man_Progr SSI_eng.indd
Contents
1. 5 10 Scaling Parameters The scaling parameter settings can be found under the Encoder data gt Scaling parameters tab From this window the Scaling function can be enabled or disabled and it is also possible to choose the Scaling type which is either in units revolution or by a scaling factor SCALING PARAMETERS SCALING SCALING TYPE Set by units revolution SCALING FACTOR UNITS REVOLUTION REVOLUTIONS To scale the encoder to a specific resolution just enable the scaling and choose the scaling type Then enter the scaling factor or number of units revolution and revolutions and Click on the OK button Please note the warning that the offset value will be set to zero due to the change of the scaling parameters Click OK to close the warning window Offset value will be set to zero due to change of After all operating and scaling parameters have been set by the user the parameters needs to be written to the encoder To do this click on the Write parameters to encoder button Once all parameters have been transferred to the encoder an information window will open Click OK to close the Information window INFORMATION j Scaling parameters transferred Operational parameters transferred The encoders scaling parameters have now been updated and the encoder is ready to be used Click on the Test encoder button to test the new encoder settings mf rogrammable SSI USER MAN UAL www le2. Linde has concentrated on one thing develop ment and manufacturing of advanced encoders that meet the most rigorous demands That is why a wide selection of incremental and absolute encoders with obvious concentration on robust products and quality down to the last detail can be offered Leine amp Linde encoders provide the utmost in reliability year after year in working conditions where vibration dirt cold and other harsh environments are common Leine amp Linde can meet very specific individual customer demands The encoders are easily adapted due to a modular design to the customer s exact need with respect to resolution electrical connections and interfaces casings etc That is due to the fact that tomorrow s technology already is used today in Leine amp Linde s product lines Leine amp Linde concentrate on advanced development of intelligent encoders with integrated ASICs new special features and with adaptations to different field bus systems such as CANopen Profibus and PROFINET This enables us to meet the need for increasingly effective and dependable machines and automation to an even higher degree Programmable SSI USER MAN UAL www leinelinde com 1 4 Technical and commercial support Leine amp Linde are represented by subsidiaries in many countries around the world In addition there are many services agencies and distributors located worldwide ready to reply to commercial enquires or technical support For more
3. contact information please visit our web site or contact Leine amp Linde in Strangnas Sweden Leine amp Linde AB Box 8 SE 645 21 Str ngn s Sweden Tel 46 0 152 265 00 Fax 46 0 152 265 05 E mail info leinelinde com Web www leinelinde com gf rogrammable SSI USER MAN UAL www leinelinde com 2 Programmable encoder functions 2 1 Basic encoder functionality The figure below gives an overview of the basic encoder functions and how the functionality is conducted within the encoder Physical position Basic funtion p Singletum resolution Number of distinguishable revolutions Code sequence Absolute position Scaling function gt Total measuring range in measuring units Measuring units per revolution Scaling function control status Preset function lt 4 Preset value gt Offset value v Output position value 2 2 Scaling function The scaling function converts the encoder s physical absolute position value by means of software in order to change the resolution of the encoder The scaling parameters are securely stored in case of voltage breakdown and are reloaded at each start up Two types of scaling are defined in the PC software both operates in endless cyclic mode SCALING 1 The parameter Scaling factor is multiplied with the basic resolution The encoder uses the Number of revolutions to get the required measuring range SCALING 2 The parame
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5. LEINE amp LINDE Programmable SSI MANUAL USERS GUIDE Leine amp Linde AB T 46 0 152 265 00 F 46 0 152 265 05 info leinelinde com www leinelinde com Publication date 2012 06 01 LEINE amp LINDE g rogrammable SSI USER MANUAL Contents 1 GENERAL INFORMATION 1 1 ABSOLUTE ENCODERS 12 ol TECHNOLOGY 1 3 ABOUT LEINE amp LINDE AB 1 4 TECHNICAL AND COMMERCIAL SUPPORT 2 PROGRAMMABLE ENCODER FUNCTIONS 2 4 BASIG ENCODER PUNGIIONALITY 2 2 SCALING FUNCTION AS GODE SEOUENGE 2 4 OFFSET AND PRESET VALUES 2 5 PUSHBUTTON FOR PRESET 1 VALUE OPTION 2 6 CODE TYPE 2 DATA FORMAT 3 DIAGNOSTIC FUNCTIONS 3 1 ALARMS 3 2 WARNINGS 3 3 ENCODER IDENTIFICATION 3 4 OPERATING TIME 4 PROGRAMMING THE ENCODER VIA THE CONNECTING ELEMENT 5 PROGRAMMING THE ENCODER VIA THE LEINE amp LINDE PROGRAMMING SOFTWARE 5 1 INSTALLING LEINE amp LINDE PROGRAMMING SOFTWARE 5 2 CONNECTING THE ENCODER WITH THE RS 232 PROGRAMMING CABLE 5 3 SOFTWARE OVERVIEW 5 4 RS 232 SETTINGS 5 5 SOFTWARE AND HARDWARE VERSION 5 6 IDENTIFIGATION 5 7 OPERATING STATUS 5 8 OPERATING TIME 5 9 OPERATING PARAMETERS 5 10 SCALING PARAMETERS Sl OPFSET AND PRESET VALUES 5 11 1 Software offset amp Preset 5 11 2 Hardware Preset 6 CABLE AND CONNECTORS 6 1 PINNING 6 2 RS 232 PROGRAMMING CABLE www leinelinde com C00 MOMAaOWNWN N urn A WO O wuwo WO O 11 T1 12 13 ds I 14 14 15 16 17 I 18 19 19 20 Leine amp L
6. ammed to be either synchronous serial with right alignment or in the 25 bit Tannenbaum structure allowing it to be adapted to the current subsequent electronics a Frogrammable SSI USER MAN UAL www leinelinde com 3 Diagnostic functions Leine amp Linde s programmable RSA RHA 608 encoders also offer additional diagnostic functions such as operating status alarm warnings encoder identification and operating time 3 1 Alarms An alarm output STATUS which is output via a separate wire can be evaluated in the PLC resulting in shorter dead times An alarm is set if a malfunction in the encoder could lead to incorrect position values If an alarm occurs the STATUS output signal is set low and the related alarm bit is set to logical high until the alarm is cleared and the encoder is able to provide an accurate position value Alarms are cleared automatically when the functionality is within the specification and the position value correct 3 2 Warnings Warnings indicate that tolerances for certain internal parameters of the encoder have been exceeded In contrast to alarms warnings do not imply incorrect position values All warnings are cleared after the status message is read from the encoder but if the tolerances are still exceeded the warning will again be set 3 3 Encoder identification With the encoder identification function the user can easily read out the following identification parameters from the encoder e Type
7. ans that in case of a power interruption the preset values are reloaded at start up A preset is handled by the encoder in the following way The encoder reads the current position value and calculates an offset value from the preset value and the read position value The actual position value is then shifted with the calculated offset value If scaling is used the preset function must always be used to set the encoder starting point The preset function shall always be used after the scaling function This means that the preset values are entered in the current measuring unit The default value for preset 1 and the offset value is zero 0 and for preset 2 the end position Note The preset function should only be used at encoder standstill 2 5 Pushbutton for preset 1 value option As an option Leine amp Linde s RSA RHA 608 Programmable SSI encoders can be equipped with a pushbutton The function of the pushbutton is to set the encoder position to the predefined preset 1 value The pushbutton can for example be used for zero setting of the encoder if the preset 1 value has been set to zero The push button needs to be activated for at least 1 second before the encoder will be set to the preset 1 value For more information please contact Leine amp Linde 2 6 Code type The output code can be programmed to be either in Gray or in pure binary format 2 7 Data format The data format for transfer of the position values can be progr
8. grommanie SSI USER MAN UAL www leinelinde com The encoder position has now been changed to the preset value 5 11 2 Hardware Preset The Hardware preset settings can be found under the Encoder data gt Offset and preset values tab Choose the Hardware choice to change the hardware preset parameters from Leine amp Linde s programming software To change the preset values enter the new values and check the Input pin enabled boxes Then click OK to close the Hardware preset window HARDWARE PRESET HARDWARE PIN PRESET 1 7 rt in erable HARDWARE PIN PRESET 2 Then click Write parameters to encoder to transfer the parameters to the encoder or click OK to close the window Once all parameters have been transferred to the encoder an information window will open Click OK to close the Information window 3 Scaling parameters transferred Y Operational parameters transferred Hardware Preset parameter transferred Hardware Preset2 parameter transferred The hardware preset values have now been changed gf rogrammable SSI USER MANUAL 6 Cable and Connectors www leinelinde com 6 1 Pinning Function 12 pin EML 17 pin EML Cable Description RS 232TXD 1 1 Blue Red RS232 Transmit Code Sequence 2 2 Yellow Counting direction control STATUS 3 3 Green Error signal RS 232 RXD 4 4 Grey Pink RS232 Receive Preset 1 5 5 Black Preset input 1 Preset 2 6 6 Violet Pre
9. inde AB claims copyright on this documentation This documentation may not be modified extended or passed onto to a third party and or copied without written approval from Leine amp Linde AB Specifications and content in this document are subject to change without prior notice due to our continuous efforts to improve the functionality and performance of our products Programmable SSI USER MAN UAL www leinelinde com 1 General information 1 1 Absolute Encoders With an absolute encoder each angular position is assigned a coded position value generated by a code disc equipped with several parallel fine graduations tracks which are scanned individually On singleturn encoders i e an encoder producing absolute positions within one revolution the absolute position information repeats itself with every revolution A multiturn encoder can also distinguish between revolutions The numbers of unique revolutions is determined by the resolution of the multiturn scanning and repeats itself after the total resolution is reached 1 2 SSI Technology SSI or Synchronous Serial Interface is a digital point to point interface It provides unidirectional communica tion at speeds up to 1 0 MHz by the use of only 4 wires The absolute position value beginning with the most significant bit is transferred over the data lines DATA in synchrony with a CLOCK signal from the control The SSI standard data word length for singleturn absolute encoders is 13 bit
10. inelinde com 5 11 Offset and Preset Values 5 11 1 Software offset amp Preset The offset and preset settings can be found under the Encoder data gt Offset and preset values tab Choose the Software choice to change the software offset and preset parameters from Leine amp Linde s program ming software To change the offset value choose option Define offset direct and enter the new offset value OFFSET AND PRESET VALUES IV Define offset direct Calculate offset from preset Use only at encoder standstill Read value from encoder Write value to encoder iA Close Then click Write value to encoder to transfer the parameters to the encoder or click OK to close the window Once all parameters have been transferred to the encoder an information window will open Click OK to close the Information window The offset value has now been changed To change the preset value choose option Calculate offset from preset and enter the new preset value OFFSET AND PRESET VALUES OFFSET PRESET Define offset direct 4 Calculate offset from preset Use only at encoder standstill _ Read value from encoder White value to encoder P Close Then click Write value to encoder to transfer the parameters to the encoder or click OK to close the window Once all parameters have been transferred to the encoder an information window will open Click OK to close the Information window 17 g o
11. it Eight data bit One stop bit No parity bit C Change program baud rate EXECUTE Change encoder baud rate PEIE Save port and baud rate to file 5 5 Software and Hardware Version The software and hardware version of the encoder can be read from the Encoder data gt Software and Hardware Version tab Click OK to close the window ENCODER VERSION E 5 6 Identification The encoder identification can be read from the encoder from the Encoder data gt Identification tab Click OK to close the information window INFORMATION Type no 684304261 Yy Base encoder ser no 19909630 Interface card ser no 12345 Number of revs 4096 Singleturn res 8192 Can 13 Programmable SSI USER MAN UAL www leinelinde com 5 7 Operating Status The operating status of the encoder can be read from the Encoder data gt Operating status tab Click OK to close the window Position error No Supply vollage error Nol supported Curent too high Not supported Commissioning diagnostics Not supported Memory error No WARNINGS Frequency exceeded Not supported Not supported CP atus Operating time knut warning Battery charge Not supported Reference point Not suppented 5 8 Operating Time The operating time of the encoder can be read from the Encoder data gt Operating time tab The time is shown in steps of 0 1 hour Click OK to close the window Er eo zu En A bm H
12. lied for t gt 1 ms in order to change the preset 2 value Programmable SSI USER MAN UAL www leinelinde com gt Programming the encoder via the Leine amp Linde programming software 9 1 Installing Leine amp Linde programming software Leine amp Linde s programming software can be downloaded from our website www leinelinde com 1 Download and save the file to your hard drive 2 Browse to the folder where the file was saved and run ProgSSI Setup msi to start the installation 3 Follow the instructions on the screen Minimum System Requirements PC with at least 486 processor e Microsoft Windows 95 98 NT or XP 5 2 Connecting the encoder with the RS 232 programming cable To connect the encoder to the RS 232 programming cable follow the steps below 1 Connect the RS 232 programming cable to your computers COM port 2 Connect the encoder to the RS 232 programming cable 3 Connect the red wire on the RS 232 programming cable to E Volt 4 Connect the blue wire on the RS 232 programming cable to 0 Volt Note The cable length between the encoder and the computer must not exceed 10m 11 Programmable SSI USER MANUAL 5 3 Software Overview LS LEINE amp LINDE AB Str ngn s Sweden PROGRAMMABLE SSI ENCODER File Encoder data Communication Help LEINE amp LINDE Programmable SSI Encoder Parameter definition Serial communication OUTPUT CODE Code Code format Standard Tanne
13. nbaum Code sequence CW CCW Code type 12 Binary Gray Singleturn resolution positions revolution Multiturn resolution number of revolutions 33554432 pos ENCODER DATA Set the scale on the Y axis Transferred number of revolutions Diagram offset of X axis Scaling enabled or disabled Scaling factor lt 1 for reducing the singl seturn resolution Test encoder Multitum 4 Singletum 4 Position l Disc data g tp en 4096 rev ENCODER PROGRAMMING Read parameters from encoder OFFSET PRESET Soltware offset Hardware preset 0 Friol Frizo 7 N 7 N Programming Preset or Offset value Enable or disable hard ware preset Transferred singleturn Total position value Singleturn x Multiturn Start testing of the encoder Position value without scaling Read Write parameters from to encoder www leinelinde com gf rogrammable SSI USER MAN UAL www leinelinde com 9 4 RS 232 Settings The RS 232 settings can be found under the Communication gt RS232 tab If necessary change the port number settings and then click on EXECUTE to perform the changes or click OK to close the window IRS232 RS485 mode One start b
14. part number e Serial number base encoder interface card e Resolution singleturn multiturn e Soft and hardware version 3 4 Operating Time The operating time monitor stores the operating time for the encoder in operating hours The operating time is stored in the non volatile memory at encoder power down and is reloaded at power up 10 gh rogrammable SSI USER MAN UAL www leinelinde com 4 Programming the encoder via the connecting element For the RSA RHA 608 Series of encoders the following functions can be activated via the programming inputs of the interfaces by applying the input to a logic high level i e E Volt Code sequence By applying a logic high level E Volt to Pin 2 in the connector the code sequence function is activated and the direction of rotation 1s CCW for ascending position values E Volt needs to be applied for as long as the reversed direction of rotation is required Note The position value will be affected when the code sequence is changed during operation It might be necessary to perform a preset after the code sequence has been changed PRESET 1 By applying a logic high level E Volt to Pin 5 in the connector the encoder position is set to the preset 1 value E Volt needs to be applied fort gt 1 ms in order to change the preset 1 value PRESET 2 By applying a logic high level E Volt on Pin 6 in the connector the encoder position is set to the preset 2 value EV needs to be app
15. r We O EFF 5 E me 3 24 Nours i E EE Lo Tt p a i i pie Bi 7 ve el St pita tiene it g rogrammable SSI USER MAN UAL www leinelinde com 5 9 Operating Parameters The code output settings can be found under the Encoder data gt Operating parameter tab Code type Data format Code Sequence and Sequence Mode can be changed from this window The Sequence mode allows the user to choose if the encoder s counting direction should be set by the programming software or by the connecting element by supplying Pin 2 with E Volt CODE OUTPUT PARAMETERS CODE FORMAT Sand 5 SEQUENCE SEQUENCE MODE genen M OK Kenn Tan To change the code type data format and code sequence parameters from Leine amp Linde s programming software set the Sequence mode to Set by software and then change the Code Format and Sequence as wanted Then click OK to close the window Press the Write parameters to encoder button to write the new parameters to the encoder Once all parameters have been transterred to the encoder an information window will open Press OK to close the Information window INFORMATION j Scaling parameters transferred Operational parameters transferred The encoders operating parameters have now been updated and the encoder is ready to be used Click on the Test encoder button to test the new encoder settings 15 16 gh rogrammable SSI USER MAN UAL www leinelinde com
16. s and for multiturn absolute encoders 25 bits The position value is transmitted in Gray or binary code format In the quiescent state the clock and data lines are on high level The current position value is stored on the first falling edge of the clock The stored data is then clocked out on the first rising edge After transmission of a complete data word the data line remains low for a period of time t until the encoder is ready for interroga tion of a new value If another data output request CLOCK is received within this time the same data will be output once again If the data output is interrupted CLOCK high fort gt t a new position value will be stored on the next falling edge of the clock and on the subsequent rising edge clocked out to the subsequent elec tronics DATA Data transfer SSI Interface SSI Clock frequency T 1 10 us Calculation time for Position value Ef lt 5yus Recovery time t 0 4 us t 12 30 us n 1325 bit Programmable SSI USER MAN UAL www leinelinde com ENCODER SUBSEQUENT ELECTRONICS E DATA f aa teat bE i Woy DATA uf Cat a DIRECTION OR ZERO SETTING INPUTS an ee Recommended subsequent electronics Note The programming inputs must always be terminated with a resistor see input circuitry of the subsequent electronics 1 3 About Leine amp Linde AB For more than 40 years the Swedish based company Leine amp
17. set input 2 E Volt 7 7 Red Supply voltage Clock 8 8 White SSI Clock Clock 9 9 Brown SSI Clock inverted O Volt 10 10 Blue Supply voltage 0 volt Int shield NA 11 NA Internal Shield B NA 12 White Green Incremental B B NA 13 White Yellow Incremental B inverted Data 11 14 Grey SSI Data A NA 15 Brown Green Incremental A A NA 16 Brown Yellow Incremental A inverted Data 12 17 Pink SSI Data inverted Note that the RS232 TxD from the encoder shall be connected to the RS232 TxD of the communication port on your PC The RS232 RxD from the encoder shall be connected to the RS 232 RxD on the communication port on your PC 19 20 gf rogrammable SSI USER MAN UAL www leinelinde com 6 2 RS 232 Programming Cable The programming cable is used to connect the encoder to a PC serial port for parameter download and diagnostic readout The length of the cable 1s 2 meter with a 0 8 meter power connection See the datasheet for part numbers for accessories Computer Encoder D sub 9 pin female 12 17 pin EML female seen from computer side Programmable SSI USER MANUAL www leinelinde com 21 The best encoders are those you never have to think about Those that simply do their job year after year Leine amp Linde develops and manufactures custom ised encoder solutions for demanding environments advanced measuring systems for accurate feedback of speed and position LEINE LINDE 46 O 152 265
18. ters units per revolution and revolutions set the output resolution Example of a cyclic scaling Units per revolution 1000 Revolutions 32 Total number of position 32000 Measuring units per revolution x Revolutions 1000 x 32 Position 32 000 Measuring range Note The offset value is cleared when new scaling parameters are sent to the encoder After downloading new scaling parameters the Preset function must be used to set the encoder starting point to absolute position 0 or to any required starting position within the scaled operating range mF rogrammable SSI USER MAN UAL www leinelinde com 2 3 Code Sequence The Code sequence function defines whether the absolute position value should increase during clockwise CW or counter clockwise CCW rotation of the shaft encoder seen from flange side The code direction is by default set to increase the absolute position value when the shaft is turned clockwise CW Note The position value will be affected when the code sequence is changed during operation It might be necessary to perform a preset after the code sequence has been changed 2 4 Offset and Preset values The preset function enables adaptation of the position value from the encoder to a known mechanical refer ence point of the system The preset function sets the actual value of the encoder to zero or to the selected preset values The preset values are stored in a non volatile memory which me
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