific Headquarters 27 F Citicorp Centre 18 Whitfield Road Causeway Bay Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 4100 5 2 March 2000 Supersedes Publication 4100 5 2 March 1999 Allen Bradley BEAMER DOSE To Automation PN 999 129 2000 Rockwell International Corporation Printed in the U S A
10. ODIGCUVES jene ee er ee 37 Transducer Faults 2 22 oo con 38 Encoder Faults u a rn na ROME 38 Internal Faults s 4 29 04 oop ee hh aed SON na a Bean 39 NOrFaultss uet So ae BARR dU Skee a Gee a 39 Specifications Equivalent Circuit Diagrams as a dene p Ye teat eg 44 Appendix B Strobe Position For Applications Not Using the 1394 or Compact Absolute Strobe Cycles ara Bra EN EI ER Darst 47 Absolute Strobe Imin2 cac cap aan ea 48 Incremental Strobe Pefioda 12 be OPIN RO ed aay tee Eu 49 Index Publication 4100 5 2 March 2000 Publication 4100 5 2 March 2000 Preface Read This Manual Who Should Use this Manual Purpose of this Manual Read and understand this instruction manual It provides the necessary information to let you install connect and set up the AEC for safe reliable operation This preface covers the following topics e Who should use this manual The purpose of this manual e Terms Common techniques used in this manual Allen Bradley support You should read this manual if you are responsible for the installation set up or operation of the AEC Absolute Encoder Converter If you do not have a basic understanding of the products listed below contact your local Allen Bradley representative for information on available training courses before using this product e S Class Compact motion controller 1394 GMC System module GML Graphic Motion Language Commander software
11. to successfully mount and wire the AEC to an SSI device and the S Class Compact Motion Controller or the 1394 GMC system 3 Set Up Provides the guidelines for setting up and configuring the AEC 4 Operation Provides information on Absolute and Incremental Position 5 Fault Indication amp Provides information on fault and status Control Status indicators and types of faults Appendix Specifications Provides physical electrical environmental A and functional specifications for the AEC Appendix Strobe Position Contains additional information about setting the strobe for those users connecting their AEC to a controller other than the S Class Compact Motion Controller or the 1394 GMC system Publication 4100 5 2 March 2000 Preface 4 Related Documentation The following documents contain additional information concerning related Allen Bradley products To obtain a copy contact your local Allen Bradley office or distributor For Read This Document Document Number Programming Allen Bradley motion controller with GML GML Commander User Manual v4 01 GMLC 5 1 GML Commander Reference Manual v4 01 GMLC 5 2 Instructions for installation and set up for the 1394 GMC 1394 Digital AC Multi Axis Motion Control 1394 5 0 system System User Manual Instructions for installation and set up for the S Class IMC S Class Compact Motion Controller 999 122 Compact motion controller Installation and Set up M
12. to the 1394 Digital AC Multi Axis Motion Control System User Manual publication 1395 5 0 or the IMC 23 x Installation and Set up Manual publication 999 122 for installation instructions The AEC must be properly grounded to the metal enclosure panel the following diagram shows how to ground the AEC to the panel Installation amp Hook Up 13 Figure 2 Mounting and Grounding Diagram 10 AWG to Ground Bus AEC Mounting Tab Ground Lug 4 Size 1 4 20 or M6 Hardware Internal Star Washers Tapped Hole Minimum of 3 Threads m Metal Panel Must be connected to earth ground Scrape paint off panel to insure electrical connection between chassis and grounded metal plate Mount the AEC next to a 1394 GMC system or an S Class Compact motion controller on a metal enclosure panel using two 1 4 20 or M6 bolts Refer to the Mechanical Specifications in the Overview chapter of this manual for mounting dimensions Figures 2 2 and 2 3 in this chapter show where to mount the AEC ATTENTION To avoid a shock hazard remove all power to the system panel before mounting the AEC The 1394 contains stored energy devices To avoid the hazard of electrical shock verify that all voltages are zero 0 00 before proceeding Publication 4100 5 2 March 2000 14 Installation amp Hook Up Figure 3 Mounting the AEC next to a 1394 GMC on a system panel Wireway 1394 A GMC System en Bradley z gt
13. within a relative humidity range of 596 to 9596 non condensing in an area where it cannot be exposed to a corrosive atmosphere in a non construction area Publication 4100 5 2 March 2000 Preface 6 Allen Bradley Support On the Web Publication 4100 5 2 March 2000 Allen Bradley offers support services worldwide with over 75 Sales Support Offices 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone plus Allen Bradley representatives in every major country in the world Local Product Support Contact your local Allen Bradley representative for sales and order support product technical training warranty support e support service agreements Technical Product Assistance If you need to contact Allen Bradley for technical assistance please review the information in this manual first Then call your local Allen Bradley representative For the quickest possible response we recommend that you have the catalog numbers of your products available when you call See the Related Documentation section of this chapter for the publication numbers of other manuals that can help with this product The Rockwell Automation Technical Support number is 1 603 443 5419 For information about Allen Bradley visit the following World Wide Web site http www ab com AEC Description Chapter 1 Overview The AEC is an absolute encoder converter It receive
14. 1 Insert one 12 pin plug in the Axis 0 Encoder or Axis 1 Encoder connector on the AEC 2 Insert the remaining 12 pin plug in the Axis 0 1 2 or 3 servo and feedback connector on the Compact Figure 6 Connecting the Encoder Cables to the Compact S Class Wireway Compact y AEC Allen Bradley IMG S Class 4100 RCS3T Switches Control SSI Configuration Encoder Power Encoder Configuration Axis 1 4 3 3 2 IZ 75 TEA 2 ES ipuls Ela 8 iB Axis 0 Axis 1 Axis 2 Axis 3 Servo amp Servo amp Servo amp Servo amp FeedbackFeedback Feedback Feedback o IMPORTANT Anchor the cable so that no more than 2 feet of cable is left unsupported The excessive weight of an unanchored cable could pull the plug out of the connector Publication 4100 5 2 March 2000 Installation amp Hook Up 19 Connecting the AEC to the 1756 MO2AE TIP See Application Note publication number 4100 2 7 for more detailed information regarding using the AEC with p the 1756 MO2AE To connect the AEC to the 1756 MO2AE use the pre made encoder cable 4100 CCS15F for each axis This 15 foot cable connects the Axis 0 Encoder or Axis 1 Encoder connector on the AEC to the 1756 MO2AE The 4100 CCS15F is a 15 foot cable with a 12 pin plug on one end and the flying leads on the other end IMPORTANT This cable is NOT polarit
15. 10 5 9 4 8 3 7 2 6 1 ATTENTION A Wiring the connector for the wrong transducer power can result in improper operation or damage to the position transducer IMPORTANT Pins 1 through 3 are reserved for transducer power output Only one of these can be in use at a time It is your responsibility to determine the power requirement of the transducer you are connecting to the AEC and to use the pin that corresponds to that requirement Publication 4100 5 2 March 2000 24 Installation amp Hook Up Figure 9 Wiring Diagram for SSI Connector Plug A S 10 Clock S 9 Data Q 8 Return GS 7 Q 6 Shield Clock Data Cc 2 oO Oooo I IMPORTANT Maximum cable length between SSI Device and the AEC is 100 feet IMPORTANT Anchor the cable so that no more than 2 feet of cable is left unsupported The excessive weight of an unanchored cable can pull the plug out of the connector The Control Connector The control connectors let you connect the AEC to an application fault string to indicate an AEC related fault condition to the controlling hardware The connector also has an analog command pass through signal pair for connecting a servo amplifier Fault Relay To provide safe operation opening the fault string if a fault occurs or power to the AEC is lost the control status relay outputs must be Publication 4100 5 2 Marc
16. 215 9 65536 216 A 131072 217 B 262144 218 C 2097152 221 D 4194304 222 E 16777216 224 F 33554432 225 IMPORTANT All Allen Bradley 842A Encoders must have Configuration Switch A set to E Publication 4100 5 2 March 2000 Configuration Switch B Transducer Turns Data Format amp Operation Mode Setup 31 Transducer Turns Data Format amp Operation Mode Switch Setting Turns Data Code Operation Mode 0 Single Grey Locked 1 Reserved for future use 2 Single Grey Free Run 3 Reserved for future use 4 Single Binary Locked 5 Reserved for future use 6 Single Binary Free Run 7 Reserved for future use 8 Multi Grey Locked 9 Reserved for future use A Multi Grey Free Run B Reserved for future use C Multi Binary Locked D Reserved for future use E Multi Binary Free Run F Reserved for future use IMPORTANT All Allen Bradley 842A Encoders set for grey output must have Configuration Switch B set to 0 All Allen Bradley 842A Encoders set for binary output must have Configuration Switch B set to 4 ATTENTION The Compact and 1394 motion controllers must use the LOCKED mode of operation Publication 4100 5 2 March 2000 32 Setup Powering the AEC AEC With GML Commander Publication 4100 5 2 March 2000 The AEC has reverse polarity protection However always take care to Observe correct polarity when you connect the power to your uni
17. AB Allen Bradley AEC Absolute Encoder Converter Cat No 4100 5 2 Installation and Setup Manual et ee S i l Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in this guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Automation is prohib
18. Axis chapter Defining Homing section and the Publication 4100 5 2 March 2000 34 Setup Publication 4100 5 2 March 2000 GML Commander Reference Manual publication number GMLC 5 2 the Configuring Your Axis chapter Defining Homing section ATTENTION When executing the Homing or Alignment procedure on a servo axis feedback is momentarily disabled and then re enabled if the error checking features do not detect an error in the motion controller If the axis has stored energy or the ability to move during the time feedback is disabled you have to apply a breaking mechanism to the axis before you execute the procedure Aligning Absolute Encoder Once the hardware is wired and the configuration steps have been taken it is important to align the Absolute Encoder The alignment process aligns the absolute device to the zero position of the axis and updates both the working and power up home position values It also changes the Position setting in the Homing page of the Configure Axis Use dialog box This is done from the Hookups section of the Configure Axis Use screen in GML Commander To align the devices 1 Make sure all external components are connected 2 Make sure All Configured Axis Use information is entered Refer to previous steps in this chapter 3 Download the Configured Axis information 4 Select the Hookups tab from the Configure Axis Use screen 5 Click on the Align Absolute De
19. BEI RAS25 Single Turn Temposonics Ill Model PH and Model RH Ivo GM 400 GM 401 Publication 4100 5 2 March 2000 Specifications 43 Module Specifications Specification Number of Axes Description Transducer Resolution Counts Turn Number of Turns 2 218 and 22 225 1422 except 2920 93 Transducer Interface Protocol Acquisition Frequency Data Format Line Driver Clock Line Receiver Data Minimum Data Voltage Maximum Rate of Position Change Delta Count SSI 400 kHz Binary or Gray Code RS 422 IC 26LS31 RS 422 IC 26LS33 3 0V measured from Data to Data Must be lesser of 1 2 Counts Turn per 1 1000 second or 2048 counts per 1 1000 second Input Isolation Voltage Range Power Fuse Chassis Common 18 to 36 V 21 Watts maximum 2 A 250V 5mm Radial Wickmann 19372 057 K ABLeb 515 038 Transducer Output Power Isolation Voltage Current Chassis Common 5 or 15 or 24V DC 300mA maximum Fault Contact Outputs Type NO NC contact set per axis Isolation Coil Contact 1000V AC Open Contact 750 V AC Rating AC DC AC 125V AC 10mA 0 6A DC 110V DC 10mA 0 6A 30V DC 10mA 2 04 Encoder Ouputs 4X quadrature encoding Channel Frequency 800kHz fixed 3 2 Meg cnts sec Driver Type RS 422 IC26LS31 Strobe Inputs Type Source Impedance Maximum active Voltage Minimum Inactive Voltage Current Sourcing Active Low 10k Ohm 0 6V DC 2 2V DC Publ
20. E mark the following regulations apply Publication 4100 5 2 March 2000 12 Installation amp Hook Up Mounting the AEC Publication 4100 5 2 March 2000 EMC Directive The AEC is tested to meet Council Directive 89 336 Electromagnetic Compatibility EMC in accordance with Article 10 1 The following directives apply EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment e EN 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment The AEC as described in this document is intended for use in an industrial environment and is not intended for use in a residential commercial or light industrial environment To meet CE requirements the following are required e The AEC must be mounted in an IP 54 rated metal enclosure on a metal panel All equipment must be bonded You must use the specified Allen Bradley cables The AEC is designed to function without maintenance when operated in the environment specified in this manual Under normal conditions the AEC should not require any periodic maintenance However if conditions are less than ideal and any superficial dust has accumulated on the controller over time remove the dust carefully Also it is recommended to periodically inspect all cables for abrasion and all connectors for proper seating Before mounting the AEC verify that the 1394 GMC System or the S Class Compact motion controller is installed correctly Refer
21. Fixed quadrature output frequency of 800 kHz Independent 5 V DC 15 V DC and 24 V DC transducer voltages Selectable for incremental strobes or internal 1ms timebase Interfaces directly to Allen Bradley 1394 GMC System and S Class Compact motion controllers Normally open and normally closed status outputs for each axis Bicolor LED status indication for each axis An on board reset switch that resets both axes Absolute Home request remotely clears corrected faults and resets system on a per axis basis e Single 18 36 V DC input voltage power requirement A rugged steel case for greater protection The case has pre drilled mounting tabs The following figure shows the placement and labeling of major items on the AEC front panel LO ww 9 Reset Axis 0 OO Axis 1 A B Switches Control SSI Axis 0 wo gt c 330 2 mm 13 0 in LT om Switches Axis 1 oo ru Configuration Encoder Power Encoder Configuration 5 z SSI Control A B n 9 i Overview 9 Figure 1 AEC front panel I 203 2 mm 8 0 in with gt Use 1 4 20 or M6 bolt typical 2 places 44 45 mm 1 75 in Package size cable clearance 342 9 mm 13 5 in 152 4 mm 6 0 in gt Package Specifications 342 9 x 152 4 x 44 45
22. act Reference Shield N C Relay Common Contact N O Relay Common Contact co NI OD oo A Ww N Reference The following table displays the connector pin numbering scheme as seen with the AEC mounted in its normal position Control Connector Pin Numbering A B oo O N 4 3 2 1 Analog Servo Command Pass Through For Compact Only There is one analog command pass through signal pair Reference and Reference per axis The 4100 RCS3T encoder cable between the AEC and the Compact see Connecting the AEC to a Compact section of this chapter passes the analog command signal from the Compact through the AEC and out to the servo amplifier if connected Installation amp Hook Up 27 Figure 11 Wiring diagram for connecting a Servo Amplifier to the Control Connector To Servo Amplifier Reference x N OIO Shield S 4 Reference IMPORTANT Anchor the cable so that no more than 2 feet of cable is left unsupported The excessive weight of an unanchored cable could pull the plug out of the connector Power Supply Connector The power supply connector is used to connect power to the AEC There is one power input connector for the AEC The input power is used to operate the AEC and attached transducers The AEC operates within the voltage range of 18 36V DC The power source must be able to supply 21W of power c
23. al shock verify that all voltage on the capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid state control equipment and the safety procedures in publication NFPA 70E and BS EN60204 The system integrator is responsible for local safety and electrical codes Preface 3 ATTENTION An incorrectly applied or installed product can result in component damage or a reduction in product life Wiring or application errors such as undersizing or inadequate DC supply or excessive ambient temperatures can result in a malfunction The AEC contains ESD Electrostatic Discharge sensitive parts and assemblies Static control precautions are required when installing testing servicing or repairing this assembly Component damage can result if ESD control procedures are not followed If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Contents of this Manual Chapter Title Contents Preface Describes the purpose background and scope of this manual Also specifies the audience for whom this manual is intended 1 Overview Provides a general description of the AEC its features and mechanical specifications 2 Installation Provides the steps needed
24. anual An article on wire sizes and types for grounding electrical equipment North American standards National Electrical Code Published by the National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment European standards BS EN 60204 Electrical Equipment of Machines Published by British Standards Institute A complete listing of current Allen Bradley documentation including ordering instructions Also indicates whether the documents are available on CD ROM or in multi languages Allen Bradley Publication Index SD499 A glossary of industrial automation terms and abbreviations Allen Bradley Industrial Automation Glossary AG 7 1 Terminology In order to avoid confusion we have used the following general terms in a specific manner within this manual We define them as follows Transducer the SSI device is considered a transducer for the purposes of this manual Encoder Refers to the AEC connector that goes to the 1394 GMC System or the S Class Compact motion controller The cable from the controller attaches to the AEC at the Encoder connector For specific definitions of other terms used in industrial automation see the Allen Bradley Industrial Automation Glossary publication number AG 7 1 Publication 4100 5 2 March 2000 Common Techniques Used in this Manual AEC Product Receiving and Storage Responsibilit
25. ardware errors detected by the AEC For both axes indication is solid RED quadrature output is inhibited and the fault relay is de energized In the case of a Global Hardware fault where both LEDs are solid red Call Allen Bradley Technical Support No Faults In this state the AEC has detected no errors The indication per axis is either flashing or solid GREEN FLASHING GREEN indicates that the AEC has not yet detected a strobe When configured for locked mode the AEC is waiting for either an absolute strobe cycle or incremental strobe When configured for free running mode the AEC is waiting for an absolute strobe cycle Regardless of the selected mode the AEC is operating in free running mode When the LEDs are SOLID GREEN the AEC has received a strobe and is operating in its program mode There is no fault action and the relay is energized Publication 4100 5 2 March 2000 40 Fault Indication amp Control Status Publication 4100 5 2 March 2000 Appendix A Figure 13 AEC Front Panel e AB Reset Axis 0 Axis 1 A W 0 m CWS Control Encoder Configuration 555 zl roc os SSI p 7 eo A Es x 9 9553 2 oO cr 8 a o Oo o o c LL 6 o 0 152 o a x 652 lt S O 8 11g 7 6 215 5 110 10 5 9 1 8 3 o 7 2
26. ead IMPORTANT accommodate a maximum of 14 gauge wire 5 Trim the cable lead so that 0 275 inches of metal wire is exposed 6 Insert the cable lead in the appropriate terminal Refer to the proper figures for their locations Publication 4100 5 2 March 2000 22 Installation amp Hook Up 7 Use the screwdriver to tighten the clamping screw to the proper torque 0 25 N m 2 2 in Ib 8 Verify that the cable lead does not pull out of the terminal 9 Cable Leads If the cable lead Do this Pulls out of the terminal Repeat steps 3 through 9 again Does not pull out of the Repeat steps 3 through 9 for terminal the next terminal The function of these connectors their pinouts and names are defined in the following sections The SSI Connector The SSI connectors are used to connect the absolute transducer to the AEC The pin layout and functionality for this connector are as follows SSI Connector Pin Functions SSI Input Pin Number Pin Function 1 Transducer Power 24V DC Transducer Power 15V DC Transducer Power 45V DC Data Clock Shield Transducer Power Return Shield Data Clock oO CO N OD of A wy N PR c The following is the connector pin numbering scheme for the SSI connector as viewed with the AEC mounted in its normal position Publication 4100 5 2 March 2000 Installation amp Hook Up 23 SSI Connector Pin Numbering A B
27. ed RSRCervyswb O68 23 ECR Gas 12 Connecting the AEC uris a ae 15 Connecting the AEC to the 1394 doses a dat 16 Connecting the AEC to the Compact 17 Connecting the AEC to the 1756 MO2AE 19 Nie the EU ub veau o erkannten 21 Wiring Cable Flying Leads to the Plugs 21 The SSI COD CLOS oua m RAPIDS Kk earth 22 The Control Connector eco ate er ah 24 PEanlcReldy 2 oos ed aah ASA o eL le 24 Analog Servo Command Pass Through For Compact Only 26 Publication 4100 5 2 March 2000 Chapter 3 Chapter 4 Chapter 5 Appendix A Publication 4100 5 2 March 2000 Power Supply Connector 4 541949 Xe an rd 27 Setup Chapter Objectives au s eet eed i Sx S MOON a RE 29 Setting the Rotary Switches 0 00 000 ee eee 29 Configuration Switch Tables iuo ide Ee perra 30 Configuration Switch Au vae dey xe SS aes 30 Configuration Switch B ur Very peter er 31 Powers the Aber na as ee 32 AEC With GML Commander sr Sata tr e SER d 32 Adding AEC to your Commander Diagram 32 Setting the Transducer Resolution 004 33 Selecting Homing Procedure 0 00000 esee 33 Aligning Absolute Encoder 0 0 000 eee ee eee 34 Operation Chapter Objectives qq 41 gatti riesen 35 Absolute Position Update nos ra p Be Br Sees 35 Incremental Position Output as was ues E e eed 35 Position at Start Up Lu nee oe ie 36 Fault Indication amp Control Status Chapter
28. ending axis In a fault condition the quadrature output is inhibited and the fault relay is de energized The following table displays a list of probable causes to investigate Transducer Faults Transducer Faults and Causes Fault Possible Cause Configuration error Configuration switches are set to an illegal combination SSI Line Break AEC detected loss of data signal This is the normal state for an unused SSI SSI Time out Transducer position not received after 100ms Encoder Faults Encoder faults are strobe cycle errors The strobe is an input to the AEC through the Encoder connector When detected by the AEC the offending axis s LED alternately flashes RED GREEN This causes the quadrature output to default to free running mode and the fault relay is de energized The following table lists faults and possible causes when Encoder faults are indicated Encoder Faults Encoder Faults amp Causes Fault Possible Cause The AEC is in locked mode amp stopped receiving incremental strobe pulses Incremental Strobe Loss AEC did not receive the second absolute strobe pulse in time Absolute Strobe Loss Incremental or Absolute strobe update timing has been violated Strobe Timing Violations In the case of an incremental strobe loss or move error sending an Absolute Home command may reset the fault Fault Indication amp Control Status 39 Internal Faults Internal faults are internal h
29. h 2000 Start Stop String Fault String 10 24V DC O cian 7H HO 3 en e 1 Installation amp Hook Up 25 connected appropriately The control status relay N O contact is held energized when the AEC has not detected a fault There is one control status relay per axis Each relay provides one normally open and one normally closed pair that is voltage free and isolated from each other and the ground Figure 10 An example of a Normally Open Fault status contact DC AEC Fault contact Common located at Axis 0 1 O Control connector Start d Stop zt CR ATTENTION The Fault Contacts are NOT intended to be used for an emergency stop string They are intended for fault indication only The diagram shows an example of connecting the AEC fault contact into a system fault string Since the status relay is energized when the AEC is indicating no faults the contact is closed A typical fault detection scheme may require additional circuitry when used in applications where the AEC fault contacts do not have sufficient capacity to drive a fault detection circuit directly The pin layout and functionality for the Control connector is as follows Publication 4100 5 2 March 2000 26 Installation amp Hook Up Publication 4100 5 2 March 2000 Control Connector Pin Functions Pin Number 1 Control Pin Function Shield Fault N C Relay Contact Fault N O Relay Cont
30. ication 4100 5 2 March 2000 44 Specifications Equivalent Circuit The gia diagrams detail e circuits i b s Input Transducer Data Input the SSI Clock Output and the Encoder Diagrams O Figure 14 Strobe Input Equivalent Circuit 5V DC 22 kQ C Strobe 2 Do Encoder SN74F14 Strobe S E Figure 15 Transducer Data Input Equivalent Circuit 1KQ Data 9 0 01uF L 180pF x BEE l Data SSI 500 Q M as em T 180pF Data 4 IK Q Impedance includes loss detection circuit Figure 16 SSI Clock Output Equivalent Circuit 10 Clock DS26LS31CN Clock SSI 5 Clock Publication 4100 5 2 March 2000 Specifications 45 Figure 17 Encoder Output Equivalent Circuit Encoder 10 At DS26LS31CN QUAD A 5 A 10 B DS26LS31CN QUAD B 5 B 10 Z DS26LS31CN Z 5 Z IMPORTANT Do not wire to the Z signals The Z channel is not l supported at this time Allen Bradley reserves the right to use this signal for future purposes Publication 4100 5 2 March 2000 46 Specifications Publication 4100 5 2 March 2000 Appendix B Absolute Strobe Cycle Strobe Position For Applications Not Using the 1394 or Compact When the AEC is connected to controlling hardware other than the 1394
31. ited Throughout this manual we use notes to make you aware of safety considerations Identifies information racti r ATTENTION de ifies information about practices o B circumstances that can lead to personal injury or death property damage or economic loss Attention statements help you to identify a hazard avoid a hazard recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley is a trademark of Rockwell Automation European Communities EC If this product has the CE mark it is approved for installation within Directive Compliance the European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet the Council Directive 89 336 EC Electromagnetic Compatibility EMC by applying the following standards in whole or in part documented in a technical construction file EN 50081 2 EMC Generic Emission Standard Part 2 Industrial Environment EN 50082 2 EMC Generic Immunity Standard Part 2 Industrial Environment This product is intended for use in an industrial environment Low Voltage Directive This product is tested to meet Council Directive 73 23 EEC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific inf
32. mode requires an absolute update to begin transmitting positional information Chapter 5 Chapter Objectives Fault Indication amp Control Status This chapter covers the AEC operation status Fault states are separated into four basic categories Transducer Encoder Internal No Fault Faults can be attributed to improper installation improper AEC switch configuration faulty hardware i e broken cable improper application It is the responsibility of the user to make sure that the application is safe Understanding the capabilities of the AEC can help you achieve this goal The AEC provides bicolor LED fault indication for each axis The color and pattern of these LEDs provide at a glance indication of the status of each axis Although the AEC is equipped with a Reset button it is not a recommended form of fault resolution If the non offending axis is running fine pressing the reset button could result in a hazardous situation ATTENTION Pressing the Reset Button or Powering Off the AEC results in both axes being reset This can cause problems if one axis is running in a no fault condition and either of these procedures is followed to correct a fault on the other axis Publication 4100 5 2 March 2000 38 Fault Indication amp Control Status Publication 4100 5 2 March 2000 Transducer Faults Transducer faults detected by the AEC are indicated by a flashing RED LED for the off
33. ncoder Faults 38 Internal Faults 39 No Faults 39 Transducer Faults 38 Features 8 Fuse 32 Incremental Position Output 35 Incremental Strobe Period 9 Index M Mounting the AEC next to a 1394 14 next to a Compact 15 P Pin Functions Control Connector 26 Power Supply 28 SSI Connector 22 Pin Numbering Control Connector 26 Power Supply 28 SSI Connector 23 Position at Start up 36 Powering the AEC 34 Purpose of this Manual 1 R Read This Manual 1 Related Documentation Rotary Switches Setting 29 Switch A 30 Switch B 31 S Safety Precautions 2 Specifications Connector Locations Control 1 Encoder 41 Power 42 SSI 41 Environmental 42 Mechanical 42 Mechanical Module 43 Package 9 Pin Numbers 41 Strobe Position Absolute Position Transfer Protocol 48 Incremental Strobe Period Protocol 49 Incremental Strobe Timing Period 50 Support Allen Bradley 6 Publication 4100 5 2 March 2000 52 local product 6 technical product assistance 6 support On the Web 6 T Terminology 4 Publication 4100 5 2 March 2000 W Who Should Use this Manual 1 Wiring Cable Flying Leads 21 Control Connector Analog Servo 26 Fault Relay 24 Power Supply 27 SSI Connector 22 World Wide Web site 6 Reach us now at www rockwellautomation com Wherever you need us Rockwell Automation brings together leading brands in industrial automation including Allen Bradley controls Reliance
34. ontinuously Publication 4100 5 2 March 2000 28 Installation amp Hook Up Publication 4100 5 2 March 2000 The pin layout and functionality for this connector are shown in the following table Power Supply Pin Functions Power Supply Pin Number Pin Function 1 Supply Common 2 Supply The following table shows the power supply connector pin numbering as seen with the AEC mounted in its normal position Power Supply Pin Numbering Power The following diagram illustrates the power connections for the AEC Figure 12 Wiring diagram for connecting the power cable to the connector OO n m Supply To 18 36V DC Supply Return Power Supply IMPORTANT Anchor the cable so that no more than 2 feet of cable is left unsupported The excessive weight of an unanchored cable could pull the plug out of the connector Chapter 3 Chapter Objectives Setting the Rotary Switches Setup The AEC is used in conjunction with the 1394 GMC System or the S Class Compact motion controller and SSI transducers It is not a stand alone product and must be configured to work with the hardware connected to it This involves specific steps that are determined by the make and model of the hardware connected to the AEC This manual assumes that the GML Commander v4 01 or higher software is used This chapter covers Explanation of the Rotary switch settings Powering the AEC Configuring the
35. ook Up Publication 4100 5 2 March 2000 The AEC does not support the removal or the insertion of any connectors when under power The power disturbance can result in unintended machine motion loss of process control or an electrical arc that can cause an explosion in a hazardous environment ATTENTION Connecting the AEC to the 1394 Connect the AEC to a 1394 GMC System using the encoder cable catalog number 1394 GR04 for each axis This is a four foot cable that connects Axis 0 Encoder or Axis 1 Encoder connector on the AEC to the J3 J4 J5 or J10 encoder feedback connector on the 1394 IMPORTANT This cable is polarity sensitive IMPORTANT The AEC does not require power from the 1394 to operate nor does it provide power to the 1394 However the 1394 requires a separate 5V power supply to run its interface circuitry The 1394 interface circuitry requires 0 325A to operate Any additional devices connected to the 1394 such as incremental encoders can require an additional 0 2A per device check your device for the precise requirements To connect the encoder cables 1 Insert the 12 pin plug labeled REC AEC in the Axis 0 Encoder or Axis 1 Encoder connector on the AEC 2 Insert the 12 pin plug labeled 1394 in the J3 J4 J5 or J10 encoder feedback connector on the 1394 3 Wire the remaining auxiliary power labeled ENC PWR to the 5V DC power supply The red wire is 5V and the black i
36. or Compact the setup must be capable of generating Absolute Strobe pulses as outlined in this appendix An Absolute Strobe cycle is required to obtain the absolute position from the transducer The absolute position is transmitted to the controller as a stream of incremental quadrature pulses on the rising edge of an Absolute Strobe pulse The absolute position is transmitted in a two strobe pulse train sequence This lets the controller determine the position of the controlled hardware The phase of the encoder output pulses for an absolute strobe is always positive as defined by A leading B The absolute position is transmitted with a sequence of two encoder pulse streams With the first absolute strobe Strobe 1 the lower 16 bits of the transducer position is transmitted On the second absolute strobe Strobe 2 the 9 most significant bits of the transducer position is transmitted 9 bits of actual data transmitted since only 25 bits are supported After completing an absolute update cycle the position can be calculated by summing the least significant count with the most significant count multiplied by 65536 216 The total maximum number of transducer counts which can be transmitted is 33554431 25 1 IMPORTANT Regardless of the number of transducer bits two absolute strobe pulses must be sent to the AEC to complete an absolute position update ATTENTION Issuing an Absolute Strobe causes the AEC to stream position informa
37. ormation required by EN 61131 2 see the appropriate sections in this publication as well as the Allen Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity publication 1770 4 1 This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection Preface Chapter 1 Chapter 2 Table of Contents Read This Manual Read This Manual seu ud dire e e ee 1 Who Should Use this Manual v uds ot ub ee t erac 1 Purpose of this Manual em dr 1 Safety Preca tions y a green er e beni ig 2 Contents of this Manual a 2422220 Bul oul eh he Be Een 3 Related Documentation nona naaa 4 TENOGO ya o duro hats ete air eier pie bee eie 4 Common Techniques Used in this Manual 5 AEC Product Receiving and Storage Responsibility 5 Allen Bradley Supports nn Ba EX OR Rau ed ass 6 Local Product Support nn PES bere me RT Hed 6 Technical Product Assistance ou Qa sna nd re qd 6 On The W esos ssh ot e It ae ce Wes dap aad eRe ae 6 Overview AE GDESCHPHON aia ien ee 4 bal oh aha 7 ABG Eeatutesc ax y vidt tt De AU EARN 8 AEC Mechanical Specifications c Leod ehe e be sr 8 Installation amp Hook Up Chapter Objeeiwes lt a nia ee Re A eT 11 Installing the AEG x ua sac Medeae e beoe oec Eee 11 Complying with European Union Directives 11 EMG Direetive 08 ora p ote depo RUE RE edo Noi eae S 12 Mou ntine the AEC retir
38. peration the position is sampled calculated and transmitted every 1 1000 of a second based on the internal time of the AEC The AEC compares the newly sampled absolute position against the last It calculates the difference between the new and the old positions and transmits the difference through the encoder port in an incremental fashion The position and direction information is encoded and sent using the industry standard A and B channels in quadrature 90 degree phasing Each channel is driven differentially for improved noise immunity When moving in the positive direction the phase of the quadrature pulse train is A leading B When moving in the negative direction the phase of the quadrature pulse train is B leading A The output frequency of both channels is fixed at 800kHz One transducer position count is represented by one edge transition either positive or negative of the quadrature pulse train This encoding scheme is defined as 4X Your position controller must support the 4X decode of the AEC encoder output Publication 4100 5 2 March 2000 36 Operation Position at Start up Publication 4100 5 2 March 2000 In locked mode the AEC sends incremental position after receiving incremental strobe pulses The AEC when configured for free running mode for controlling hardware other than the Compact or 1394 sends the incremental position at start up In this mode the AEC behaves like an incremental encoder Neither
39. s a 5 common Axis 0 Encoder Connector Axis 1 Encoder Connector Installation amp Hook Up 17 IMPORTANT When using multiple Encoder devices we recommend you wire all of the auxiliary power cables to the same 5V DC power supply Figure 5 Connecting the Encoder Cables and the 5V Power Supply to the 1394 Wireway 1394 GMC System e len Bradley 1394 GR04 iim Switches Control SSI dere Configuration Encoder Power Encoder Configuration SSI Control Switches IMPORTANT Anchor the cable so that no more than 2 feet of cable is left unsupported The excessive weight of an unanchored cable could pull the plug out of the connector Connecting the AEC to the Compact To connect the AEC to the S Class Compact motion controller use the encoder cable catalog number 4100 RCS3T for each axis This three foot cable connects the Axis 0 Encoder or the Axis 1 Encoder connector on the AEC to the Axis 0 1 2 or 3 servo and feedback connector on the Compact The Compact sends the drive servo output Publication 4100 5 2 March 2000 18 Installation amp Hook Up signal through the 4100 RCS3T cable The following figure shows where to connect the encoder cable to the AEC and the Compact IMPORTANT This cable is NOT polarity sensitive To connect the Encoder cable
40. s completes an absolute position update cycle Once the MSW has been sent Tpei the AEC begins sending incremental changes Free Running or the Encoder output remains inactive as the AEC waits for an incremental strobe pulse Locked When using controlling hardware other than the 1394 or Compact it is recommended that you set the Configuration Switch B for Free Run operation see Chapter 3 Setup In this mode position changes from the transducer are sent every 1 1000 second by the AEC via the encoder port see Chapter 4 Operation at Startup If synchronization of incremental position updates is required by your application the controller hardware must be capable of generating periodic strobe pulses as described in this section The following diagram and table outline the parametric requirements for an incremental strobe period Figure 19 Incremental Strobe Period Protocol Tinc E Position Increment Delta Counts Publication 4100 5 2 March 2000 50 Strobe Position For Applications Not Using the 1394 or Compact Incremental Strobe Timing Period Parameter Min Max Tinc Incremental strobe period Ts1 Ts1s1 1ms 60ms Ts1 Strobe1 active pulse width 0 005ms 10ms Ts1s1 Time from Strobe inactive to next active strobe Ts1pe 30000 Ts1 Ts1pe Time from Strobe inactive edge to end of position increments Maximum Delta Count Publication 4100 5 2 March 2000 Position increment m
41. s the absolute position sent by the SSI transducer and changes it to an incremental quadrature signal that the 1394 GMC System module and the S Class Compact motion controller can use The AEC is designed to accept outputs from absolute encoders linear displacement transducers or any other measuring device which transmits its measured values over an SSI Several devices are supported with various combinations of counts per turn and number of turns These are defined in the Setup chapter of this manual Parallel output devices are not supported The AEC provides two independent channels from absolute to incremental quadrature conversion The resolution of each channel is set via rotary switches and each one can operate with a transducer using a different supply voltage Although the supply voltages may be different they are not isolated The grounds must be of equal potential Each channel can be individually strobed to obtain new absolute or incremental position information Publication 4100 5 2 March 2000 8 Overview AEC Features AEC Mechanical Specifications Publication 4100 5 2 March 2000 The AEC has the following features Two fully independent axes capable of absolute to incremental quadrature conversion Fach channel can support independent absolute transducer input User selectable resolution Fixed transducer acquisition speed of 400 kHz Each axis provides one differential quadrature output
42. t If power is connected with the wrong polarity no damage is done The AEC simply does not function until the polarity is corrected There is no warning or indication of an incorrect polarity connection The AEC also has over current protection provided by a fuse on the printed circuit board The fuse is a 2 amp 250V 5mm radial A spare fuse is located on the lower left portion of the printed circuit board and is clearly marked Spare Fuse If the fuse blows always determine and correct the reason it blew before installing the new fuse ATTENTION Never replace the fuse with the unit under power When replacing the fuse make sure it is of the proper rating IMPORTANT Before powering the AEC make sure that it has been properly installed and configured according to the instructions contained in this manual The AEC can only be used with GML Commander version 4 01 or higher There are several steps that must be taken in GML Commander before the AEC can be used within a GML Commander diagram This section outlines the necessary steps For more detail about individual steps see the GML Commander User Manual publication number GMLC 5 1 the Configuring Your Axis chapter Defining Feedback section and GML Commander Reference Manual publication number GMLC 5 2 the Configuring Your Axis chapter Defining Feedback section Adding AEC to your Commander Diagram To add the AEC to your GML Commander diagrams go to GML
43. tion from the transducer During this time if servo action is enabled by the controlling hardware motion can occur Place your system in a safe state and disable servo action before performing an Absolute position update Publication 4100 5 2 March 2000 48 Strobe Position For Applications Not Using the 1394 or Compact Absolute Strobe Timing This section defines the timing requirements for the two strobe pulse train required for absolute position updates The AEC must receive two strobe pulses to initiate and complete an absolute position update transfer These are referred to as Ts1 and Ts2 in the data transfer protocol diagram The following diagram and table outline the parametric requirements for an absolute position update cycle Figure 18 Absolute Position Transfer Protocol Tabs Strobe Tsihpe di Quadrature Pulse Train m LEW 0 65535 counts Absolute Position Transfer Timing Ts2hpe MSA 0 511 counts Parameter Locked Mode Free Running Mode Min Max Min Max Tabs absolute update cycle 15182 Ts2 Ts2hpe 3001ms Ts1 Strobe1 active pulse width 100ms 1000ms 100ms 1000ms Ts2 Strobe2 active pulse width 5ms 1000ms 5ms 1000ms Ts1s2 time from Strobe1 inactive to strobe2 active Ts1 Ts 1hpe 2 2000ms Ts1 Ts 1hpe 2 2000ms Tph time from Strobe inactive edge to encoder state hold 30ms 30ms Tsihpe time from Strobe1 inactive to end of encoder stream
44. ust not exceed the maximum Delta Count rate during Ts1s1 The count rate is equal to the encoder channel frequency times four 4X encode The Strobe Ts1 must be active for a minimum of 5ps but less than 5ms to be a valid incremental strobe When the strobe goes inactive the AEC interrogates the transducer position and sends any incremental change from the previous sample The time Ts1pe to transmit the incremental position is dependent on the size of the position increment The position increment must not exceed the maximum delta count allowed between consecutive incremental strobe pulses Tinc The period Tinc of the strobe must be greater than 1ms but less than 10ms This period is constrained by the incremental strobe active time Ts1 and the time to send the position Ts1pe A Absolute Position Update 35 Absolute Strobe Cycle 47 Absolute Strobe Timing 48 AEC Product Receiving and Storage Responsibility 5 Allen Bradley Support 6 C CE requirements 12 Common Techniques Used in this Manual 5 Configuration GML Commander Adding to a Commander Diagram 32 Aligning Absolute Encoder 34 Selecting Homing Procedure 33 Setting the Transducer Resolution 33 Configuration Switch Tables 30 Connecting the AEC to the 1394 16 to the 1756 MO2AE 19 to the Compact 17 Contents of this Manua 3 D Definitions encoder 4 transducer 4 Description 7 E European Union Directives EMC Directive 12 F Fault Indication E
45. vice button 6 In response to the Commander message box move the axis to its minimum travel position and click on OK 7 The alignment procedure runs For more information about alignment see the GML Commander User Manual publication number GMLC 5 1 the Configuring Your Axis chapter Verifying Hookups section and the GML Commander Reference Manual publication number GMLC 5 2 the Configuring Your Axis chapter Verifying Hookups section Chapter Objectives Absolute Position Update Incremental Position Output Chapter 4 Operation This chapter provides an overview of how the AEC determines position This chapter covers the following topics Absolute Position Update Incremental Position Output Position at Start up Absolute position information can be requested from the transducer via the AEC at any time When the AEC interprets the strobe pulse train to be an absolute update request from the controlling hardware it interrogates the transducer s absolute position and incrementally streams the position to the awaiting controller IMPORTANT During an absolute position update the quadrature encoder output stream is always positive A leads B See the Incremental Position Output section of this manual for more details The AEC checks for the transducer position periodically In the Locked mode of operation this process is triggered and synchronized by the strobe input In the Free running mode of o
46. y Preface 5 The following conventions are used throughout this manual Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Words that you type or select appear in bold When we refer you to another location the section name appears in italics ATTENTION The exclamation point inside of a triangle followed by the word ATTENTION indicate circumstances that can lead to personal injury death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product You the customer are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company Check the item s you receive against your purchase order If any items are obviously damaged it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill Should you discover any concealed damage during unpacking you are responsible for notifying the freight agent Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment Leave the product in its shipping container prior to installation If you are not going to use the equipment for a period of time store it in a clean dry location within an ambient temperature range of 0 to 85 C 32 to 185 F
47. y sensitive To connect the 4100 CCS15F Encoder cable 1 Insert the end with the 12 pin plug to either the Axis 0 Encoder or Axis 1 Encoder connector on the AEC 2 Connect the flying leads to the appropriate pin locations on the 1756 MO2AE using the pin locations as shown in the following diagram 1756 MO2AE Pins for Connecting AEC Pin Number Pin Value Wire Color 1 V REF Red 3 V REF Blac 11 Chassis Blac 25 A White 21 A Blac 29 B Green 31 B Blac 33 Z Blue 35 Z Blac Publication 4100 5 2 March 2000 20 Installation amp Hook Up The wires for Strobe and Strobe must be run through the DC Output card The pin locations are designated in the following table DC Output 1756 0B161 A Pins for Connecting the AEC Strobe Pin Number Pin Value Wire Color 2 Strobe Yellow 1 Strobe Black The following diagram shows the 4100 CCS15F cable connecting the AEC to the 1756 MO2AE Figure 7 Connecting the Encoder Cable to the 1756 MO2AE and DC Output 1756 MO2AE AEC 20 e sara our e e m m e s ENABLE 0 e e ENABLE 1 9 p m oO oars bar oe m m 8 d IN COM HOME 1 o e o rl e 9 REG2AV 1 Sul REGEV 1 4100 CCS15F 04 0K o BO BO Ere Site MO so cHz 0 CHZ 1 L 1 CHASSIS Switches Control SSI CHAT CHA
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