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U s e r M anual - Advanced Micro Controls Inc

1. 20 Gear Drive Plymouth Ind Park Terryville 06786 29 Tel 860 585 1254 Fax 860 584 1973 http Wwww amci com 3 INSTALLING THE 2 Slave Mode Setting the ANA2 Jumper When operating the ANA2 as a slave module you must change Jumper these two pins the location of one jumper before applying power to the ANA2 for a Master Module The jumper is located behind the front cover of the module All Factory Default ANA2 modules ship with a jumper across the Master pins To set the module to slave mode move the jumper from the Master Jumper these two pins pins to the Slave pins tor a Slave Module NOTE gt The module will not operate correctly if the jumper is not across one of the sets of pins Figure 3 9 Master Slave Mode Jumper Location Wiring the Cable Wiring between the ANA2 and the other resolver input device should be kept as short as possible and use Belden 9873 Belden 9730 or exact equivalents NOTE gt 1 2 and other resolver input device must share a common ground 2 If interfacing two resolvers with the ANA2 while it is acting as a Slave module the refer ence voltage and frequency must be the same for both resolvers 3 The
2. 20 Gear Drive Plymouth Ind Park Terryville 06786 65 Tel 860 585 1254 Fax 860 584 1973 http www amci com aN THE RESOLVER How the ANA2 Works The ANA2 generates a reference voltage at the programmed voltage and frequency This voltage is fed into the rotor of the resolver and the resolver performs the polar to rectangular conversion returning the sine and cosine voltages The ANA2 uses the programmed Transformation Ratio parameter to digitally adjust the gains of the input amplifiers that sense the sine and cosine voltages The ANA2 simultaneously samples the sine and cosine waveforms at the waveform peak and performs an A D conversion on these values At this point the ANA2 has digital values of the sine and cosine of the angle of the resolver s shaft Thinking back to trigonometry class SIN COS TAN With this value calculated ANA2 uses lookup table to determine the shaft angle As you may remember the tangent function repeats every 180 The ANA2 uses the signs of the sine and cosine values to determine the quadrant the shaft angle is in Calculating the ratio of the sine value to the cosine value has the important benefit of removing the absolute value of the reference voltage from the equation entirely This means that changes in the reference voltage such as those that result from changes to environmental conditions or aging are
3. 21 Master Device Dimensions 2 22 24 22 21 Compatibility 9 Installing IC 5 Connectors 22 Programmable Parameters 10 Mounting the ANA2 Module 22 Calibration Parameters 10 22 Configuration Parameters 10 Power Connector 2 2 23 Connector Pin Out 23 Single Resolver 10 Transducers 24 Dual Resolver Transducer Outline Drawings 24 accion oes coca 11 Mounting 24 Foreign Dual Resolver Foreign Transducers 25 Transducers 12 Transducer Wiring 25 Alignment Parameters 12 Single Resolver Transducers 25 Measurement Parameters 12 Single Resolvers 26 Power Connector 4 82 13 Dual Resolver 13 Multi turn Transducers 27 Front Panel 14 Address Settings 14 ees Satus 15 rune Loops and 15 Ground 28 Channel States 15 Slave Mode Pede naan deeeed E 30 Master Slave Reference Voltage Jumper 16 Setting the Jumper
4. GND 11 N C 10 N C S4 52 53 51 R1 GND gt Connector Part MS 16 BELDEN 9873 Cable or exact equ Bendix 1 SyncOut For cable lengths greater than MS3106A16S 1S NOTE This is a signal ground not a shield ground 100 30 meters use BELDEN 9730 All shields must be connected to J1 2 or the earth ground connection of the ANR2 module Figure 3 6 AMCI CTL Cable Wiring 1 There are two ways to reverse the count direction when using single resolver transducers One method is to set the Count Direction parameter when programming the ANA2 The other method is to reverse the connections on one of the stator pairs AMCI standard method is to reverse 52 54 pair which is the green black pair of the CTL cables mni 2 When using a foreign single resolver transducer note how signals are paired in cable and use this pairing when generating your wiring diagrams 3 The cable shields must be isolated from earth ground at the transducer to prevent ground loops and ground shifts When using a foreign transducer do not attach the shields to a transducer pin even if this follows the standard of your transducer s manufacturer 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1
5. 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Exit Mode Command Changes to configuration parameters are lost if you do not store the parameters in flash memory when you exit Configuration Mode If you are in Configuration Mode and the ANA2 experiences a hardware reset or power loss the parameters are also lost If you want to save the parameters to flash and use them then you must exit Configuration Mode with the Save to Flash and Exit Command as described above NOTE gt If you entered Configuration Mode accidently or you just want to abandon your edits exit Configuration Mode with the following command ANA2 Word Value Description 0 16 800F Command Word to exit Configuration Mode 1 9 16 0000 Not Used Figure 6 5 Save and Exit Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Configuration Mode The unit will enter the highest level mode that it can This will be Configuration Mode if the ANA2 is not presently configured Alignment Mode if you are using a foreign dual resolver transducer or Measurement Mode if at least one of the channels is ready for measurements At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by rese
6. 0 if the Setup parameters must be written to the channel before it can be used Valid setup data is pro grammed into ANA2 at the factory so this bit will be set on new units Channel Aligned Always set to 1 when using single resolver and dual resolver transduc ers When using a foreign dual resolver transducer set to 1 when valid alignment data exists for the transducer This bit is reset to 0 if the foreign dual resolver transducer must be aligned before use Bits 10 6 Reserved Always reset to 0 Bit 5 Bit 4 Transducer Fault Set to 1 when there is an error reading the transducer The state of this bit is only valid when the ANA2 is in Alignment Mode or when in Measurement Mode and the channel measuring bit is set to 1 The most common causes are that the sensor is not wired to the ANA2 correctly or the Configuration parameters do not work with the attached resolver Position and Velocity data are set to zero when there is a transducer fault on the channel Channel Measuring Set to 1 when ANA2 is in Measurement Mode and actively reading the transducer If this bit is reset to 0 while in Measurement Mode the ANA2 will transmit a value of zero for the position and velocity values Bits 3 2 Reserved Always reset to 0 Bits 1 amp 0 Sensor Type Bit pattern shows what type of transducer the 2 channel is programmed for Bit
7. make sure your DIN rail is long enough to mount the AnyNET I O modules and ground the cable shields 8 20900 4 55 115 6 3 90 99 1 k gt 0 26 6 6 _ 20 Gear Drive Plymouth Ind Park Terryville 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com Mounting continued Installing IC 5 Connectors INSTALLING THE ANA2 If you are using your ANA2 as part of an AnyNet I O stack you need to install the included IC 5 connector on the DIN rail to allow the ANA2 to communicate with the stack Fig ure 3 2 shows how to install the IC 5 connectors in the DIN rail NOTE gt Note the orientation of the IC 5 connectors when installing them The module key goes towards the bottom of the DIN rail Module Key Clip onto 1 _ i 1 Slide into Place Figure 3 2 5 Connector Installation If you are using a single ANA2 with a network interface then you do not need the 5 connec tor The connector is only used for communica tions within the stack IC 5 connectors are also available from Phoenix Contact under their part number 2713722 Mounting the ANA2 Module Mounting an AnyNET I O module is a very simple process thanks to the design of the enclosure 1 Partially engage the connector into the enclosure 2 Engage the top clip in the enclosure with the top
8. points are similarly defined when the Rotor cosine output is zero and the sine voltage is in phase or out of Figure A 2 Resolver Internals phase with the Reference Voltage 64 ADVANCED MICRO CONTROLS INC THE RESOLVER aN How a Transmitter Resolver Works continued Figure A 3 below is a schematic representation of a Transmitter resolver The schematic shows industry stan dard wire colors for the resolver wires Information on wiring a resolver to the ANA2 can be found in figure 3 7 Resolver to Cable Connections found on page 26 Resolver 51 Red Stator d 53 Resolver Stator VREF 1 J Winding 2 R2 Rotary pee Yel Transformer Wire Color 54 Resolver Rotor Figure A 3 Transmitter Resolver Schematic Interpreting Resolver Specifications When specifying a resolver for use with the ANA2 module the three most important specifications are gt Reference Voltage The specified operating reference voltage gt Reference Voltage Frequency The specified operating reference voltage frequency gt Transformation Ratio TR The ratio of output voltage to input voltage when the output voltage is at it s maximum value This is typically specified at the resolver s 0 position but it is valid at any of the resolver s 90 points Resolvers use different wire gauges and different turns ratios which means that they operate at di
9. 2 continued ANA2 be programmed to accept two types of resolver based transducers gt Single Resolver Transducers This type of transducer has a single resolver in the transducer package This type includes transducers that yield an absolute position over single turn such as our HT 20 HT 400 H25 and R11 product lines and transducers that include an A A S integral gear train between input shaft and resolver so they can yield an absolute position value over multiple turns An example of this type of transducer is any member of the HT 20 x line from ingle Resolver Single Turn gt Dual Resolver Transducers This type of transducer has two resolvers in the transducer package that are geared in such a way that the trans ducer yields high resolution absolute position over multiple turns As lt gt shown figure 1 2 to the right there two types of dual resolver lt multi turn transducers One type uses vernier gearing where the two Single Resolver gears differ by one tooth Examples of this type of transducer are the HTT 20 100 20 180 20 1000 20 1800 transducers from AMCI The second type uses a gear reduction between fine and coarse gear so that the coarse gear completes one rotation for multiple turns of the fine resolver 2 2 gt A third type of transducer is redundant dual r
10. accepted Missing or invalid data in any of the words will cause a command error 42 ADVANCED MICRO CONTROLS INC CONFIGURATION MODE DATA FORMAT 5 Write Configuration Data Command continued Slave Mode Programming When using the ANA2 as a slave device the Reference Voltage Reference Frequency and Transformation Ratio parameters must still be programmed so that the ANA2 can reliably decode the resolver position and detect transducer faults The Reference Voltage and Reference Frequency parameters must equal the voltage and frequency supplied by the resolver s master controller and the Transformation Ratio parameters must match those of your resolvers ANA2 Response The ANA2 responds to a Write Configuration Data command by setting the Acknowledge Bit in the Module Status word as well as the appropriate error code in bits 03 through 00 of that word The four error bits will equal zero if the command completes without error See Module Status Word Format starting on page 35 for a full description of the response bits At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit If there is an error response from ANA2 correct your data and send another Write Configuration Data command to the unit Save to Flash and Exit Command Co
11. www amci com yd OPERATING MODES Available Modes continued Measurement Mode After your transducer is setup use Measurement Mode to read back its position and velocity values If the ANA2 automatically enters Measurement Mode after you exit a different mode you must issue a command to the unit to tell it which channels to read Status Bits 2 has six module status bits that allow you to determine the state of the module It also has sta tus bits per transducer to tell you what valid data exists for the transducer and if the ANA2 is actively measur ing the position and velocity data from your transducer Module Status Bits Module Initialized This bit is set on power up or after a hardware reset The 2 is only transmitting status information Position and velocity data are set to zero The module is waiting for the first command from the host controller NOTE gt The Module Initialized Bit is only set when the ANA2 completes its power up sequence and is reset when the module accepts its first command this bit is set during normal operation then the module has experienced a hardware reset This behavior can be caused by a tempo rary drop in input voltage or a surge of electrical noise that was induced into the module In Calibration Mode If this bit is set along with the Module Initialized bit on power up the ANA2 requires calibration If it is set when the Module Initialized bit is reset the
12. 1254 with the model number and serial number if applicable along with a description of the problem during regular business hours Monday through Friday 8AM 5PM Eastern An RMA number will be issued Equipment must be shipped to with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by 24 Hour Technical Support Number 24 Hour technical support is available on this product If you have internet access start at www amci com Product documentation and FAQ s are available on the site that answer most common questions If you require additional technical support call 860 583 7271 Your call will be answered by the factory dur ing regular business hours Monday through Friday 5PM Eastern During non business hours an mated system will ask you to enter the telephone number you can be reached at Please remember to include your area code The system will page an engineer on call Please have your product model number and a description of the problem ready before you call We Want Your Feedback Manuals at AMC are constantly evolving entities Your questions and comments on this manual are both wel comed and necessary if this manual is to be improved Please direct all comments to Technical Documenta tion 20 Gear Drive CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to tech
13. 30 Specifications 16 n pecifications 20 Gear Drive Plymouth Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com Table of Contents Chapter 4 AMCI Net Configurator Chapter 8 Alignment Mode Data Software Format ANA2 Configuration Screen 31 Transmit Bit 51 2 Setup Screen 32 Entering Alignment Mode 51 ANA2 Alignment Screen 33 ANA2 Response 51 ANA2 Measurement Screen 34 Network Input Data Format 52 Align Transducer Command 53 Chapter 5 Module amp Channel AN 2 53 Status Data Multi Word Position Format 54 Network Input Data 35 Sage to Flash and Command 54 Module Status Word Format 35 Exit Mode Command _ 55 Bit Descriptions 36 Channel Status Word Format 39 Chapter 9 Measurement Mode Data Bit Descriptions 39 Format Chapter 6 Configuration Mode Transmit 57 Data Format Entering Measurement Mode 57 Transmit 41 Measurement Mo
14. 585 1254 Fax 860 584 1973 http www amci com 3 INSTALLING THE 2 AMCI Transducers Transducer Outline Drawings The 2 is compatible with all and R15X resolvers and all single and dual resolver transducers man ufactured by AMCI Outline drawings and specification sheets are available on our website www amci com resolvers asp Mounting All resolver transducers are designed for industrial environments and therefore require little attention The resolver is electrically isolated from the body of the transducer to eliminate the potential for ground loops and ground shifts in the system The main guideline to follow when mounting the transducers is to limit bear ing loads when coupling the transducer to your machine This includes using flexible couplers when directly coupling shafts to eliminate shaft misalignments The following bearing load ratings are known as Lj ratings the bearing trade associations 1015 a stat ical rating meaning that 90 of the bearings will survive the specified number of revolutions AMCI speci fies our rated number of revolutions as 2X10 or 2 billion which is a number commonly used in the industry By specifying the maximum load and statical life AMCI gives you data you need to choose the right trans ducer for your application Note that these load ratings are maximums and you should always strive to keep shaft loading to a minimum The inverse relationship betwee
15. 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION THE 2 ANA2 Programmable Parameters continued Setup Parameters continued Foreign Dual Resolver Transducers When the ANA2 is programmed for a foreign dual resolver transducer that is one not manufactured by the 2 uses the following setup parameters gt Transducer Fault Latch Gives you programmable control over whether or not transducer faults are self clearing or latched and must be cleared by the host The factory default setting is for self clearing faults gt Count Direction Gives you programmable control over the direction of rotation needed to produce increasing counts gt Gearing Type Allows you to define the type of gearing used in the transducer The choices are Reduc tion Type or Vernier Type gt Transducer Type This parameter defines the maximum number of turns the transducer can encode The range of values is any number between 2 and 128 gt Number of Turns This parameter defines the number of turns the transducer shaft must complete before the position value returns to zero The range of the Number of Turns parameter is the factors of the programmed value of the Transducer Type parameter Examples for 64 and 128 turn transducers are given in the table below Transducer Type Number of Turns Parameter Setting Acceptable Values 64 1 2 4 8 16 32 64 128 1 2 4 8 16 32 64 128 Table 1
16. Number Description Reserved Single resolver transducers AMCI dual resolver transducer Foreign dual resolver transducer Figure 5 4 Transducer Type Bits Description 20 Gear Drive Plymouth Ind Park Terryville CT 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls MODULE CHANNEL STATUS DATA Notes 40 ADVANCED MICRO CONTROLS INC 6 CONFIGURATION MODE DATA FORMAT This chapter covers the steps needed to program the ANA2 while it is in its Con figuration Mode Transmit Bit The Transmit Bit is used to tell the ANA2 when a new command is being written to it Bit 15 of the Com mand Word in the Network Output Data Output Word 0 bit 15 is always the Transmit Bit 2 only accepts commands when the Transmit bit makes a 0 1 transition Therefore this bit must be reset between commands The easiest way to do this is to write a value of zero into the Command Word before writing the next command Once this bit is reset the ANA2 will respond by resetting the Acknowl edge Bit At this point another command can be written to the ANA2 This condition also applies when switching between modes Entering Configuration Mode The ANA2 will allow you to enter Configuration Mode after power up as long as valid Calibration data exists This is the normal operating condition of the module If the ANA2 power up with the In Calibration Mode and Module Initialized
17. Reset to 0 at all other times If this bit equals 1 when the Module Initialized bit is set the ANA2 requires calibration NOTE gt If this bit is set when the Module Initialized is set has lost its factory calibration values Contact for assistance with calibrating ANA2 Bit 10 Bit 9 Bit 8 Bit 7 In Configuration Mode Set to 1 when the ANA2 is in its Configuration Mode Reset to 0 at all other times If this bit equals 1 when the Module Initialized bit is set the ANA2 does not have valid configuration data for either channel and the unit must be configured In Setup Mode Set to 1 when 2 is in its Setup Mode Reset to 0 at all other times If this bit equals 1 when the Module Initialized bit is set the ANA2 does not have valid setup data for either channel and the unit must have transducer parameters written to it In Alignment Mode Set to 1 when is in its Alignment Mode Reset to 0 at all other times If this bit equals 1 when the Module Initialized bit is set the ANA2 is configured for a for eign dual resolver transducer and does not have valid alignment data for it The resolvers must be aligned before measurements can be taken In Measurement Mode Set to 1 when the ANA2 is in its Measurement Mode Reset to 0 at all other times If this bit equals 1 when the Module Initiali
18. Save Configuration To File Read Configuration From Figure 4 4 NET Configurator Measurement Screen 34 ADVANCED MICRO CONTROLS INC amp CHANNEL STATUS DATA This chapter covers the format of the Module and Channel Status bits read from the ANA2 by your network host Network Input Data The format of the Network Data depends on the Mode the ANA2 is presently in However the format and position of the Module Status and Channel Status bits always remains the same ANA2 Network Input Data Module Status Channel 1 Status Data Format based on the mode the ANA2 is presently in See remaining chapters of this manual that describe the available modes Channel 2 Status Data Format based on the mode the ANA2 is presently in See remaining chapters of this manual that describe the available modes Reserved Figure 5 1 Network Input Data Module Status Word Format The format of the Module Status word does not depend on the mode that the ANA2 is in The format is always the same Error Code 0 No Error 1 Command Error 2 Save to Flash Error 3 Reference V Error 4 Reference f Error 5 TR Error 6 of Turns Error 7 Transducer Type Error 8 Setup Error 9 Full Scale Count Error 10 Preset Error 11 Reference Error 12 15 Reserved Slave Mode In Setup Mode 50 as x lt Hea
19. confirmation before linking to the World Wide Web The PDF file is password protected to prevent changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 7 0 or later you are allowed to add notes and annotations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 5 Tel 860 585 1254 Fax 860 584 1973 http www amci com ABOUT THIS MANUAL Manual Conventions Three icons are used to highlight important information in the manual NOTE gt NOTES highlight important concepts decisions you must make the implications of those decisions CAUTION The following table shows the text formatting conventions CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly WARNINGS tell you when people may be hurt or equipment may be damaged if the pro cedure is not followed properly Format Description Normal Font Font used throughout this manual Font used the first time a new term is introduced Emphasis Font When viewing the PDF version of the manual clicking on Cross Reference the cross reference text jumps you to referenced section When viewing the PDF version of the manual clicking on HTML Link the link will connect you with the www amci com website Where To Go From Here This manual contains information that is of interest to everyone from engineers to operators The table
20. due to way they mea sure the return signals Electrically the reference voltage will appear as one of the following three output types gt Transformer Isolated Both sides of the reference are electrically isolated from the master device Single Ended One side of the reference is tied to the signal common of the master device and the other side supplies the reference voltage to the resolver gt Non Isolated Differential and R2 pins of the master device both carry a voltage with respect to the device s common All AMCI devices use either a transformer isolated reference or a single ended reference with R2 tied to device signal common In all cases R2 of the master device can be tied to the signal common connection of the ANA2 without affecting the operation of the master device must be connected to SynclIn input of the ANA2 When using a master device use ohmmeter to determine if one of the resolver s R1 R2 connec tions is tied to the signal common of the master device If it is this pin must be tied to the signal common connection of the ANA2 and the other reference pin tied to its SyncIn input CAUTION Tying the wrong pin of your master device to the csignal ommon connection of the ANA2 will effectively short the reference output to ground which may damage the mas ter device or the ANA2 If neither of the R1 R2 pins is attached to the common of your master device con
21. on the Measurement tab when using single resolver transduc ers If the ANA2 is setup for AMCI or foreign dual resolver transducers the screen will not show settings and data for channel 2 The check boxes in the Measurement Command section of the screen allow you to issue measurement commands to the ANA2 Simply select your settings and press the Enter Measurement Mode button to write these settings to the ANA2 Device Properties General ANA2 Module 1 Configuration Setup Alignment Measurement Measurement Command Send Measurement Mode Command Apply Preset Channel 1 Enable Channel 2 Single Apply Preset Channel 2 Clear Transducer Faults Disable Channel 1 LED Disable Channel 2 LED Channel 1 Data Channel 2 Data Position Value Position Value Velocity Velocity Measurement Instruction Module in Measurement Mode Input Data Data from the Sensor Module Status 0080 HEX Module Initialized Eror No Error In Calibration Mode Configuration Mode In Setup mode No Alignment Mode No In Measurement mode Yes Channel 1 Status 7811 HEX Channel 2 Status 7801 HEX Calibrated Yes Channel Measuring Yes Calibrated Yes Channel Measuring No Configured Yes Channel Fault No Configured Yes Channel Fault No Setup Yes Transducer Type Single resolver transducer Setup Yes Transducer Type Single Resolver Transducer Aligned Yes Aligned Yes
22. 0000 if channel is disabled Velocity Value or 16 0000 if channel is disabled Channel 2 Fine Resolver Status Word Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Reserved 16 0000 Figure 9 4 Network Input Data Measurement Mode Format Oiol NIDA WwW Position Format The multi turn position value reported back to PLC can exceed 32 768 counts Therefore it requires two words of storage and it is transmitted as a 32 bit value The least significant word LSW contains the lower sixteen bits of the value and the most significant word MSW contains the remaining bits Many host plat forms only show 16 bit values in 2 s compliment notation Therefore it is possible for a negative value to appear in the least significant word 4 Value hex MSW hex MSW dec LSW hex LSW dec 50 800 16 0000 C670 16 0000 0 16 C670 14 736 11 772 561 16 00B3 A291 16 00B3 179 16 A291 23 919 Table 91 Multi word Data Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 61 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 MEASUREMENT MODE DATA FORMAT Notes 62 ADVANCED MICRO CONTROLS INC APPENDIX THE RESOLVER This appendix explains how a resolver works and the resolver characteristics you must be aware of when configuring the ANA2 to use your resolvers History of the Resolver Resolv
23. 2 Number of Turns Parameter Settings gt Full Scale Count This parameter allows you to set the number of counts reported by the ANA2 over the programmed Number of Turns This parameter has a range of 2 to 65 536 Number of Turns As an example assume a 128 transducer and you have programmed the Number of Turns to 32 The range of the Full Scale Count Parameter is 2 to 2 097 152 65 536 32 gt Preset Value The transducer position can be set to any value within the range of 0 to Full Scale Count 1 This parameter sets the value that the transducer position will be set to when the host con troller issues the Apply Preset command Alignment Parameters Alignment is only required when using a foreign dual resolver transducer to assure that the fine and coarse resolvers are properly aligned The Alignment Offset is an internal parameter that adjusts the Coarse Resolver position to align the two resolvers The value of the Coarse Resolver Offset is not available to the host controller The host only issues a command to ANA2 to calculate this offset Measurement Parameters An internal Position Offset is the only parameter that is set with the measurement block of data Like the Coarse Resolver Offset alignment parameter the Position Offset is not available to the host controller The Position Offset is calculated when the host controller issues an Apply Preset command and it is the offset required to bring the actual resolver positio
24. 254 Fax 860 584 1973 http www amci com 3 INSTALLING THE 2 Transducer Wiring continued Single Resolvers Figure 3 7 shows the connections required to attach a resolver with industry standard wire colors to a Belden 9873 or 9730 cable If these connections are followed you can refer to figure 3 6 on page 25 for connections from the Belden cable to the ANA2 Strip the shields back to inside the cable BLK lt SCP BLK 53 WHT lt WS gt RED 51 BLK QA 52 wire with white tracer is sometimes GRN lt SS gt BLU S4 used instead of a black wire with a white tracer BLK lt gt RED WHT All AMCI resolvers use a black white wire RED TISE WHT Figure 3 7 Resolver to Cable Connections Shields of the cable must not be connected to chassis ground except the module BELDEN 9873 or 9730 Cable 26 ADVANCED MICRO CONTROLS INSTALLING THE 2 k Transducer Wiring continued AMCI Dual Resolver Multi turn Transducers The following diagram shows how to wire a standard AMCI dual resolver transducer to the ANA2 Note that shield connections on the MS 2X11 can only be made on the J1 2 pin GND in the following diagrams reference signal ground not chassis ground Con necting shield wires to these p
25. A2 2 TOP VIEW CTL x CABLE J2 J1 BELDEN 9873 Cable or exact equ 11 BLK A 8 9 GRN On 53 BLK ue Th sabes 9873 ee or exact equ NOTE Cable shields should only be 5 For cable lengths eae grounded at the device that Genesis PLS 1 meters C BELDEN 9720 Connector generates the reference Transducer Input Connector MS 16 voltage signal Aeri Pa rt MS 8P pon Phoenix 5 8 ST 3 81 MS3108A188 1S Figure 3 10 Slave Mode Wiring Example 30 ADVANCED MICRO CONTROLS INC CHAPTER 4 CONFIGURATOR SOFTWARE The AMCI NET Configurator software version 4 08 and above adds screens allow you to graphically program the parameters of an ANA2 module as well as display position and velocity data This software is designed to assist you gain ing familiarity with the ANA2 but is not meant to replace programming your host controller NOTE gt The AMCI NET Configurator software is a simple utility program As such it assumes that it has exclusive access to the AnyNET I O Stack Do not attempt to run this software utility while the AnyNET I O Stack is attached to a host controller Doing so may result in communication contention that will prevent the Configurator software utility from communicatin
26. ALLING THE 2 3 Power Connector The ANA2 accepts 24 Vdc as its input power As shown in the figure below the power connector is located on the bottom of the module The mating connector is included with the ANA2 Spares are available from AMCI under the part number MS 4N They are also available from Phoenix Contact under their part number 187 80 37 ANA2 Bottom View GND Shields Network Connections Power Connector 1 DC Return Figure 3 4 Power Connector Location Power connections should be tight as loose connections may lead to arcing which will heat the connector Phoenix Contact specifies a tightening torque of 4 4 to 5 4 Ib in 0 5 to 0 6 Nm The power supply is connected to the pins marked Vdc In and DC Return The Chassis GND pin is used to attach ANA2 to earth ground 1 AnyNET I O modules are electrically isolated from the DIN rail by their mounting but the Chassis GND connection is common to all of the modules in the stack through a pin in the IC 5 connector At least one module in the AnyNET I O Stack must be attached to earth ground through a heavy gauge stranded wire to ensure reliable operation of the stack 2 Each ANA2 module must have its own power connection 3 AnyNET I O modules will not be damaged if it is plugged into the InterConnect bus while power is applied but the
27. Controls Inc All other trademarks contained herein are the property of their respective holders Revision Record This manual 940 0 082 is the third release of this manual It was released September 24 2013 This revi sion corrects slave mode wiring Revision History 940 0A081 6 21 2013 Release It added slave mode and additional error code messages 940 0 080 Initial Release Navigating this Manual This manual is designed to be used in both printed and on line formats Its on line form is a PDF document which requires Adobe Acrobat Reader version 7 0 to open it The manual is laid out with an even number of pages in each chapter This makes it easier to print a chapter to a duplex double sided printer Bookmarks of all the chapter names section headings and sub headings were created in the PDF file to help navigate it The bookmarks should have appeared when you opened file If they didn t press the F5 key on Windows platforms to bring them up Throughout this manual you will also find blue text that functions as a hyperlink in HTML documents Clicking on the text will immediately jump you to the referenced section of the manual If you are reading a printed manual most links include page numbers You will also find red text that are hyperlinks to various pages on the www amci com website Clicking on the text will open your web browser and attempt to con nect you with our website Adobe Acrobat products may ask for
28. a slave module and Reference Error the reference voltage is not being received from the master The master device must be wired into the J2 1 and J2 2 pins of the ANA2 with the J2 2 pin being ground Reserved Reserved for future use Table 5 1 Module Status Error Code Bits 38 ADVANCED MICRO CONTROLS INC MODULE CHANNEL STATUS DATA Channel Status Word Format The format of the Channel Status word does not depend on the mode that the ANA2 is in The format is always the same There are two Channel Status words in the network data Word 1 is for channel one and Word 5 is for channel two Sensor Type See Description Below Channel Configured Transducer Fault Channel Measuring 929 lt Figure 5 3 Channel Status Word Format Bit Descriptions Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Reserved Always reset to 0 Channel Calibrated This bit is set to 1 if the channel has been properly calibrated The ANA2 is calibrated at the factory This bit should always be set Channel Configured Set to 1 when the channel has valid Configuration data associated with it Reset to 0 if the channel must be configured before it can be used Valid configuration data is pro grammed into ANA2 at the factory so this bit will be set on new units Channel Setup Set to 1 when the channel has valid Setup data associated with it Reset to
29. al resolver transducer but the programmable parameters of the ANA2 will now allow you to use a single resolver in most applications This is accomplished by configuring the as a Slave module All ANA2 modules ship as Master modules and generate their own reference voltages You change an ANA2 to a Slave module by changing a jumper on the front of the unit and programming a parameter in the network data External wiring is then used to connect the resolver master to the ANA2 slave module The ANA2 reads the reference voltage from the resolver master and uses this data to properly decode the resolver posi tion Note that the ANA2 can interface with one or two resolvers while acting as a Slave module The only restriction is that the reference voltage and frequency must be the same for both resolvers 28 ADVANCED MICRO CONTROLS INC INTRODUCTION THE 2 5 2 continued Master Slave Reference Voltage Mode continued Master Device Compatibility Not all potential resolver master devices will be able to use the ANA2 as a slave device Compatibility will depend on how the reference is generated and how the return signals are measured The ANA2 uses single ended inputs to measure the reference voltage and return signals If your master device is not compatible with this measurement method it will not be compatible with the ANA2 module NOTE gt and iPCE controllers are not compatible with the ANA2
30. and they are transmitted as 32 bit values The least significant word LSW contains the lower sixteen bits of the value and the most significant word MSW contains the remaining bits When determining the values needed when programming the ANA2 it is easiest to convert the parameter value to hexadecimal and enter these values into your data table Many host platforms only show 16 bit values in 2 s compliment notation Sixteen bit values between 32 768 and 65 535 will appear as negative numbers when viewed as decimals Value hex MSW hex MSW dec LSW hex LSW dec 50 800 16 0000 C670 16 0000 0 16 C670 14 736 11 772 561 16 00B3 A291 16 00B3 179 16 A291 23 919 Table 7 2 Multi Word Data Format 46 ADVANCED MICRO CONTROLS INC SETUP MODE DATA FORMAT 7 Write Setup Data Commands Once you are in Setup Mode use one of the following commands to write the Setup parameters to the ANA2 There are five different commands three for single resolver transducers one for AMCI dual resolver trans ducers and one for foreign dual resolver transducers Single Resolver Transducers Configuration Data Command Word See Below CH1 Setup Word See Setup Word Format on page 49 2 to 65 536 CHI Full Scale Count 16 0000 0002 to 16 0001 0000 CH1 Preset Value 0 to Full Scale Count 1 16 0000 to 16 FFFF max CH2 Setup Word See Setup Word Format on page 49 2 to 65 536 CH Full Scale Co
31. anges quickly compared to the coarse resolver position your multi turn transducer is most likely a reduction type transducer If the fine and coarse resolver positions change at nearly the same rate your multi turn transducer is most likely a vernier type transducer gt When you rotate the transducer s shaft the counts of both TOP VIEW J2 J1 resolvers must increase or decrease If one is increasing 11 11 GND and the other is decreasing rotate the transducer s shaft in 10 10 9 9 direction that you want increasing counts and note 8 52 which resolver has decreasing counts Reverse 52 7 7 54 54 connections on I O Connector for this 8 5 z resolver 4 4 R2 3 RI Once you issue the Align Transducer Command the ANA2 2 n responds by showing the combined multi turn position value 12 Reverse these connections if Channel 2 count decreases when it should be increasing Reverse these connections if Channel 1 count decreases when it should be increasing Figure 8 3 Reverse Count Directions 525 ADVANCED MICRO CONTROLS ALIGNMENT DATA FORMAT Align Transducer Command The Align Transducer command will force the ANA2 module to calculate the coarse resolver offset needed to bring the two resolvers into alignment The coarse resolver offset is an internal offset only and is not the sa
32. angles of the shafts of the Transmitters were at the required angles for the gun turrets As shown in figure A 1 Transmitters basically perform a polar to rectangular conversion on a vector The magnitude of the vec tor is equal to the magnitude of a Reference Voltage applied to the Transmitter and the angle of the vector is the angle of the shaft Y Component Vref sin 8 Error Signal from Control Transformer Shaft Angle gt Vectors as applied to X Component Control Vref cos Transformer Transmitter Control Transformer Figure Resolvers as Vector Converters The Transmitter converts this vector to X and Y values that are equal to the Reference Voltage multiplied by the cosine or sine of the angle of the Transmitter s shaft These two voltage are transmitted by cable hence the term Transmitter to Control Transformers that are connected to the gun turret The Control Transform ers transform these voltages back to a vector quantity If the shaft of the Control Transformer is not at the same absolute angle as the Transmitter the two coordinate planes are effectively rotated with respect to one another The Control Transformer outputs an error signal equal to the magnitude of the Reference Voltage multiplied by the sine of the angle of error This signal is used by the turret control system to rotate the turret until the shaft angles of the Transmitter and Control Transformer are equal and the err
33. ansducer attached to the ANA2 This parameter has four values 100 180 1000 and 1800 gt Number of Turns This parameter defines the number of turns the transducer shaft must complete before the position value returns to zero The acceptable values are dependant on the value of the Transducer Type parameter Transducer Type Number of Turns Parameter Setting Acceptable Values 1 2 4 5 10 20 25 50 100 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 180 10 20 40 50 100 200 250 500 1000 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 1800 Table 1 1 Number of Turns Parameter Settings gt Full Scale Count This parameter allows you to set the number of counts reported by the ANA2 over the programmed Number of Turns This parameter has a range of 2 to 65 536 Number of Turns for 100 and 180 turn transducers and 2 to 65 53 6 Number of Turns for 1000 and 1800 turn transducers As an example assume an HTT 20 180 transducer and you have programmed the Number of Turns to 36 The range of the Full Scale Count Parameter is 2 to 2 359 296 65 536 36 gt Preset Value The transducer position can be set to any value within the range of 0 to Full Scale Count 1 This parameter sets the value that the transducer position will be set to when the host con troller issues the Apply Preset command 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel
34. below gives a brief description of each chapter s contents to help you find the information you need to do your job Chapter Title Introduction to the ANA2 Intended Audience Anyone new to the ANA2 This chapter gives a basic overview of the features available on the unit typical applications and specifi cations Operating Modes Anyone that needs detailed information on how the module oper ates Installing the ANA2 Anyone that must install an ANA2 on a machine Includes infor mation on mounting grounding and wiring specific to the units AMCI Net Config urator Software Screen captures of the AMCI NET Configurator software that you can use to test the ANA2 and become familiar with its program ming Module amp Channel Status Data Anyone interested in the format of the data you can read from the ANA2 The data format for all of the modes is included in this chapter Configuration Mode Data Format Anyone that needs information on the commands you must write to the ANA2 to set its configuration Setup Mode Data Format Anyone that needs information on the commands you must write to the ANA2 to setup the ANA2 for your type of transducer Alignment Mode Data Format Anyone that needs information on the commands you must write to the ANA2 to align a sensor before measurements can be made from it Measurement Mode Data Format Anyone that needs information on the commands y
35. bits set to 1 then the factory set calibration data has been corrupted If this has occurred contact for assistance See Module Status Word Format starting on page 35 for a full description of the In Calibration Mode and Module Initialized bits You can also enter Configuration Mode from Alignment Mode Setup Mode or Measurement Mode at any time by writing the following data to the ANA2 Description 16 A000 Command Word to enter Configuration Mode 16 1298 Password 16 0000 Not Used Figure 6 1 Enter Config Mode Network Output Data The ANA2 responds by setting the Acknowledge bit and the In Configuration Mode bits if the command was accepted It will respond with an error code of 0001 Command Error if the command was not accepted See Module Status Word Format starting on page 35 for a full description of the response bits At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com CONFIGURATION MODE DATA FORMAT Network Input Data Format The format of the Network Data while the ANA2 is in Configuration Mode is shown below The Module Sta tus word contains the Acknowledge Bit and Error Co
36. can have their position values pre set to zero If you are using a different type of transducer the 2 has to reconfigured before the unit can accurately read the position of your sensor The ANA2 has five operating modes that allow to setup and read your sensor Available Modes The order and names of the available modes are 1 Calibration Mode 2 Configuration Mode 3 Setup Mode 4 Alignment Mode 5 Measurement Mode Commands are available that allow you to switch between modes as needed When you exit a mode the 2 will automatically enter the highest available mode that can be entered Calibration Mode NOTE gt Every 2 is calibrated at the factory You should never need to enter this mode If an ANA2 reports that the module needs to be calibrated contact Technical Support for assistance Calibrations can be made in the field but an accurate true RMS meter is required Calibration Mode is used to make fine adjustments to the reference voltage circuitry and allows the ANA2 to accurately control the reference voltage After successful calibration the resolution of the reference voltage setting is one millivolt Configuration Mode Configuration Mode is used to configure the ANA2 for the resolvers you are attaching to it This involves setting the reference voltage and frequency and specifying the Transformation Ratios of the resolvers to adjust the gains of the input amplifiers All ANA2 mod
37. de Entering Configuration Mode 41 Command Word 58 Network Input Data Format 42 Enable Disable Data Write Configuration Data Command 42 Command Values 59 Command Data 42 Preset Command Values 59 Slave Mode Programming 43 Clear Transducer Fault ANA2 Response 43 Command Values 60 Save to Flash and Exit Command 43 Network Input Data Format 60 Exit Mode Command 44 Single Resolver Format 60 Chapter 7 Setup Mode Data Format Mult Word Postion Format 61 Default Setup Parameter Values 45 Transmit 45 Chapter The Resolver Entering Setup Mode 45 History of the 63 ANA2 Response 46 Types of Resolvers 63 Network Input Data Format 46 How a Transmitter Resolver Works 64 Multi Word Parameters 46 Interpreting Resolver Specifications 65 Write Setup Data Commands 47 How ANA2 Works 66 Single Resolver Transducers _ 47 Command Word Value 47 Dual Resolver Transducers 47 Foreign Dual Resolver Transd
38. de bits Words 2 4 and 6 9 are always 16 0000 in this mode ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 Channel 1 Status Word Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Channel 2 Status Word Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Reserved 16 0000 Figure 6 2 Network Input Data Configuration Mode Write Configuration Data Command Command Data Once you are in Configuration Mode use the following command to configure the ANA2 with the correct resolver parameters Configuration Data Factory Defaults Command Word 16 A001 0 Master Mode 8 192 Slave Mode Reference Voltage 800 to 12 000 0 8 to 12 Vac Reference Frequency 400 to 10 000 Hz Channel 1 Transformation Ratio 10 to 300 0 10 to 3 00 Channel 2 Transformation Ratio 10 to 300 0 10 to 3 00 Reserved for future use Module Mode Reserved for future use Reserved for future use 2 3 4 5 6 7 8 9 Reserved for future use Figure 6 3 Command Format Single Resolver Transducers Configuration NOTE gt 1 The comes factory configured for AMCI transducers This includes the R11X J style bare resolvers available 2 All of the data in words 1 through 5 must be present and valid before the command will be
39. e ANA2 modules are shown in fig ure 1 5 The front cover is hinged on the bottom and swings down to allow you to change the DIP switch address settings and the slave mode jumper The front panel also has the Status LED s which give you informa tion on the state of the module and the sensors Address Settings The AnyNET I O platform allows you to connect up to six modules to a single network connection in what we call an AnyNET I O Stack The DIP switches behind the front panel cover are used to set the address of the module within the AnyNET I O Stack A module with a network interface such as the ANA2E for Ethernet networks com municates with the host and must have an address of zero This address is set by having all of the DIP switches in their OFF position If you are using a single module STATUS 2 2 Resolver Input STATUS 2 2 Channel Resolver Input 2 Channel Resolver Input then it must have an address of zero The remaining modules in the stack should have their addresses set to their position in the stack by setting the corresponding Figure 1 5 ANA2 Front Panel DIP switch to its ON position Figure 1 5 shows the cor rect addressing for three modules The module on the left is an 2 and has its address set to zero The remain ing modules can be ANA2 modules with or without net work interfaces and their address
40. e written to and read from 2 while it is in its Measurement Mode While in this mode you can enable or disable channel status LED s preset the position value and clear transducer faults Both position and velocity data is available to the host controller while in this mode Transmit Bit The Transmit Bit is used to tell the ANA2 when a new command is being written to it Bit 15 of the Com mand Word in the Network Output Data Output Word 0 bit 15 is always the Transmit Bit 2 only accepts commands when the Transmit bit makes a 0 1 transition Therefore this bit must be reset between commands The easiest way to do this is to write a value of zero into the Command Word before writing the next command Once this bit is reset the ANA2 will respond by resetting the Acknowl edge Bit At this point another command can be written to the ANA2 This condition also applies when switching between modes Entering Measurement Mode The 2 will allow you to enter Measurement Mode after power up as long as valid Configuration and Setup data exists When using a foreign dual resolver transducer valid Alignment data must also be present If the ANA2 powers up with the In Measurement Mode and Module Initialized bits set to 1 then you can enter Measurement Mode See Module Status Word Format starting on page 35 for a full description of the In Measurement Mode and Module Initialized bits NOTE ANA2 automat
41. een black pair and the FS2 FS4 pair which is the blue black pair The green CS4 wire goes into the CS2 terminal of the ANA2 while the black CS2 wire goes into the CS4 terminal The blue FS4 wire goes into the FS2 terminal of the ANA2 while the black FS2 wire goes into the FS4 terminal 2 The cable shields must be isolated from earth ground at the transducer to prevent ground loops and ground shifts When using a foreign transducer do not attach the shields to a transducer pin even if this follows the standard of your transducer s manufacturer E 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com 3 INSTALLING THE 2 Transducer Wiring continued Foreign Dual Resolver Transducers Trial and error may be involved when connecting a foreign dual resolver transducer to an ANA2 module for the first time This is because the resolvers must appear to be rotating in the same direction before the ANA2 can decode the multi turn position correctly The direction of rotation of the coarse resolver depends on the number of gear train stages between this resolver and the input shaft Because of this part of the alignment procedure when using a foreign dual resolver transducer is to verify the direction of rotation of both resolvers and changing wire connections as needed In order to ease the installation of Autotech RL210 transducers the following table can be used to wire one
42. ement Mode parameters to factory defaults The Position Offsets which are set in Measurement Mode when a position value is preset are reset to zero If you program the Setup Mode parameters to configure the ANA2 for a foreign dual resolver transducer the Alignment Offset which is set in Alignment Mode is reset to zero You will have to enter Alignment Mode and re align the transducer before you will be able to enter Measurement Mode 20 Gear Drive Plymouth Ind Park 06786 19 Tel 860 585 1254 Fax 860 584 1973 http Wwww amci com yd OPERATING MODES Notes 20 ADVANCED MICRO CONTROLS INC INSTALLING THE ANA2 The ANA2 module must be installed as part of an AnyNET I O stack The instruc tions in this manual explain how to install the ANA2 as part of the stack and how to set its address Complete installation instructions for the AnyNET I O stack or individual networked modules is included the manual for installing the network interface module Safe Handling Guidelines Prevent Electrostatic Damage Electrostatic discharge can damage the ANA2 if you touch the rear bus connector pins Follow these when 1 1 Touch grounded object to discharge static potential before handling module 2 Work in a static safe environment whenever possible 3 Wear an approved wrist strap grounding device 4 Do not touch the pins of the bus connector or I O connecto
43. er their part number 173 88 98 Pins 6 and 7 on the J1 and J2 connectors are internally connected together and are attached to the module s signal ground You will not see a signal on these pins when your reference point is any of the GND pins The ANA2 measures the signals pins 5 and 8 of the J1 and J2 connectors to determine the resolver position AMCI Single Resolver Transducer AMCI Dual Resolver Transducer TOP VIEW J2 VIEW J2 Ji 11 11 GND 11 10 10 10 D 9 9 9 8 8 54 8 7 62 7 6 6 53 6 5 5 51 5 5 4 4 R2 4 3 3 1 3 2 2 Shield 2 1 1 SyncOut 1 1 SyncOut Front of Front of ANA2 ANA2 Figure 1 4 1 0 Connector Connections to foreign dual resolver transducers depends on the number of stages in the gear train of the transducer Information on Autotech RL210 transducers is given in the Installing the ANA2 chapter starting on page 28 The SyncIn SyncOut pins are used when the is used as a slave module The reference voltage from the resolver master is brought in on the and the SyncOut pin is used if an additional ANA2 module must be slaved to the resolver master 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION THE 2 Front Panel The front panels of thre
44. ers AnyNET I O modules are designed to be DIN rail mounted Up to six AnyNET I O modules can be stacked together and accessed over a single network interface Stacking is accomplished through a small backplane connector that snaps into the DIN rail before the AnyNET I O modules are installed These connectors allow the AnyNET I O modules to communicate with each other To the network the stack of mod ules appear as one continuous block of I O words Figure 1 1 Module Stack The ANA2 The 2 is two channel resolver interface module that accepts 24 Vdc as its power source What makes the ANA2 unique is its advanced digital technology that allows the ANA2 to interface with virtually any resolver transmitter regardless of the manufacturer This is accomplished by having the transformation ratio reference voltage and reference frequency completely programmable from the host controller NOTE gt 1 The ANA2 is factory configured for AMCI transducers and the R11X J family of resolvers Programming 2 is simplified by using product 2 This manual assumes that you are familiar with resolvers and their electrical characteristics If you are not familiar with resolvers please refer to Appendix A The Resolver starting on page 63 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com INTRODUCTION THE 2
45. ers are members of a family of devices known as synchros The use of synchros in industrial applica tions dates back to at least the early 1900 s when they were used for gate and valve position feedback on the Panama Canal Resolvers themselves started to gain wide spread use during World War II and have been used by all branches of the military Among other applications resolvers were used by the U S Navy as compo nents in analog computers that were the brains of gun fire control systems from the 1950 s until the mid 1970 s Resolvers are still in use today in both military and commercial applications for angular position feedback on land and sea vehicles as well as aircraft flight control surfaces Since the early 1970 s resolvers have been used in diverse and demanding industrial fields such as mining and metals press control and nuclear waste containment All in all resolvers have been used for the last 60 years in applications like yours where failure is not an option Types of Resolvers There are many different types of resolvers but the two most commonly used in industrial applications are the Transmitter and the Control Transformer Understanding the difference between the two types is best achieved by understanding a simplified explanation of how they might have been used in the naval gun fire control system Transmitters were installed in the analog computer When the computer finished calculating the solution set the
46. es are set to one and two NOTE gt If an ANA2 with a network interface has its address set to any value other than zero its net work interface is disabled This allows you to use multiple modules with network interfaces in a single AnyNET I O Stack 14 ADVANCED MICRO CONTROLS INC INTRODUCTION THE 2 Front Panel continued Status LED s The Status indicators are bi color red green LED s shows the status of the module and sensors Module States Module State LED Blink Pattern Description Both LED s flash green twice in one second followed by one second off Slow blink Module has finished its power up sequence Module Initialized and is waiting for network command data 1 Error in module 2 Communications error within the AnyNET I O Stack Cycle power to the module or stack to attempt to clear these problems Module Error Both LED s ON Red 3 Reference Voltage missing while in Slave Mode The reference voltage must be brought into the Syncin pin J2 1 The module is calibrated at the factory If you see this pattern cycle power If the pat tern remains contact AMCI Tech Support for assistance Both LED s flash red at 4 Hz Calibration Mode Fast blink Both LED s flashes red twice in one Configuration Mode second slow blink followed by one second off The last network data transfer to the ANA2 placed it in Configuration Mode The last n
47. esolver trans Dual Resolver ducer such as the HTT 20 1 and HTT 400 1 from AMCI This Vernier Type Multi turn type of transducer has two resolvers that are geared 1 1 with the input shaft They are typically used in systems that require P redundant controls for safety or high availability To the 2 these transducers appear as two single resolver trans A 8 ducers so this transducer type is treated as such in this manual A ANA2 accepts programming information and reports position velocity Dual Resolver and error information over the network connection to the AnyNET I O stack Reduction Type Multi turn This connection means that you do not have to be physically near the ANA2 while configuring it All configuration and setup data is sent from your host system over the network connection This allows you to gt Configure 2 from anywhere P gt Store multiple setups on your machine gt gt setup data from machine to another Dual Resolver gt Design custom HMI interfaces for configuration and setup that can sim plify machine training startup and repair Redundant Figure 1 2 Resolver Transducer Master Slave Module Types Some applications require position feedback to two different controllers One example of this is feeding a resolver into 2 as well as a servo drive controller Previously many of these applications required the use of a redundant du
48. etup the ANA2 for a vernier type multi turn transducer Bits 7 2 Reserved Must always be reset to 0 Bit 1 Bit 0 Transducer Fault Latch When this bit equals 0 the ANA2 will clear transducer fault errors as soon as it can correctly determine position based on the resolver signals When this bit is set to 1 the ANA2 will latch transducer faults when they occur and will leave the error flag set until the fault is cleared by the host controller Count Direction When this bit equals 0 AMCI transducers will increase counts with clockwise rotation of the shaft if the transducer cable is wired as shown in this manual When this bit equals 1 AMCI transducers will increase counts with counter clockwise rotation of the shaft if the trans ducer cable is wired as shown in this manual Note that it is possible to reverse count direction by swapping pair connections in the cable See Transducer Wiring starting on page 25 for more infor mation Save to Flash and Exit Command Setup parameter changes are not accepted until you exit Setup Mode If the ANA2 experiences a hardware reset or power loss while in Setup Mode the parameter change is also lost If you wish to store the parameter changes you just wrote to the ANA2 then you must exit Setup Mode with this command Description Command Word to exit Setup Mode and save 16 800E parameters to flash memory 16 0000 Not Used Figure 7 7 Save and Ex
49. etwork data transfer to the ANA2 placed it in Alignment Mode but the Align command has not been issued Both LED s alternately flashes red Alignment Mode and green at 2 Hz Slow blink Both LED s alternately flashes red The channel is in Alignment Mode and the Alignment Mode Channel States Channel State Setup Mode and green at 4 Hz Fast blink resolvers have been successfully aligned Table 1 3 Status LED s Module Patterns LED Blink Pattern Channel LED flashes red three times in 1 5 seconds slow blink followed by 1 5 seconds off Description The last network data transfer to the ANA2 placed the channel in Setup Mode Measurement Mode Channel not active Channel LED flash green at 2 Hz Slow blink Channel is fully configured and aligned and is waiting for command to begin measure ments Measurement Mode Channel active Channel LED is ON green Channel is reading position data from the sensor Sensor Error Channel LED flash red at 2 Hz Slow blink Error reading sensor Improper wiring sen sor damaged or sensor missing On Dual resolver transducers only the resolver with the error will blink This pattern will only occur when the channel is enabled Channel LED Disabled LED off The LED for the channel has been disabled Table 1 4 Status LED s Channel Patterns 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Te
50. fferent volt ages and frequencies Voltages generally range from 6 to 12 Vac while frequencies range from 400 Hz to 5000 Hz Transformation Ratios generally range from 0 45 to 1 4 The ANA2 supports a much wider range for these setting to accommodate resolver like devices such as variable reluctance transducers Published reference voltage specifications should be considered maximum values at the specified frequency Using a higher voltage at the listed frequency may cause the iron cores in the resolver to saturate This will significantly affect positional accuracy However you can use a lower reference voltage setting without losing positional accuracy This opens up the possibility of lowering the reference voltage frequency Generally speaking if you supply half of the speci fied reference voltage to the resolver you can halve the reference frequency as well Lowering the reference voltage frequency increases the length of transducer cable you can place between the transducer and the by decreasing the effects of cable capacitance This is why the default Reference Frequency setting for AMCI transducers is 2 5 KHz instead of 5 0 KHz as specified for the R11X J style resolvers Using a Reference Voltage setting of 3 25 Vac instead of the specified 7 0 Vac keeps the resolver cores from saturating at this frequency
51. for it to operate Applying a DC voltage to any of the windings may destroy the resolver Steel Body The resolver stator contains the sine and cosine windings These windings are spaced 90 apart when wound on the sta tor lamination stack Front Shaft Bearing A rotary transformer is located in the rear of the resolver It couples the energy from the Reference Voltage into its rotor which is then passed on to the rotor of the resolver itself Both of these items are shown in the bottom view of the fig ure which has half of the rotary transformer stator and resolver stator removed Rear Shaft Bearing When the Reference Voltage is applied to the device the resolver rotor generates a magnetic field that rotates with the rotor as the shaft is spun Rotating this field alters how it cou ples into the sine and cosine windings Resolver Rotor At two points in the shaft s 360 rotation none of the rotor s magnetic field will be coupled into the sine winding and its output voltage will be zero At one of these points the cosine winding voltage will be at its maximum and in phase with the Reference Voltage This shaft position is defined as the 0 position of the resolver At the other point where the sine out put is zero volts the cosine winding voltage will be at its maximum and 80 out of phase with the reference voltage This shaft position is defined as the 180 point of the resolver Transformer The 90 and 270
52. g with the rack may interrupt communication between the host controller and the AnyNET I O Stack and may require you to cycle power to the AnyNET I O stack or host controller to rectify the problem The following images show the different screens available on the NET Configurator software for setting up an ANA2 module only Information on installing the software and using it to configure your network inter face is available in the network interface manual that is appropriate for your AnyNET I O Stack 2 Configuration Screen Figure 4 1 shows the settings on the Configuration tab This is where you set all of the Configuration Param eters that are described on page 10 The bottom half of the screen shows the module and channel status data being transmitted from the ANA2 This data is described in the Status Bits section of this manual starting on page 18 Device Properties DER General 2 Module 1 1 Setup Alignment Measurement Enter Configuration Mode Write Configuration Exit Configuration Mode Without Saving Configuration Word 1 0000 HEX Reference Voltage 800 to 12 000 0 8 to 12 3250 Reference Frequency 400 to 10 000 H2 2500 Channel 1 Transformation Ratio 0 95 Channel 2 Transformation Ratio 0 95 Configuration Instruction The ANA2 is now in Configuration Mode Enter the Reference Voltage the Reference Frequency the Channel 1 Transformation Ratio and the Cha
53. hen you exit Alignment Mode If you are in Alignment Mode and the ANA2 experiences a hardware reset or power loss changes to the coarse resolver offset are also lost If you want to save the parameters to flash and use them then you must exit Alignment Mode with the Save to Flash and Exit Command as described above NOTE gt If you entered Alignment Mode accidently or you just want to abandon your edits exit Align ment Mode with the following command ANA2 Word Value Description 16 800F Command Word to exit Alignment Mode 1 9 16 0000 Not Used Figure 8 7 Exit Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Alignment Mode The unit will enter the highest level mode that it can This will be Alignment Mode if you used this command to abort changes and the foreign dual resolver transducer has not been aligned or Measurement Mode if valid alignment data exists At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http Wwww amci com ALIGNMENT MODE DATA FORMAT Notes 56 ADVANCED MICRO CONTROLS INC 9 MEASUREMENT DATA FORMAT This chapter covers data that can b
54. ically attempts to clear transducer faults when it enters Measurement Mode Measurement Mode Command Once Measurement Mode is available the following command structure is used Value Description 16 88XX Command Word to enter Measurement Mode XX Described below 16 0000 Not Used Figure 9 1 Measurement Mode Command Format 20 Gear Drive Plymouth Ind Park Terryville 06786 57 Tel 860 585 1254 Fax 860 584 1973 http Wwww amci com 9 MEASUREMENT MODE DATA FORMAT Measurement Mode Command continued Measurement Mode Command Word 0 8 Bit 15 Disable LED CH2 Disable LED CH1 or Multi turn or Multi turn Enable Data CH2 Clear Transducer Store Position Offsets in Flash Apply Preset 2 7 Apply Preset CH1 Enable Data CH1 Figure 9 2 Measurement Mode Command Word 0 Format Transmit Bit ANA2 only accepts a command when this bit makes a 0 gt 1 transition This bit must equal one when sending a command to the ANA2 Bits 14 12 Reserved Must always be reset to 0 Bit 11 Reserved Must always be set to 1 Bits 10 8 Reserved Must always be reset to 0 Bit 7 Bit 6 Clear Transducer Faults Setting this bit to 1 will clear all latched transducer faults Store Position Offset in Flash If this bit is set to 1 when the Apply Preset Channel 1 and or the Apply Preset Channel 2 bits are set the resulting p
55. ift electrical noise and temperature changes Reference Voltage Programmable from 0 800 to 12 000 Vac with 1 millivolt resolution Default of 3 25 Vac Connector AMCI Part 5 2 2 11 Wire 28 16 AWG Figure 1 6 Master Slave Mode Jumper Location Reference Frequency Programmable from 400 to 10 000 Hz with 1 Hz resolution Default of 2 500 Hz Sensor Transformation Ratio Programmable from 0 10 to 3 00 with a resolution of 0 01 Default of 0 95 Position Resolution 16 bit maximum per turn 65 536 steps over a sin gle turn Velocity Update Time Fixed at 100 milliseconds Environmental Specifications Input Power 24 10 surge to 30 without damage to module Ambient Operating Temperature 4 to 122 20 to 50 C Storage Temperature 40 to 185 F 40 to 85 Humidity 0 to 95 non condensing Status LED See Status LED s starting on page 15 Connectors Mating connectors are included with the ANA2 and are available separately under the following part numbers Strip Length Min Tightening Torque 0 275 inches Spring Cage Connector Power MS 4M 28 12 AWG 0 394 inches 4 4316 1 0 5 Nm Backplane 5 Not Applicable 16 ADVANCED MICRO CONTROLS INC OPERATING MODES The 2 is factory configured to support two single resolver transducers with a resolution of 1 024 counts per turn and
56. ignored 66 ADVANCED MICRO CONTROLS INC THE RESOLVER aN Notes SSS SSS SSS SS SSS SSS SSS EEE eee ES 20 Gear Drive Plymouth Ind Park Terryville CT 06786 67 Tel 860 585 1254 Fax 860 584 1973 http Wwww amci com ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE 06786 860 585 1254 860 584 1973 www amci com LEADERS IN ADVANCED CONTROL PRODUCTS
57. ing the Enter Alignment Mode button followed by the Align Transducer button will force the ANA2 to calculate the Coarse Resolver Offset and the screen will change to show the combined multi turn position value Device Properties General ANA2 Module 1 Configuration Setup Alignment Measurement Enter Alignment mode Align Transducer Exit Alignment Mode Without Saving Dual Resolver Data Channel 1 Coarse Resolver 1023 Channel 2 Fine Resolver 1023 Alignment Instruction Only for Foreign Dual Resolver Transducers Wire the coarse resolver to Channel 1 the fine resolver to Channel 2 and click on the Align Transducer Button Input Data Data from the Sensor Module Status 0100 HEX Module Initialized No Error No Error In Calibration Mode Configuration Mode In Setup mode No Alignment Mode Yes In Measurement mode No Resolver Status 7813 HEX Calibrated Yes Channel Measuring Yes Configured Yes Channel Fault No Setup Yes Transducer Type Foreign Dual Resolver Transducer Aligned Yes Save Configuration To File Read Configuration From File Close Help Figure 4 3 NET Configurator Alignment Screen 20 Gear Drive Plymouth Ind Park Terryville CT 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 CONFIGURATOR SOFTWARE ANA2 Measurement Screen Figure 4 4 shows the settings and data available
58. ins may result in electrical noise being injected into the transducer circuit that may cause faulting readings with the potential for improper machine operation CML x CABLE Transducer Connector AMCI Part MS 20 BELDEN 9731 Cable or exact equ Bendix MS3106A20 27S 2 TOP VIEW I GND 22 7 11 11 10 3 10 00 2 9 BLU 254 8151 18 9 BLK BLU_ 52 7 eu 7 BLK YEL 253 6 6 YEL FS1 5 5 CS1 54 FR2 4 eu 4__ 2 BLK RED FS2 BRN 3 50 3 CRI RED GND 2 SH 2 Shield FS3 A 5 1 1 Syncout 1 FR2 4 T CR1 CR2 NOTE This is a signal ground not a shield ground C Coarse Resolver Signals All shields must be connected to J1 2 or the F Fine Resolver Signals earth ground connection of the ANR2 module Figure 3 8 AMCI CML Cable Wiring 1 There are two ways to reverse the count direction when using a dual resolver transducer One method is to set the Count Direction parameter when programming the ANA2 The other method is to reverse connections on two of the stator pairs These two pairs are the CS2 CS4 pair which is the gr
59. it Bit The Transmit Bit is used to tell the ANA2 when a new command is being written to it Bit 15 of the Com mand Word in the Network Output Data Output Word 0 bit 15 is always the Transmit Bit The ANA2 only accepts commands when the Transmit bit makes a 0 1 transition Therefore this bit must be reset between commands The easiest way to do this is to write a value of zero into the Command Word before writing the next command Once this bit is reset the ANA2 will respond by resetting the Acknowl edge Bit At this point another command can be written to the ANA2 This condition also applies when switching between modes Entering Setup Mode The ANA2 will allow you to enter Setup Mode after power up as long as valid Configuration data exists If the ANA2 powers up with the In Setup Mode and Module Initialized bits set to 1 then you can enter Setup Mode See Module Status Word Format starting on page 35 for a full description of the In Setup Mode and Module Initialized bits You can also enter Setup Mode from Measurement Mode at any time You enter Setup Mode by writing the following data to the ANA2 Value Description 16 B000 Command Word to enter Alignment Mode 16 1298 Password 16 0000 Not Used Figure 7 1 Enter Alignment Mode Network Output Data 20 Gear Drive Plymouth Ind Park Terryville 06786 45 Tel 860 585 1254 Fax 860 584 1973 http www amci com 7 SETUP MODE DATA FORMAT Entering Setu
60. it Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Setup Mode The unit will enter Measurement Mode if you are using single resolver transducers or an AMCI dual resolver transducer The unit will enter Alignment Mode of you are using a foreign dual resolver transducer At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The 2 will respond by resetting the Acknowledge Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 49 Tel 860 585 1254 Fax 860 584 1973 http www amci com 7 SETUP MODE DATA FORMAT Exit Mode Command Changes to the Setup parameters are lost if you do not save them to flash memory when you exit Setup Mode If you are in Setup Mode and the ANA2 experiences a hardware reset or power loss changes to the parame ters are also lost If you want to save the parameters to flash and use them then you must exit Setup Mode with the Save to Flash and Exit Command as described on the previous page NOTE gt If you entered Setup Mode accidently or you just want to abandon your edits exit Setup Mode with the following command ANA2 Word Value Description 0 16 800F Command Word to exit Setup Mode 1 9 16 0000 Not Used Figure 7 8 Exit Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Setup Mode The unit
61. l 860 585 1254 Fax 860 584 1973 http www amci com 15 INTRODUCTION THE 2 Front Panel continued Master Slave Reference Voltage Jumper Figure 1 6 shows the location of the headers that set the refer ence voltage mode of the ANA2 You access the headers by opening the front cover of the module All ANA2 modules ship with a jumper across the Master pins To set the mod ule to slave mode move the jumper from the Master pins to the Slave pins NOTE gt The module will not operate correctly if the Jumper these two pins for a Master Module Factory Default Jumper these two pins for a Slave Module gt m Ol N jumper is not across one of the sets of pins Specifications Sensor Type Resolver Transmitters and similar sensors with sine cosine stator outputs such as variable reluctance transducers Number of Input Channels Two ANA2 can interface with two independent single resolver transducers or one dual resolver transducer Number of I O Words 16 bits each 10 input words and 10 output words Physical Dimensions Width 0 9 inches max Depth 4 5 inches max Height 3 9 inches 5 0 inches min with mating connectors Weight 0 38 Ibs 0 17 kg with mating connectors Current Draw 200 mA without sensors 375 mA with reference voltage shorted to GND Measurement Method Ratiometric Compensates for and eliminates most sources of error including phase shift voltage dr
62. l Measuring The ANA2 is actively measuring the position of the transducer 18 ADVANCED MICRO CONTROLS INC OPERATING MODES 2 Power Behavior When power is applied to the ANA2 it runs self checks and determines which modes have been successfully completed by validating the data stored in its Flash memory It sets status bits for each transducer and then status bits for the module Its final act is to set the Module Initialized bit After power up the ANA2 waits for the first command from the host controller before entering one of the available modes While waiting the ANA2 only transmits status information The words used to transmit position and velocity data are set to zero NOTE gt For normal operation you must issue a command to switch to Measurement Mode after every power up The ANA2 will not transmit position or velocity data to the host until this com mand is issued Switching Modes During Normal Operation Changing parameters in any mode will reset all parameters in all high modes to factory defaults gt Changing Configuration Mode parameters resets Setup Alignment and Measurement Mode parame ters to factory defaults This configures 2 to interface with two single resolver transducers with a Full Scale Count of 1 024 counts per turn The Position Offsets which are set in Measurement Mode when a position value is preset are reset to zero gt Changing Setup Mode parameters resets Alignment and Measur
63. ll respond by resetting the Acknowledge Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com ALIGNMENT MODE DATA FORMAT Network Input Data Format The format of the Network Data when ANA2 first enters Alignment Mode is shown below The Module Status word contains the Acknowledge Bit and Error Code bits ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 Channel 1 Status Word Channel Status Word Format described starting on page 39 16 0000 Ch 1 Position Value 0 to 1 023 Must be the Coarse Resolver 16 0000 Channel 2 Status Word Channel Status Word Format described starting on page 39 16 0000 Ch 2 Position Value 0 to 1 023 Must be the Fine Resolver 16 0000 Reserved 16 0000 Figure 8 2 Network Input Data Initial Alignment Mode Format IN Once you enter Alignment Mode ANA2 shows you position of two resolvers separately This allows you to determine the type of multi turn transducer you have and observe the alignment between them gt Resolver position is always reported with a resolution of 1 024 counts per turn gt Transducer faults are always self clearing while in Alignment Mode gt Channel 1 must be the coarse resolver Channel 2 must be the fine resolver If the fine resolver position ch
64. long as valid Configuration and Setup data exists If the ANA2 powers up with the In Alignment Mode and Module Initialized bits set to 1 then you can enter Alignment Mode See Module Status Word Format starting on page 35 for a full description of the In Alignment Mode and Module Initialized bits You can also enter Alignment Mode from Setup Mode or Measurement Mode at any time You enter Align ment Mode by writing the following data to the ANA2 Value Description 16 9000 Command Word to enter Alignment Mode 16 1298 Password 16 0000 Not Used Figure 8 1 Enter Alignment Mode Network Output Data NOTE gt If you are using a foreign dual resolver multi turn transducer you are required to use Align ment Mode to guarantee the proper operation of your transducer When using single resolver transducers or AMCI dual resolver multi turn transducers you can use Alignment Mode to check the operation of the resolvers ANA2 Response The ANA2 responds by setting the Acknowledge Bit and the In Alignment Mode bit if the command was accepted It will respond with an error code of 0001 Command Error if the command was not accepted See Module Status Word Format starting on page 35 for a full description of the response bits At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 wi
65. ls 1 and 2 NOTE gt Commands 16 8842 and 16 8843 will result a command error if the 2 is configured for a dual resolver multi turn transducer Network Input Data Format Single Resolver Format The format of the Network Input Data when the ANA2 is configured for single resolver transducers is shown below ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 1 Channel 1 Status Word Channel Status Word Format described starting on page 39 2 16 0000 3 CH 1 Position Value or 16 0000 if channel is disabled 4 CH 1 Velocity Value or 16 0000 if channel is disabled 5 Channel 2 Status Word Channel Status Word Format described starting on page 39 6 16 0000 7 CH 2 Position Value or 16 0000 if channel is disabled 8 CH 2 Velocity Value or 16 0000 if channel is disabled 9 Reserved 16 0000 Figure 9 3 Network Input Data Measurement Mode Format 60 ADVANCED MICRO CONTROLS INC MEASUREMENT MODE DATA FORMAT s Network Input Data Format continued Dual Resolver Multi turn Format The format of the Network Input Data when the ANA2 is configured for a dual resolver multi turn transducer is shown below ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 Channel 1 Coarse Resolver Status Word Channel Status Word Format described starting on page 39 32 bit Position Value or 16 0000
66. luctance transducers You will have to obtain specifica tions for these units from their manufacturer including mounting wiring and electrical characteristics NOTE gt Regardless of type of cable suggested by transducer manufacturer strongly ommends Belden 9873 9730 and 9731 or exact equivalents as cables for your transducer With tens of thousands of installations worldwide is confident in the quality of these cables If you wish to use a different cable contact AMCI to verify your cable type Transducer Wiring NOTE gt In the United States the National Electrical Code cable type used for the transducer cable is CM Communications General Purpose cable Therefore the installation of the cable falls under Article 800 of the National Electrical Code unless your local code or company policy is more restrictive Single Resolver Transducers The following diagram shows how to wire a standard AMCI single resolver transducer to channel 1 of the ANA2 Wiring to channel 2 is identical except for the shield connection Shield connections on the MS 2X11 can only be made on the J1 2 pin GND in the following diagrams reference signal ground not chassis ground Con necting shield wires to these pins may result in electrical noise being injected into the transducer circuit that may cause faulting readings with the potential for improper machine operation TOP VIEW 2 J1 CTL x CABLE
67. m 488 ADVANCED inc 940 0 082 2 1 Resolver interface Module GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica tions Therefore the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application While efforts have been made to provide accurate infor mation within this manual AMCI assumes no responsibility for the application or the completeness of the information contained herein UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAM AGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN No patent liability is assumed by with respect to use of information circuits equipment or software described in this manual The information contained within this manual is subject to change without notice This manual is copyright 2013 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic format provided that they a
68. me as the Position Offset generated when you preset the position value Configuration Data Command Word 16 9001 Not Used 16 0000 Figure 8 4 Command Format Align Transducer ANA2 Response The ANA2 responds to an Align Transducer command by setting the Acknowledge Bit in the Module Status word as well as the appropriate error code in bits 03 through 00 of that word gt If the ANA2 is configured for single resolver transducers the module will respond with a Command Error Error Code 1 gt Ifa transducer fault exists on either channel ANA2 will respond with a Command Error Error Code 1 See Module Status Word Format starting on page 35 for a full description of the response bits If the command was successful the Network Input Data will change to the following format ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 Channel 1 Status Word Coarse Resolver Channel Status Word Format described starting on page 39 Multi turn Position Value 32 bit format 16 0000 Channel 2 Status Word Fine Resolver Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Reserved 16 0000 Figure 8 5 Network Input Data Transducer Aligned Format At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of
69. n shaft loading and bearing life is not linear it s exponential 113 new shaft load old shaft load 2 where x gt 3 old shaft load new shaft 51 This means that decreasing shaft loading by half will statically increase the bearing by factor of eight For example decreasing a shaft load from 100 Ibs to 50 Ibs yields 100 50 8 times increase in sta tistical bearing life At the loads specified below bearing life is a minimum of 2x10 revolutions Note that the R11 series and HT 6 transducers always require a flexible coupler to your machine because of their shaft size Maximum Axial Load 1 0 lb 4 4N 3 0 lbs 13 3N 0 188 6 0 Ibs 26 7N 3 0 15 13 3N H25 Series 0 250 10 mm Maximum Shaft Dia Radial Load Series 0 120 0 188 2 0 Ibs 8 9N 6 0 165 26 7N 40 lbs 1783 20 lbs 89N 20 165 89N 0 375 0 625 HT Series 0 375 0 625 HTT Series 0 375 0 625 40 165 178N 40 lbs 178N 100 Ibs 445N 100 Ibs 445N 100 Ibs 445N 100 Ibs 445N 100 168 445N 20 lbs 89N 50 Ibs 222N 50 lbs 222N 50 Ibs 222N 50 Ibs 222N 50 Ibs 222N Table 3 1 Shaft Load Specifications ADVANCED MICRO CONTROLS INC INSTALLING THE ANA2 k Foreign Transducers The wide range of programmable parameters in the ANA2 makes it compatible with resolver transmitters and other sine cosine output sensors such as variable re
70. n to the required Preset Value The measurement programming block is also used to control the ANA2 such as enabling and disabling chan nel LED s and clearing latched transducer faults 12 ADVANCED MICRO CONTROLS INC INTRODUCTION THE 2 K Power Connector Figure 1 3 shows the location of the Power Connector The mate to this connector is included with the ANA2 Spares are available from AMCI under the part number MS 4M They are also available from Phoe nix Contact under their part number 187 80 37 ANA2 Bottom View GND Shields ach 4 DC Return DC Return Figure 1 3 Power Connector Area for Network Connections Power Connector Figure 1 3 also shows the area of the AnyNET I O modules that is reserved for network connections If your ANAZ has a network connection such as the ANA2E for Ethernet networks connection to the network will be made here Refer to the appropriate AnyNET I O Network Interface manual for additional information I O Connector As shown in figure 1 4 the I O Connector is located on the top of the module All sensor connections are made at this connector Power connections for the ANA2 are made through the MS 4M connector on the bot tom of the module The mate for this connector 15 included with the ANA2 Spares are available from under the part num ber MS 2X11 They are also available from Phoenix Contact und
71. nel 1 enable channels 1 and 2 and the Status LED s store resulting offset in Flash 16 8826 Apply preset to channel 2 enable channel 2 and its LED disable channel 1 and its LED store resulting offset in RAM 16 8866 Apply preset to channel 2 enable channel 2 its LED disable channel 1 and its LED store resulting offset in Flash 16 8825 Apply preset to channel 2 enable channels 1 and 2 and the Status LED s store resulting offset in RAM 16 8865 Apply preset to channel 2 enable channels 1 and 2 and the Status LED s store resulting offset in Flash 16 8835 Apply preset to channels 1 and 2 enable channels 1 and 2 and the Status LED s store resulting offsets in RAM 16 8875 Apply preset to channels 1 and 2 enable channels 1 and 2 and the Status LED s store resulting offsets in Flash NOTE gt Commands 1698813 through 16488873 will result command error if ANA2 is config ured for a dual resolver multi turn transducer 20 Gear Drive Plymouth Ind Park Terryville CT 06786 59 Tel 860 585 1254 Fax 860 584 1973 http www amci com 9 MEASUREMENT MODE DATA FORMAT Measurement Mode Command continued Clear Transducer Fault Command Values 16 8889 Clear transducer faults enable channel 1 disable channel 2 16 8881 Clear transducer faults enable multi turn channel 16 8886 Clear transducer faults enable channel 2 disable channel 1 16 8885 Clear transducer faults enable channe
72. nfiguration parameter changes are not accepted until you exit Configuration Mode They are lost if you do not store the parameters in flash memory when you exit the mode If the ANA2 experiences a hardware reset or power loss while in Configuration Mode the parameter changes are also lost If you wish to store the con figuration data you just wrote to 2 then you must exit Configuration Mode with this command Value Description Command Word to exit Configuration Mode and 16 800E save parameters to flash memory 16 0000 Not Used Figure 6 4 Save and Exit Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Configuration Mode The unit will enter the highest level mode that it can This will be Alignment Mode if you are using a foreign dual resolver transducer or Mea surement Mode with default values for Setup Parameters on the channel you just programmed At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit NOTE gt Saving Configuration parameters to Flash memory will reset the Setup parameters to their default values Because the Setup parameters have default values the ANA2 will never go directly to Setup Mode while programming the unit See Default Setup Parameter Values on page 45 for more information
73. ng to program is not a factor of the maximum number of turns available with your transducer In some cases Number of Turns Error an error in the Transducer Type parameter setting my appear as this error so verify the Transducer paler setting when you see this error See Write nfiguration Data Command starting on page 42 for information on programming this parameter 1 While programming an dual resolver transducer you did not set the Transducer Type parameter to 100 180 1000 or 1800 2 While programming a foreign multi turn trans Lype Turar 15 the range of 2 to 128 See Foreign Dual Resolver Transducers on page 28 for information on programming this parameter One or more of the reserved bits in the Setup Word Setup Error are set to 1 1 For single resolver transducers the Full Scale Count parameter is outside its valid range or 2 to 2 For AMCI 1000 and 1800 turn dual resolver transducers the Full Scale Count parameter is outside its valid range of 2 to 65 53 6 Number of Turns 3 For all other dual resolver transducers the Full Scale Count parameter is outside its valid range of 2 to 65 536 Number of Turns The Preset Value parameter is outside its valid range of 1 to Full Scale Count 1 Full Scale Count Error Preset Value Error 1 The ANA2 is configured as a master module and the reference voltage is shorted 2 The ANA2 is configured as
74. nnel 2 Transformation Ratio and send it to the ANA2 by clicking on the Write Configuration button Input Data Data from the Sensor Module Status 8400 HEX Module Initialized Eror No Error Calibration Mode Configuration Mode Yes Alignment Mode No In Setup mode No In Measurement mode No Resolver Status 7812 HEX Calibrated Yes Channel Measuring Yes Configured Yes Channel Fault No Aligned Yes Transducer Type 1 dual resolver transducer Setup Yes Figure 4 1 NET Configurator Configuration Screen 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com 4 CONFIGURATOR SOFTWARE 2 Setup Screen Figure 4 2 shows the settings on the Setup tab for single resolver transducers This is where you set the single resolver transducer setup parameters that are described on page 10 On this screen under Resolver Type you will see radio buttons that allow you to choose between Single Resolver AMCI Dual Resolver and For eign Dual Resolver Transducers Selecting any of these buttons will change the parameters available on the screen to match the parameters available for the resolver type AMCI dual resolver transducer parameters are listed on page 11 Foreign dual resolver transducer parameters are listed on page 12 Device Properties General ANA2 Module 1 Configuration Setup Alignmen
75. nsducers that are wired as shown in this manual the factory default setting is for clockwise increasing counts gt Full Scale Count This parameter allows you to set the number of counts reported by the ANA2 for a full rotation of the resolver This parameter has a range of 2 to 65 536 with a factory default of 1 024 gt Preset Value The transducer position can be set to any value within the range of 0 to Full Scale Count 1 This parameter sets the value that the transducer position will be set to when the host con troller issues the Apply Preset command It has a factory default value of zero 10 ADVANCED MICRO CONTROLS INC INTRODUCTION THE 2 ANA2 Programmable Parameters continued Setup Parameters continued AMCI Dual Resolver Transducers When 2 is programmed for AMCI dual resolver transducer the unit has the following setup parame ters gt Transducer Fault Latch Gives you programmable control over whether or not transducer faults are self clearing or latched and must be cleared by the host The factory default setting is for self clearing faults gt Count Direction Gives you programmable control over the direction of rotation needed to produce increasing counts When you use AMCI transducers that are wired as shown in this manual the factory default setting is for clockwise increasing counts gt Transducer This parameter defines the type of AMCI dual resolver tr
76. of theses transducers to an ANA2 RL210 Connections Function ANA2 Pin Terminal MS Connector Coarse Fine R1 Coarse Fine R2 Coarse S1 Coarse S3 Coarse S2 Coarse S4 Fine S1 Fine 53 Fine S2 Fine 54 Do not connect at transducer to avoid Shields ground loops and shifts Table 3 2 RL210 Connections to ANA2 2 3 5 4 6 7 9 8 gt Avoiding Ground Loops and Ground Shifts When Extending the Transducer Cable A ground loop or ground shift can occur when the shields of a cable are attached to earth ground in two places A ground loop occurs when the shield can act as a second return path for power currents A ground shift occurs when the two places the shield is grounded at are at two different voltage potentials The likeli hood of a ground shift increases as the cable length increases In either case the shield acts as a low imped ance path between the two points which results in a constant current flowing through the shield To avoid these problems the cable shields must not be grounded in two places gt If the shields of the transducer cable are isolated from the body of the transducer which is the AMCI standard practice connect the shields of the transducer cable to the shields of the extension cable and ground the shields at the ANA2 Treat the shields of the transducer cable as a signal carrying conduc tors at all junctions and do not connect them to ea
77. of the DIN rail and rotate the module down until the metal bracket snaps on to the DIN Rail Once all of your modules are installed it is strongly suggested to use the end caps from Phoenix Contact with the part number of 271 37 80 to secure the modules on the DIN Rail These end caps prevent the module from sliding along the DIN rail if it is subjected to shock or vibration during machine operation Stack Addressing 22 Each module needs to be given an address within the stack before the system will operate correctly The stack address is set with the five position DIP switch on the front of the module NOTE gt 1 Only a single switch should be in the ON position when setting the address 2 The module that has an address of zero must have a network interface and it is the only module in the stack that can have a direct connection to the network 3 If a module with a network interface has a non zero address then its network interface is disabled Figure 3 3 Addressing Example Figure 3 3 is a close up of three modules in an AnyNET I O Stack The module on the left has a network interface and has an address of zero DIP switches off This module has the active network interface and connects the stack to the network Reading left to right the remaining modules have addresses of one and two respectively If either of these module have a network interface it is disabled ADVANCED MICRO CONTROLS INC INST
78. or voltage is zero 20 Gear Drive Plymouth Ind Park Terryville CT 06786 63 Tel 860 585 1254 Fax 860 584 1973 http www amci com aN THE RESOLVER Types of Resolvers continued The fact that this appendix introduces two different types of resolvers implies an important fact NOTE gt Resolvers are uni directional sensors You cannot apply reference voltage to a Control Transformer and expect to receive accurate sine cosine voltages on the other windings Like wise you cannot apply sine cosine voltages to a Transmitter and expect an accurate error sig nal For most control systems the Transmitter is the obvious choice as a position feedback sensor The ANA2 is designed to work exclusively with Transmitter resolvers Using a Control Transformer style of resolver with the ANA2 will not result in accurate readings How a Transmitter Resolver Works Cut away views of a size 11 Transmitter resolver are shown in figure A 2 The top view shows the resolver with half of the outer steel shell removed Rotary Transformer gt As you see the resolver is a completely passive Resolver Stator analog device It does not contain sensitive electronics or optics that can degrade or fail over time The resolver is basically a specialized transformer that shares construction techniques with both transformers and motors gt Because the resolver works as a transformer AC ages must be applied to the resolver
79. osition offset is stored in Flash memory TE gt The ANA2 Flash memory has a 10 000 write cycle limit If your application requires you to Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 58 preset the position values repeatedly do not set this bit when issuing an Apply Preset com mand Apply Preset Channel 2 Setting this bit to 1 will preset the Channel 2 position to the Preset Value programmed in Setup Mode If is presently configured for a dual resolver multi turn transducer setting this bit will cause a programming error Apply Preset Channel 1 or Multi turn Setting this bit to 1 will preset the Channel 1 position to the Preset Value programmed in Setup Mode If the is presently configured for a dual resolver multi turn transducer setting this bit will preset the multi turn position value Disable LED Channel 2 Setting this bit to 1 will prevent the 2 Status LED on the front of the ANA2 from displaying status information This is commonly used to prevent the channel from dis playing a transducer fault when the channel is not used This setting does not affect the LED when it is being used to show the status of the module See Status LED s on page 15 for more information Enable Data Channel 2 Setting this bit to 1 will enable position and velocity readings on channel 2 If the ANA2 is presently configured for a dual resolver multi turn transducer setting thi
80. ou must write to the ANA2 to gather position and velocity data from a sensor The Resolver Anyone who needs to learn more about resolvers in general ADVANCED MICRO CONTROLS INC _______ INTRODUCTION THE ANA2 This manual is designed to get you quickly up and running with the 2 Resolver Interface Module It is possible to purchase an ANA2 with or without a network interface This manual only covers the functionality unique to the ANA2 Information on connecting to the network interface is available in the appropriate Network Interface manual available on the website 1 ANA2 is an expansion to AnyNET I O product line from The concept of this product line is simple specialty and or high speed I O that can be attached to any popular industrial net work hence name AnyNET I O AnyNET I O is designed for a broad range of applications from small machines with a single control enclosure to large machines that use distributed I O extensively to minimize wiring costs What makes the AnyNET I O line different is that all of the mod ules are available with or without a network interface Eliminating the need for a separate networking module lowers the total cost of ownership for all applications but especially for the cost sensitive small machines that only require one or two sophisticated func tions Like many modern controll
81. p Mode continued ANA2 Response ANA2 responds by setting the Acknowledge Bit and the In Setup Mode bit if the command was accepted It will respond with an error code of 0001 Command Error if the command was not accepted See Module Status Word Format starting on page 35 for a full description of the response bits At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit Network Input Data Format The format of the Network Input Data when the ANA2 first enters Setup Mode is shown below The format does not change while in Setup Mode The Module Status word contains the Acknowledge Bit and Error Code bits ANA2 Network Input Data Module Status Word Module Status Word Format described starting on page 35 Channel 1 Status Word Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Channel 2 Status Word Channel Status Word Format described starting on page 39 16 0000 16 0000 16 0000 Reserved 16 0000 Figure 7 2 Network Input Data Setup Mode Format Multi Word Parameters The Full Scale Count and Preset Value parameters as well as values reported back to the PLC can exceed 32 768 counts Therefore they require two words of storage
82. pins 6 and 7 of the J1 and J2 connectors on the ANA2 are internally tied together and tied to signal ground GND pins If the other resolver input device has two of the stator wires tied together and going into one pin these stator wires must be brought into pins 6 and 7 of the J1 or J2 connectors on ANA2 The remaining two wires either 52 54 and either S1 or S3 are connected to pins 5 and 8 of the J1 or J2 connectors on the ANA2 If necessary the Count Direction and Preset Value parameters of the ANA2 can be used to make the resolver positions between the two devices match 4 The reference voltage from the master device must be brought into pins J2 1 and J2 2 on ANA2 Pin J2 1 is the Syncin and pin J2 2 is ground NOTE gt and iPCE controllers cannot be used as master devices with the 2 module For all other AMCI master devices connect the R2 signal from the master to pin J2 2 of the 2 and connect signal to pin J2 1 of ANA2 If you are using product as the master device refer to Master Device Compatibility found on page 9 for additional information on wiring the reference voltage to the ANA2 Figure 3 10 shows an example of wiring a single resolver to an AMCI Genesis programmable limit switch and channel 1 of an ANA2 Note that the R2 connection on the Genesis controller is connected to ground at the Genesis and is therefore wired to pin J2 2 of the AN
83. proba bly not the result you are looking for The section below lists the correct command values for common situations Enable Disable Data Command Values 16 8800 Disable data on both channels both Status LED s enabled 16 880A Disable data on both channels both Status LED s disabled 16 8809 Enable channel 1 data and its LED disable channel 2 data and its LED 16 8801 Enable channel 1 single turn data both Status LED s enabled 16 8801 Enable channel 1 multi turn data both Status LED s enabled 16 8806 Enable channel 2 single turn data and its LED disable channel 1 data its LED Error if configured for dual resolver transducer 16 8805 Enable data and Status LED s on channels 1 and 2 Error if configured for dual resolver transducer Preset Command Values 16 8819 Apply preset to channel 1 enable channel 1 and its LED disable channel 2 and its LED store resulting offset in RAM 16 8859 Apply preset to channel 1 enable channel 1 and its LED disable channel 2 and its LED store resulting offset in Flash memory 16 8811 Apply preset to dual resolver multi turn transducer enable multi turn channel store resulting offset in RAM 16 8851 Apply preset to dual resolver multi turn transducer enable multi turn channel store resulting offset in Flash memory 16 8815 Apply preset to channel 1 enable channels 1 and 2 and the Status LED s store resulting offset in RAM 16 8855 Apply preset to chan
84. r 5 Do not disassemble the module 6 Store the module in its anti static bag and shipping box when it is not in use Prevent Debris From Entering the Module During DIN rail mounting of all devices be sure that all debris metal chips wire strands tapping liquids etc is prevented from falling into the module Debris may cause damage to the module or unintended machine operation with possible personal injury The DIN rail for the modules should be securely installed and grounded before the modules are mounted on it Remove Power Before Servicing in a Hazardous Environment Remove power before removing or installing any modules in a hazardous environment The InterConnect bus is not power limited Mounting Dimensions i i i Mating Connector lt 4 47 gt Figure 3 1 shows dimensions of AnyNET I O iag coania module ANA2 module is low power module 7222 that does not require any additional spacing when 7 UHHH mounting the unit Refer to the installation instructions of the appropriate AnyNET I O network interface mod _ ae ule for complete information on spacing needed to install the module NOTE gt You will need to ground the resolver cable shields at the module There is a single pin the to ground shield but if you have multiple shields it will be better to ground them to Figure 3 1 AnyNET I O Outline DIN rail If you decide to do this
85. re unaltered from the version posted by Advanced Micro Controls Inc on our official website www amci com You may incorporate portions of this documents in other literature for your own personal use provided that you include the notice Portions of this document copyright 2013 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a fee for reproducing or distributing it Standard Warranty ADVANCED MICRO CONTROLS INC warrants that all equipment manufactured by it will be free from defects under normal use in materials and workmanship for a period of 18 months Within this warranty period shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within eighteen months from date of invoice and which upon examination proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper installation or improper testing The provisions of the STANDARD WARRANTY are the sole obligations of and excludes all other warranties expressed or implied In no event shall be liable for incidental or consequential damages for delay in performance of this warranty Returns Policy All equipment being returned to for repair or replacement regardless of warranty status must have Return Merchandise Authorization number issued by AMCI Call 860 585
86. rtbeat 10Hz Module Initialized In Calibration Mode In Configuration Mode In Alignment Mode In Measurement Mode Figure 5 2 Module Status Word Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com MODULE CHANNEL STATUS DATA Module Status Word Format continued Bit Descriptions Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Acknowledge Bit Set to 1 in response to a command from the host controller Reset to 0 when the Transmit Bit in the Command Word is reset to 0 This bit must equal 0 before the ANA2 will accept a command Heartbeat This bit changes state every 50 milliseconds 50 milliseconds on 50 milliseconds off 10Hz square wave It can be used to verify active communications through the network interface and that the ANA2 is functioning correctly Slave Mode This bit will equal when 2 is configured as a master module and 1 when it is configured as a slave module Module Initialized Set to 1 on power up to signify that the 2 has finished its power on self tests and the unit is ready for a command from the host controller This bit is reset to O after the first valid command is accepted This bit is also set to 1 whenever the module experiences a power on reset In Calibration Mode Set to 1 when the 2 is in its Calibration Mode
87. rth ground at any other point This is the proper method to wire all transducers attached to the ANA2 gt If the shields of the transducer cable are connected to the body of the transducer through an integral cable but the body of the transducer is isolated from chassis ground by its mounting connect the shields of the transducer cable to the shields of the extension cable and ground the shields at the ANA2 Treat the shields of the transducer cable as a signal carrying conductors and do not connect them to earth ground at any other point 28 ADVANCED MICRO CONTROLS INC INSTALLING THE 2 k Transducer Wiring continued Avoiding Ground Loops and Ground Shifts When Extending the Transducer Cable continued gt Ifthe shields of the transducer cable are connected to the body of the transducer through an integral cable and the body of the transducer is connected to earth ground by its mounting Do Not connect the shields of the transducer cable to the shields of the extension cable The shields of the transducer cable are grounded by the transducer body Connect the shields of the extension cable to earth ground at the ANA2 The splice between the transducer and extension cables must be made in a grounded junction box You are strongly advised to strip back the cable shields only as far a necessary to make the splice and keep the wires as short as possible to minimize the possibility of injecting noise into the cable at the splice
88. s bit will cause a programming error If this bit is set to 0 the position and tachometer values for channel 2 will be set to zeros Disable LED Channel 1 Setting this bit to 1 will prevent the CH 1 Status LED on the front of the ANA2 from displaying status information This is commonly used to prevent the channel from dis playing a transducer fault when the channel is not used This setting does not affect the LED when it is being used to show the status of the module See Status LED s on page 15 for more information Enable Data Channel 1 or Multi turn Setting this bit to 1 will enable position and velocity read ings on channel 1 If the 2 is presently configured for a dual resolver multi turn transducer set ting this bit will enable the multi turn position and velocity values If this bit is set to 0 the position and tachometer values for channel 1 will be set to zeros ADVANCED MICRO CONTROLS INC MEASUREMENT MODE DATA FORMAT s Measurement Mode Command continued Measurement Mode Command Word 0 continued NOTE gt acts on state of all of the bits whenever command is written to the module Therefore all of the bits must be in their correct states when writing a command to the ANA2 For example setting only the Clear Transducer Faults bit 16 8840 will clear the transducer faults and disable both channels the two Enable Channel bits both equal 0 This is
89. set is programmed with a single block of programming data from your host controller The sets are Calibration Parameters These parameters are used to make fine adjustments to the reference voltage circuitry and allows the ANA2 to accurately control the reference voltage After successful calibration the resolution of the reference age setting is one millivolt NOTE gt Every ANA2 is calibrated at factory You should never need to enter this mode If an ANA2 reports that the module needs to be calibrated contact AMCI Technical Support for assistance Calibrations can be made in the field but an accurate true RMS meter is required Configuration Parameters These parameters configure the ANA2 for the electrical characteristics of your resolvers The ANA2 is fac tory configured for AMCI s R11X J style resolvers that are used in all resolver transducer products These factory defaults can easily be restored with our configurator software utility gt Reference Voltage Allows you to set the reference voltage from 0 800 to 12 000 VRMS Programmed in millivolt increments for convenience the resolution is 0 05 Vrms with an accuracy of 0 1 Factory default is 3 25 VRMS gt Reference Frequency Programmable over a range of 400 to 10 000Hz with a resolution of 1Hz and an accuracy of 0 01 this parameter allows you to match the frequency of the reference voltage to the operating specification of your resolver Factor
90. stack will not reconfigure itself to accept the new module Connector Pin Out The I O Connector is located on the top of the module The mate for this connector is included with the ANA2 Spares are available from AMCI under the part number MS 2X11 and are also available from Phoenix Contact under their part number 173 88 98 Figure 3 5 shows the pin out for the I O connector AMCI Single Resolver Transducer Dual Resolver Transducer 2 TOP VIEW J2 J1 TOP VIEW GND 11 11 GND GND 11 11 10 10 10 10 9 9 9 9 54 8 8 54 54 8 8 52 7 7 82 82 7 7 831 6 6 53 3 6 6 51 5 5 31 51 5 5 R2 4 4 2 R2 4 4 Ri 3 R1 a Ri 3 3 GND 2 2 Shield GND 2 2 Syncin 1 1 SyncOut Syncin 1 1 Front of ANA2 Figure 3 5 I O Connector NOTE gt 1 When using ANA2 with a dual resolver multi turn transducer coarse resolver must be wired to channel 1 and the fine resolver must be wired to channel 2 2 Pins 6 and 7 of the J1 and J2 connectors are internally connected together and attached to the module s signal ground You will not see a signal on these pins when your reference point is any GND pin The ANA2 measures the signals on pins 5 and 8 of the and J2 connectors to determine the resolver position 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860
91. support amci com ADVANCED MICRO CONTROLS INC TABLE OF CONTENTS General Information Chapter 2 Operating Modes Important User Information 2 Available Modes 17 Standard Warranty 2 Calibration 17 Returns Policy 2 4 Mode etup 17 We Want Your Feedback 2 Measurement Mod 18 About this Manual ieii 18 Audiente 5 Module Status Bits 18 Applicable Units 5 Channel Status Bits 18 Trademark Notices 5 Power Up Behavior 19 Revision Record 5 Switching Modes During Revision 5 Normal Operation 19 Navigating this Manual 5 Chapter 3 Installing the ANA2 Manual Conventions 6 Safe Handling Guidelines 21 Where Go From 6 Prevent Electrostatic Damage 21 Chapter 1 Introduction to the 1 21 7 Remove Power Before Servicing ANA 7 in a Hazardous Environment 21 Master Slave Module 8
92. t Measurement Enter Setup mode Resolver Type AMCI Dual Resolver Transducer Exit Setup Mode Without Saving Foreign Dual Resolver Transducer Write Setup Data Channel 1 Single Resolver Count Direction Cw Cow Transducer Fault Latch Clearing Latching SelfCleating Latching Setup Instruction The 2 is in Setup Mode Enter the setup data for the two single resolver transducers Exit Setup Mode and Save in Flash Channel 2 Single Resolver Count Direction Full Scale Count 1024 G CW C cow Full Scale Count 0 Preset Value Taek a Fak ach Preset Value Input Data Data from the Sensor Module Status 8100 HEX Module Initialized Error No Error In Calibration Mode Configuration Mode Alignment Mode In Setup mode Yes In Measurement mode No Resolver Status 7812 HEX Calibrated Yes Configured Yes Aligned Yes Setup Yes Channel Measuring Yes Channel Fault No Transducer Type 1 dual resolver transducer Figure 4 2 NET Configurator Setup Screen 32 ADVANCED MICRO CONTROLS INC CONFIGURATOR SOFTWARE 4 2 Alignment Screen Figure 4 3 shows the settings on the Alignment tab This tab is only used when you are using a foreign dual resolver transducer with the ANA2 When you first enter the screen it shows the positions of the fine and coarse resolvers Press
93. tact your device s manufac turer to determine if the output is transformer isolated or non isolated differential gt Transformer isolated outputs can have either side attached to the common connection on the ANA2 The other side must be connected to the SyncIn input of the ANA2 gt Non isolated differential outputs must be connected in a very different way A wire must be run from the common connection of the master device to the common pin on the ANA2 A second wire is run from either of the R1 R2 connections of the master device to the SyncIn input pin on the ANA2 The ANA2 will see 1 2 of the total reference voltage supplied by the master device To compensate for this the programmed TR of the resolver must be twice the resolver s actual value and the programmed Ref erence Voltage parameter value must be 1 2 of the actual reference voltage generated by the master device For example if the transformation ratio of the resolver is 0 45 the value programmed into the ANA2 for the TR parameter must be 0 90 To continue the example if the reference voltage of the mas ter device is 3 6 Vac the value programmed into the ANA2 for the Reference Voltage parameter must be 1 8 Vac 20 Gear Drive Plymouth Ind Park CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com H INTRODUCTION TO THE 2 ANA2 Programmable Parameters Programmable parameters the ANA2 are broken down into sets Each
94. the least significant word Value dec Value hex MSW hex MSW dec LSW hex LSW dec 50 800 16 0000 C670 16 0000 0 16 C670 11 772 561 16 00B3 A291 16 00B3 179 16 A291 Table 81 Multi word Data Format Save to Flash and Exit Command Alignment changes are not accepted until you exit Alignment Mode The coarse resolver offset is lost if you do not store it in flash memory when you exit the mode If the ANA2 experiences a hardware reset or power loss while in Alignment Mode the parameter change is also lost If you wish to store the coarse resolver off set parameter you just wrote to the ANA2 then you must exit Alignment Mode with this command Description Command Word to exit Alignment Mode and 16 800 save parameters to flash memory 16 0000 Not Used Figure 8 6 Save and Exit Command Network Output Data The ANA2 will set the Acknowledge Bit and exit Alignment Mode The unit will enter the highest level mode that it can This will be Measurement Mode for the channel you just aligned At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The 2 will respond by resetting the Acknowledge Bit 54 ADVANCED MICRO CONTROLS INC ALIGNMENT DATA FORMAT Exit Mode Command Alignment changes are lost if you do not store the coarse resolver offset in flash memory w
95. tting the Acknowledge Bit 44 _ ADVANCED MICRO CONTROLS INC _______ SETUP MODE DATA FORMAT This chapter covers the steps needed to program the ANA2 while it is in its Setup Mode Setup Mode is used to program the parameters used to set the position and tachometer data that is reported by the ANA2 Default Setup Parameter Values The following parameters can be programmed while in Setup Mode Parameter Default Value Count Direction CW increasing CCW increasing CW increasing Transducer Fault Latch On Off Off Single Resolver 2 to 65 536 1 024 Dual Resolver 2 to 65 536 Number of Turns 1 024 Number of Turns Preset Value 0 to Full Scale Count 1 0 Full Scale Count Number of Turns refers to the value of the Number of Turns parameter programmed as part of the Dual Resolver Setup data Table 7 1 Setup Parameters Note that these parameters have default values Setup Parameters are set to these values when you exit Con figuration Mode with the Save to Flash and Exit Command as described on page 43 Because these param eters are set to defaults the ANA2 will never jump directly to Setup Mode If you are using single resolver or dual resolver transducers the ANA2 will jump directly to Measurement Mode when you exit Config uration Mode If you are using a foreign dual resolver transducer the ANA2 will jump directly to Measure ment Mode when you exit Alignment Mode Transm
96. ucers 48 Setup Word Format 49 Save to Flash and Exit Command 49 Exit Mode Command 50 4 ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL Read this chapter to learn how to navigate through this manual and familiarize yourself with the conventions used in it The last section of this chapter high lights the manual s remaining chapters and their target audiences Audience This manual explains the set up installation and operation of AMCI s ANA2 AnyNET I O Resolver Inter face Module It is written for the engineer responsible for incorporating these modules into a design as well as the engineer or technician responsible for their actual installation Applicable Units This manual applies to all ANA2 modules including those that have an integral network connection If your ANA2 module has a network interface such as the ANA2E ANA2P or ANA2M you will have to refer to the appropriate AnyNET I O Network Interface manual for information on connecting the module to your network These manuals can be found in the PDF document section of our website at www amci com docu ments asp NOTE gt AnyNET I O product line is constantly evolving Check our website www amci com for the latest information on available modules and network interfaces the AnyNET I O line Trademark Notices The logo and AnyNET I O are trademarks of Advanced Micro
97. ules are factory configured for AMCI R11X J style resolvers which are also used in all standard transducer products as well Factory configuration 15 easily restored using the AMCI NET Configurator software available from as a free download from our website The Configuration Parameters section on page 10 lists the parameters set in Configuration Mode Setup Mode Setup Mode is used to configure your resolver based transducer to your system As explained in chapter 1 the ANA2 can interface with three different types of resolver transducers single resolver transducers AMCI dual resolver transducers and foreign dual resolver transducers Therefore three different programming blocks are available to configure your transducer Parameters set while in this mode are defined in the Setup Parameters section of chapter 1 starting on page 10 Alignment Mode Required only when using a foreign multi turn transducer Alignment Mode is used to verify the alignment of the zero points of the two resolvers The ANA2 will automatically calculate an offset to compensate for any mis alignments between the two resolvers NOTE gt multi turn transducers are mechanically aligned at the factory as part of the test proce dure With 100 of all AMCI transducers tested before they leave the factory field alignment is unnecessary 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http
98. unit is in Calibration Mode In Configuration Mode If this bit is set along with the Module Initialized bit on power up the ANA2 does not have valid configuration data for either channel If it is set when the Module Initialized bit is reset the unit is in Configuration Mode Use the Channel Status bits to determine which channels require configuration In Setup Mode If this bit is set along with the Module Initialized bit on power up the ANA2 does not have valid setup data for either channel If it is set when the Module Initialized bit is reset the unit is in Setup Mode In Alignment Mode If this bit is set along with the Module Initialized bit on power up the ANA2 does not have valid alignment data for the foreign dual resolver transducer If it is set when the Module Initial ized bit is reset the unit is in Alignment Mode In Measurement Mode If this bit is set along with the Module Initialized bit on power up the ANA2 is ready to measure position on at least one of the channels If it is set when the Module Initialized bit is reset the unit is in Measurement Mode Use the Channel Status bits to determine which channels the 2 is actively measuring Channel Status Bits Channel Calibrated Valid calibration data exists for the channel Channel Configured Valid configuration data exists for the channel Channel Setup Valid setup data exists for the channel Channel Aligned Valid alignment data exists for the channel Channe
99. unt 16 0000 0002 to 16 0001 0000 0 to Full Scale Count 1 ee ise ale 16 0000 to 16 max Reserved for future use 0 Figure 7 3 Command Format Single Resolver Transducers Setup Command Word Value gt 16 011 Program Channel 1 Data values in words 5 through 9 are ignored gt 16 021 Program Channel 2 Data values in words 1 through 4 are ignored gt 16 031 Program Channels 1 and 2 data values must be correct AMCI Dual Resolver Transducers Configuration Data Command Word 16 B002 Setup Word See Setup Word Format on page 49 Transducer Type 100 180 1000 1800 100 1 2 4 5 10 20 25 50 100 180 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 180 1000 10 20 40 50 100 200 250 500 1000 1800 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 1800 2 to 65 536 Number of Turns 100 180 turn 2 to 65 53 6 Number of Turns 1000 1800 turn Number of Turns Full Scale Count Preset Value to Full Sale Count 1 Reserved for future use 0 Reserved for future use 0 Number of Turns refers to the value of the Number of Turns parameter programmed in word 2 Figure 7 4 Command Format Dual Resolver Transducer Setup 20 Gear Drive Plymouth Ind Park Terryville CT 06786 47 Tel 860 585 1254 Fax 860 584 1973 http www amci com 7 SETUP MODE DATA FORMAT Write Set
100. up Data Commands continued Foreign Dual Resolver Transducers Configuration Data Command Word 16 B004 Setup Word See Setup Word Format on page 49 Transducer Type Range of 2 to 128 Sets the maximum number of turns the transducer can encode Number of Turns Any factor of the number defined by the Trans ducer Type parameter For example 64 1 2 4 8 16 32 64 128 1 2 4 8 16 32 64 128 Full Scale Count 2 to 65 536 Number of Turns Preset Value 0 to Full Sale Count 1 Reserved for future use 0 Reserved for future use 0 Number of Turns refers to the value of the Number of Turns parameter programmed in word 3 Figure 7 5 Command Format Foreign Dual Resolver Transducer Setup 48 ADVANCED MICRO CONTROLS INC SETUP MODE DATA FORMAT 7 Write Setup Data Commands continued Setup Word Format Transducer Fault Latch a Count Direction Figure 7 6 Configuration Word Format Bits 15 9 Reserved Must always be reset to 0 Bit 8 Gearing Type This bit is ignored when a Single Resolver Transducer programming block or an Dual Resolver Transducer programming block is written to the ANA2 When programming the ANA2 for a Foreign Dual Resolver Transducer set this bit to 0 to setup the ANA2 for a reduc tion type multi turn transducer Set this bit to 1 to s
101. while the 2 is configured for single resolver transducers 9 You attempted to align a dual resolver transducer while there is a transducer fault on one or both channels 10 You attempted to enable channel 2 or apply a preset to channel 2 while the ANA2 is config ured for a dual resolver transducer 11 You set the Save Offset to Flash bit without setting the either of the Apply Preset bits An error has occurred when trying to save the parameters to Flash The module will set both of the Status LED s on red You must cycle power to the 2 to clear this fault The Reference Voltage parameter is outside of its range of 800 to 12 000 millivolts Save to Flash Error Reference Voltage Error The Reference Frequency parameter is outside of its Reference Frequency Error fange of 400 to 10 000 hertz The Transformation Ratio TR parameter is outside of its range of 0 1 to 3 0 This parameter is pro grammed with 0 01 resolution with a range of 10 to 300 Transformation Ratio Error Table is continued on next page 20 Gear Drive Plymouth Ind Park Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls MODULE CHANNEL STATUS DATA Module Status Word Format continued Bit Descriptions continued Continued from previous page Error Code Description While programming a dual resolver multi turn transducer the number of turns you are tryi
102. will enter Measurement Mode using the last saved values of the Setup parameters At this point you must reset the Transmit Bit Output Word 0 bit 15 before the ANA2 will accept another command The easiest way to do this is to write a value of zero into the Command Word The ANA2 will respond by resetting the Acknowledge Bit 50 ADVANCED MICRO CONTROLS INC CHAPTER 8 ALIGNMENT MODE DATA FORMAT This chapter covers the steps needed to program the ANA2 while it is in its Align ment Mode You can use Alignment Mode with any dual resolver multi turn trans ducer to check its alignment and type Alignment is required for all foreign dual resolver multi turn transducers to guarantee proper operation Transmit Bit The Transmit Bit is used to tell the ANA2 when a new command is being written to it Bit 15 of the Com mand Word in the Network Output Data Output Word 0 bit 15 is always the Transmit Bit 2 only accepts commands when the Transmit bit makes a 0 1 transition Therefore this bit must be reset between commands The easiest way to do this is to write a value of zero into the Command Word before writing the next command Once this bit is reset the ANA2 will respond by resetting the Acknowl edge Bit At this point another command can be written to the ANA2 This condition also applies when switching between modes Entering Alignment Mode The ANA2 will allow you to enter Alignment Mode after power up as
103. y default setting is 2500 Hz gt Channel 1 Transformation Ratio Programmable of a range of 0 10 to 3 00 with a resolution of 0 01 this parameter allows you to match the gain of the input amplifiers to the transformation ratio of your resolver Factory default setting is 95 0 95 TR gt Channel 2 Transformation Ratio Programmable of a range of 0 10 to 3 00 with a resolution of 0 01 this parameter allows you to match the gain of the input amplifiers to the transformation ratio of your resolver Factory default setting is 95 0 95 TR gt Slave Mode Allows you to define the ANA2 as a master module or a slave module Master modules generate their own reference voltage signal while slave modules accept the reference voltage signal from another source Setup Parameters These parameters configure the ANA2 for the type of transducer you using as well as scale and offset the position data reported back to your host controller Single Resolver Transducers When the ANA2 is programmed for single resolver transducers each transducer channel has the following parameters gt Transducer Fault Latch Gives you programmable control over whether or not transducer faults are self clearing or latched and must be cleared by the host The factory default setting is for self clearing faults gt Count Direction Gives you programmable control over the direction of rotation needed to produce increasing counts When you use AMCI tra
104. zed bit is set the ANA2 is ready to have measurements taken on at least one of the channels Use the Channel Status bits to determine which channels are ready to have measurements made on them See the Channel Status Word Format sec tion on page 39 for an explanation of these bits Bits 6 5 4 Reserved These bits will always equal zero 36 ADVANCED MICRO CONTROLS INC MODULE CHANNEL STATUS DATA Module Status Word Format continued Bit Descriptions continued Bits 3 0 Error Codes These bits are set when there is an error in the programming data sent from the host Table 5 1 Lists the error codes and their meanings ErrorCode Name Description No Error No programming errors 1 There is an error in the format of the Command Word 2 You are attempting enter a mode that the ANA2 cannot allow at this time For example attempt ing to start measurement on a channel that is not yet configured or set up 3 You attempted to enter a mode without setting the correct password in output word 1 4 You wrote down the same valid command to the ANA2 twice 5 You issued a Save to Flash command 16 800E while the ANA2 is reporting a com mand error 6 You attempted to program a single turn setup Command Error without selecting a channel in the Command Word 7 You attempted to apply a preset to a channel that is disabled or in transducer fault 8 You attempted to align a dual resolver transducer
105. zero into the Command Word The 2 will respond by resetting the Acknowledge Bit 21 gt gt Once successfully aligned the position value is set to halfway through first turn gt The multi turn position reported while in Alignment Mode is set by the value of the Full Scale Count parameter you programmed while in Setup Mode gt Ifthe multi turn position value is not stable after aligning the transducer check your wiring If no prob lem is found verify that the correct configuration data for your resolvers was written to the ANA2 While troubleshooting it is also possible to configure the module for two independent single turn resolvers This would allow you to see the resolver position with a resolution greater than 1 024 counts per turn 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 Tel 860 585 1254 Fax 860 584 1973 http www amci com ALIGNMENT MODE DATA FORMAT Align Transducer Command continued Multi Word Position Format The multi turn position value reported back to the PLC can exceed 32 768 counts Therefore it requires two words of storage and it is transmitted as a 32 bit value The least significant word LSW contains the lower sixteen bits of the value and the most significant word MSW contains the remaining bits Many host plat forms only show 16 bit values in 2 s compliment notation Therefore it is possible for a negative value to appear in

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