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7272 - Advanced Micro Controls Inc

1. Writing Parameters to the EnDat encoder Das Mod Function Type Number 32 bit o TM MRSCODE O Returned Value Dete Waral Function Type Number 32 bit o Stats List of settable parameters MRS code Parameter number range Description 0xB9 0 3 Operating Status OxA7 0 15 Operating Parameters OxA9 0 63 OxAl1 0 127 OEM Parameters 0xAD 0 127 Note Writing may be disabled for the user from the encoder manufacturer The module will report the raw value of the parameter as it is stored in the encoder s memory 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 15 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 5 Setup Data The message instructions described in Chapter 4 above are used to send the setup data to the two channels of the 7272 module see Chapter 4 This data consists of nine 32 bit words 36 bytes shown in the following table Each channel can be programmed with different setup data Setup Data for the EnDat Module Channel 1 or 2 Word 5 Configuration Bits See DescriptionBelow 0 i 3 O 0 Limit Switch ON Position MSWord Oto 16 0000 FFFF 0 Limit Switch ON Position LSWord Oto 16 FFFF_FFFF 0 Limit Switch OFF Position MSWord Oto 16 0000 FFFF_ 0 Limit Switch OFF Position LSWord Oto16 FFFF_FFFF
2. Chapter 6 Reading Status Data The message instructions described in Chapter 4 above can be used to read the current setup data from each of channels of the 7272 module This status data consists of eleven 32 bit words 44 bytes shown in the following table ControlLogix 7272 EnDat Interface Manual The destination address must be made up of a tag array that is at least eleven DINT words long It is possible to read only valid data from the 7272 module The module does not store any Setup Data that caused the Message Instruction s Error bit to be set Reading Data from the EnDat Module Data Word Type Number 32 bit 0 Configuration Bits see description below 32 bit 6 Limit Switch ON Position LSWord _ __ 32 bit 8 Limit Switch OFF Position LSWord 32 bit 9 Internal Offset generated by Apply Preset operation MSW Configuration Bits Bits 0 to 7 Reserved must be 0 Function Bit 8 Program Count Direction 0 Positive 1 Negative Bit 9 Program Velocity Update 0 120ms 1 60ms Bit 10 Latch position on rising edge of input Bit 11 Latch position on falling edge of input Bit 12 EnDat Data Logic O positive 1 negative Bit 13 EnDat Data Type 0 binary 1 Gray Code Bit 14 to 16 EnDat Frequency Bit 16 Bit15 Bit14 EnDat Clock Frequency 0 0 0 125kHz 0 0 1 250kHz 0 1 0 500kHz 0 1 1 1MHz 1 0 0 2MHz 1 0 1 Reserved
3. 0 All of the data must be present and valid when the message instruction is used to send the data to the 7272 module If the data is not valid all of the data will be ignored the message instruction s error bit will be set and the extended error code will indicate exactly how the data is invalid See Chapter 3 for definitions of the set up parameters Configuration Bits Bits 0 to 7 Reserved must be 0 Bit 8 Program Count Direction 0 Positive 1 Negative Bit 9 Program Velocity Update 0 120ms 1 60ms Bit 10 Latch position on rising edge of input Bit 11 Latch position on falling edge of input Bit 12 EnDat Data Logic O positive 1 negative Bit 13 EnDat Data Type 0 Binary 1 Gray Code Bit 14 to 16 EnDat Frequency Bit16 Bit 15 Bit 14 EnDat Clock Frequency 0 0 0 125kHz 0 0 1 250kHz 0 1 0 500kHz 0 1 1 1MHz 1 0 0 2MHz 1 0 1 reserved 1 1 0 reserved 1 1 1 reserved Bits 17 31 Reserved must be 0 Note 1 The Velocity Update Time does not affect the update of the Data Value Note 2 Programming a channel s setup data will clear the internal offset generated by an Apply Preset Operation Note 3 The 7272 module will accept and act on Setup Data sent from a Message Instruction that occurs in a Listen Only Processor 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 16 Tel 860 585 1254 Fax 860 584 1973 Web www amci com ci
4. 1 1 0 Reserved 1 1 1 Reserved Bits 17 31 Reserved will be 0 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 17 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 7 Input amp Output Data Input Registers Data sent from the 7272 module to the PLC The input data consists of ten for 1 channel or twenty for 2 channels 32 bit words and is read by the PLC at the RPI Requested Packet Interval Time that is asynchronous to the Ladder Logic Program The Input data will be referenced as Local X I Data Y where X is the slot number and Y is the word number To ensure that the same data is used throughout the entire PLC program this data should be buffered to internal registers at one place in the program However in order to take advantage of the real time availability of the Interpolation Data value the Interpolation Acknowledge bit the Limit Switch State Bit and the Interpolation Limit Switch State Bit should be used directly from their respective Input Registers The data contained in the input registers consists of Status Word Data Value Velocity and any associated Latched or Interpolated Data Values Input Data for the 1 Channel Configuration Sea oe Borg Function Units Range Number 0 Status Word1 See descripiton below 1 Data Value 1 MSWord 0 to 00
5. 1756 MODULE Description Generic 1756 Module 5 Click on OK 6 Enter the following module properties Name Your Choice must begin with a letter Description Your Choice Comm Format Data DINT must be Data DINT Slot location of 7272 module 7 Enter the Connection Parameters from the following table Please note that the 7272 module can be configured in two ways depending on how many channels are being used Disabling the unused channel is recommended because the module will stop all activities associated with the unused channel which will improve the throughput time Owner Controller Listen Only P Assembly Size in 32 bit Assembly Size in 32 bit arameter Instance words Instance words 1 Channel INPUT 101 10 101 10 OUTPUT 111 2 115 1 CONFIGURATION l 0 5 0 2 Channels INPUT 102 20 102 20 OUTPUT 112 4 115 1 CONFIGURATION 2 0 5 0 The Owner Controller setup will be used in most instances The Listen Only setup should only be used by the listening processor s in systems with more than one PLC Please note that the RPI time of the Listen Only processor must be greater than or equal to the RPI of the Owner Controller and the number of channels on the Listen Only processor must match the number of channels on the Owner Controller 8 Click on Next gt 9 Set the RPI Rate Packet Interval Time to the desired value To reduce the PLC scan the recommended RPI time is 5ms
6. Invalid Other 101 Invalid MRS 102 Invalid Parameter Number 104 CRC Error 105 Command Not Supported 106 Encoder Not Responding e These error codes are only valid when register address user_tag err is equal to 9 e The Message Instructions Error bit and the Extended Error Code can only be cleared by sending valid data to the 7272 module Read EnDat Encoder Parameters The EnDat module will use Message Instructions with the following information to read parameters data from the sensor EnDat SERVICE CODE 4B CLASS 4 Length in Bytes Used with assembly Channel 1 INSTANCE 211 ATTRIBUTE 0 8 instances 101 102 EnDat SERVICE CODE 4B CLASS 4 Length in Bytes Used with assembly Channel 2 INSTANCE 212 ATTRIBUTE 0 8 instance 102 The data send to any channel consists of two 32 bit words 8 bytes shown in the table below containing MRS code and parameter number MRS code is a memory area code according to the EnDat Specification The parameter number in the following table is used to tell the 7272 module which of the sensors parameters to read Note that the data value in the input registers will be frozen while the parameter is being read from the sensor Reading Parameters from the EnDat encoder Dato Wod Function Type Number 32 bit 0 SC MRSCODE _ _ _ E Returned Value Data Word Munn Type Number 32 bit 0 Parame
7. programmed does not match the actual encoder resolution The 7272 module will not output clock pulses if this bit is set Bit 8 EnDat Reset Command Acknowledge FAULT This bit will be set when the corresponding Reset Command bit is set in the output register and the Reset command is executed This bit will be cleared when Reset command bit in the Output register transitions from 1 to 0 Bit 9 EnDat 2 1 Error Bit is set by the encoder in the data stream or Power Not Applied Bit 10 Transducer Fault Encoder not connected CRC Error or Power Not Applied page 19 Web www amci com AMLI ControlLogix 7272 EnDat Interface Manual Revision 2 4 Bits 11 Reset Command Fault Set when the Reset encoder Command fails due to wiring fault crc etc Cleared when Reset command bit in the Output register transitions from 1 to 0 Bits 12 to 13 Reserved for future use Bit 14 OUTPUT FAULT Set when one or more of the unused bits in the corresponding COMMAND WORD are set This bit will be automatically reset when the incorrect bit s are reset Bit 15 BAD CRC Memory Error Set when the flash area for the corresponding channel parameters shows corrupt data It will still be possible to use the 7272 but the module will power up using its default parameters That is you will have to use message instructions to program your setup data at every power up If you do not want to use the module in this way it must be returned to AMCI
8. s memory the Encoder Resolution Mismatch Fault Bit will be set see page 19 The module will not output any clock pulses until the correct number of EnDat data bits is programmed into the module Most Significant Bit MSB Number This parameter defines the bit location of the first bit of the Data Value in the data bit stream This parameter has a range of 1 to 48 Any data bits above the MSB value will be masked off when the Data Value is determined Example You have a 24 bit multi turn EnDat encoder Bits 1 to 12 are the multiturn position and bits 13 to 24 are the single turn position You are only interested in the single turn data In this example the 7272 module would be setup using the following data 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 XIXIXIXIXIXIXIXIXIXI XI XI IXI IXIXI IXI IXIX I IX I IXIJIXIJIXJIX IX f f f MSB of EnDat Data Bits MSB Number LSB of Data Value Number of EnDat Data Bits 24 ane Data bis Most Significant Bit number 13 Resulting Number of Data Bits 12 This is the Data Value Data Type This parameter tells the 7272 module to interpret the EnDat data either as a Binary number or as a Gray Code number The default value is Binary Data Logic This parameter is included to handle situations where the EnDat data is reported with negative logic If this parameter is set the 7272 will invert
9. www amci com ControlLogix 7272 EnDat Interface Manual Revision 2 4 Source Length If the Message Instruction is being used to send setup data to the 7272 module then the Source Length parameter must be equal to 36 bytes If the Message Instruction is being used to read data from the 7272 module then the Source Length Parameter must be set to zero Destination If the Message Instruction is being used to send data to the 7272 module then the Destination Parameter must be left blank If the Message Instruction is being used to read data from the 7272 module then the Destination Parameter must be set to the first tag of the array where the data will be placed The Message Instruction is used with the following information to send Setup Data to the 7272 module EnDat SERVICE CODE 4C CLASS 4 Lengthin ised with assembly Channel 1 INSTANCE 291 ATTRIBUTE 0 p instances 101 102 EnDat SERVICE CODE 4c CLASS 4 Length in tsed with assembly Channel 2 INSTANCE 202 ATTRIBUTE 0 eo instance 102 The Message Instruction is used with the following information to read Setup Data from the 7272 module EnDat SERVICE CODE 4B CLASS 4 Length in ised with assembly Channel 1 INSTANCE 201 ATTRIBUTE 0 a instances 101 102 EnDat SERVICE CODE 4B CLASS 4 Length in yc with assembly Channel 2 INSTANCE 202 ATTRIBUTE 0 Bu instance 102 Message Configurat
10. However the minimum value for the 7272 module is 0 5ms 10 Click on Finish gt gt The module should now appear in the project tree The Input data will be referenced as Local X I Data Y and the output data will be referenced as Local X O Data Y where X is the slot number and Y is the word number 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 4 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 2 HARDWARE OVERVIEW Module Specifications Current Draw 550ma 5Vdc from PLC backplane Throughput Time 0 2ms to 1 2ms depending on the EnDat frequency and the number of bits and channels used External Power The 7272 module requires the use of an external 24Vdc power supply that is used power the input isolation circuitry and can also be used to power sensors that operate on 24Vdc Voltage Range 24V dc 20 I 150mA max 5Vdc supply The 7272 module also uses the external power supply to generate a 5Vdc user power supply that can be used to power encoders and or sensors that run on 5Vdc This 5Vdc supply generates 500mA 5 of current Latching Inputs The Latching Input terminals accept an up to 24VDC signal across pins 17 15 18 16 The latching function is performed as programmed when power is applied removed OFF to ON and or ON to OFF to from the input Voltage Range 0 to 30Vdc On State 8 to 30Vdc Off
11. State 0 to 2Vdc Current Draw 10mA 24Vdc The latching inputs must be on for between 0 2ms and 1 2ms depending on the number of channels being used Environmental Conditions Operating Temperature 0 to 60 C Relative Humidity 5 to 95 non condensing Storage Temperature 40 to 85 C EDS File An EDS file for the 7272 module can be downloaded from the Tech Library section of AMCI s website Wwww amci com FLASH Memory The 7272 module s parameter values are stored in a non volatile Flash memory This memory type can store parameter values in the absence of power for over twenty years but you can only write to it a limited number of times before it will be damaged The Flash Memory used in the 7272 module is guaranteed for a minimum of 10 000 write cycles Encoder Identification The 7272 module interrogates the EnDat Encoder at every power up If the encoder is attached later and is different from what is stored in the module s memory the module will set the Reset Command Fault the Transducer Fault and the Encoder Resolution Mismatch status bits and will stop outputting clock pulses If this occurs remove power from and then re apply power to the module while power is applied to the encoder This will cause the module to again interrogate the encoder 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 5 Tel 860 585 1254 Fax 860 584 1973 Web www amci com Front Panel AMCI POSITION Status LED
12. cycles so the module must not be programmed during every machine cycle The module has two opto coupler latching inputs that will capture the scaled sensor data on the rising falling or both transitions of the input These inputs can be wired to be sinking or sourcing and will activate when they see a voltage level between 8 and 24Vdc across the and latch terminals Through the use of different rack Assembly Instances the 7272 can be configured to operate with one or two of the available channels Disabling the unused channel is recommended for improving the throughput time 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMETI ControlLogix 7272 EnDat Interface Manual Revision 2 4 General Information Important User Information The products and application data described in this manual are useful in a wide variety of different applications 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 information within this manual AMCI assumes no responsibility for the application or the completeness of the information contained herein Throughout this manual the following two notices are used to highlight important points WARNINGS tell you when people may be hurt or equipment may be damaged if the procedure
13. for repair Bits 16 to 31 Reserved for future use Input Register Description Data Value This register contains the current position data from the sensor Velocity This is the rate of change of the data value in Counts Second Latched Data Value This register shows what the Data Value was when the Latch Input transitioned depending on the configuration from 0 to 1 and or from 1 to 0 The Latched Data Value will be reset to zero at power up Also the current Data Value will be placed in this register if the input is configured for the 0 to transition and the input is active at power up Interpolated Data Value This register shows the Data Value based on the Central System Time and the sensor s velocity data It is not necessary to use this feature if you are only interested in reading the Data Value and Velocity directly from the sensor Output Registers Data sent from the PLC to the 7272 module The output registers are used to execute commands that typically occur during machine operation while module setup functions are accomplished with the use of Message Instructions See Chapter 3 and 4 for configuring the 7272 module 1 Channel configuration Channel 32 Bit Function Number Word l 0 Command Bits 1 Interpolation CST Value 2 Channels configuration Channel 32 Bit Function Number Word 1 0 Command Bits 1 Interpolation CST Value 2 2 Command Bits 3 Inter
14. is not followed properly CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly No patent liability is assumed by AMCI 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 UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAMAGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN 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 AMCI shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within one year 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 AMCI and excludes all other warranties expressed or implied In no event shall AMCI be liable for incidental or consequential damages or for delay in performance of this warranty Retu
15. the data bits before performing any scaling and decoding operations When left in its default value of positive the 7272 module will use the EnDat data as it is from the sensor 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 10 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Data Setup Parameters Once the 7272 module has extracted the EnDat data from the data stream it uses the Data Setup Parameters to convert the raw EnDat data into the Data Value it reports to the PLC Preset Value The zero position of the EnDat encoder s Data Value may not match the zero position of your machine The Preset Value parameter gives you the ability to offset the Data Value from the actual EnDat data to a value that will be more useful for your application Programming the Preset Value parameter does not change the Data Value It is stored in the 7272 module s memory until the module sees a zero to one transition of the Apply Preset bit Apply Preset Offsetting the Data Value to the Preset Value is a two step operation First a Message Instruction must be used to send the Preset Value with the other setup parameters to the 7272 module Second setting the Apply Preset in the output registers will change the Data Value to the Preset Value Setting the Apply Preset bit causes the module to generate an internal offset value that is applied to the Data Value befor
16. 00 _FFFF 2 Data Value 1 LSWord 0 to FFFF_FFFF 3 Velocity 1 Counts Second 1 4 Latched Data Value 1 MSWord 0 to 0000_FFFF 5 Latched Data Value 1 LSWord 0 to FFFF_FFFF 6 Interpolated Data Value 1 MS Word 0 to 0000 FFFF 7 Interpolated Data Value 1 LS Word 0 to FFFF_FFFF 8 Actual EnDat Value 1 MSWord 0 to FFFF_FFFF 9 Actual EnDat Value 1 LSWord 0 to FFFF_FFFF 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 18 Tel 860 585 1254 Fax 860 584 1973 Web www amci com ci ControlLogix 7272 EnDat Interface Manual Input Data for the 2 Channel Configuration Revision 2 4 C annee Eii yord Function Units Range Number 0 Status Word1 See descripiton below 1 Data Value 1 MSWord 0 to 0000 _FFFF 2 Data Value 1 LSWord 0 to FFFF_FFFF 3 Velocity 1 Counts Second 1 4 Latched Data Value 1 MSWord 0 to 0000_FFFF 5 Latched Data Value 1 LSWord 0 to FFFF_FFFF 6 Interpolated Data Value 1 MS Word 0 to 0000_FFFF 7 Interpolated Data Value 1 LS Word 0 to FFFF_FFFF 8 Actual EnDat Value 1 MSWord 0 to FFFF_FFFF 9 Actual EnDat Value 1 LSWord 0 to FFFF_FFFF 10 Status Word2 See descripiton below 11 Data Value 2 MSWord 0 to 0000_FFFF 12 Data Value 2 LSWord 0 to FFFF_FFFF 13 Velocity 2 Counts Second 2 14 Latched Data Value 2 MSWord 0 to 0000 _FFFF 15 Latched Data Value 2 LSWord 0 to FFFF_FFFF 16 Interpolated Data Value 2 MS Word 0 to 0000 _FFFF 17 Interpo
17. 6 Wiring Notes 7 EnDat Protocol 8 Programmable Parameters Chapter 3 9 Module Setup Parameters 9 Latched Input 9 Interpolated Position 9 Limit Switch Position 10 EnDat Setup Parameters 10 EnDat Clock Frequency 10 Most Significant Bit Number 10 Number of EnDat Data Bits 10 Data Type 10 Data Logic 10 Data Setup Parameters 11 Preset Value 12 Apply Preset 12 Count Direction 12 Velocity Update Time 12 Message Instructions Chapter 4 12 Configuration Tab 13 Writing Data Setup 13 Reading Data Setup 13 Communication Tab 13 Extended Error Codes 14 Read EnDat Encoder Parameters 14 Write EnDat Encoder Parameters 15 Setup Data Chapter 5 16 Reading Status Data Chapter 6 17 Input amp Output Data Chapter 7 18 Input Registers 18 Status Bits 19 Input Register Description 19 Output Registers 20 Command Bits 20 Apply Preset Programming Cycle 20 Interpolation Command Programming Cycle 21 Specification Revision History Chapter 8 21 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 3 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 1 INSTALLING THE 7272 MODULE Configuring the ControlLogix System 1 Open RSLogix 5000 and the project in which you want to install the AMCI 7272 module 2 Right click on I O Configuration in the Project Tree 3 Select New Module 4 Select the following module type and description from the list that appears Type
18. AMICI ControlLogix 7272 EnDat Interface Manual Revision 2 4 Module Overview The 7272 module is a two channel EnDat 2 1 interface module that resides in a Rockwell Automation ControlLogix rack This module is capable of connecting up to two independent EnDat output encoders sensors with max 48 bit resolution for position This module also has two latching inputs one for each channel which can be used to capture the sensor s data The 7272 module communicates with the PLC using input and output registers The Data value Velocity Latched Value and Status information are reported to the Input Registers All module setup parameters including Preset Value Count Direction Velocity Response Time as well as the Sensor Logic parameters Data Type binary gray Data Logic positive negative Number of EnDat Data Bits and Clock Frequency are programmed through Message Instructions The Output registers assigned to the module can be used to Apply the Preset to send Reset command to the encoder or to send the PLC s Central System Clock Time to the 7272 module This optional and additional feature causes the module to use this system time and the sensors velocity data to calculate an Interpolated or Look Ahead Data value The 7272 module stores its parameters in a non volatile flash memory when power is removed so it is not necessary to program the module at every power up However this flash memory is good for a minimum of 10 000 write
19. SENSING Solid Red Blinking Red Green Status m Blinking Red Solid Green Blinking Green OK OK LED Solid Green Blinking Green Blinking Red Connector Pin Out ControlLogix 7272 EnDat Interface Manual Revision 2 4 Data Flash Memory Fault Module Hardware Comm Failure Data in Output registers is not correct No motion occurring Motion on at least one channel Module Owned two way communication PLC in Program Mode Communication between module and PLC interrupted The input connector consists of a Removable Terminal Block with the Rockwell Automation Part Numbers 1756 TBCH 36 position cage clamp or 1756 TBS6H 36 position spring clamp The terminal block is not supplied with the 7272 module External 24V OO Earth Ground 1 shields GND 2 OO GND 1 channel 2 Clock O O channel 1 Clock channel 2 Clock O O channel 1 Clock channel 2 Data O O channel 1 Data channel 2 Data O O channel 1 Data Earth Ground 2 shields O O Earth Ground 3 shields Latch Input channel 2 O O Latch Input channel 1 Latch Input channel 2 OO Latch Input channel 1 External 24V O O Earth Ground 4 shields GND 4 O O GND 3 5Vdc out 2 O 5Vdc out 1 OO O O O O OO O O OO 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 6 Tel 860 585 1254 Fax 860 584 1973 Web www amci com ControlLogix 7272 EnDat Interface Manual Revision 2 4 Wiring Notes Optical isolation Use
20. bsequent error messages are group signals for all monitored functions and serve as failure monitors Beginning with the LSB the encoder then transmits the absolute position value as a complete data word Its length varies depending on which encoder is being used The number of required clock pulses for transmission of a position value is saved in the memory area called Parameters of the encoder manufacturer The data transmission of the position value is completed with a Cyclic Redundancy Check CRC Parameters and Memory Areas EnDat encoders provide several memory areas for parameters These can be read from by the PLC module and some can be written to by the encoder manufacturer the OEM or even the end user Certain memory areas can be writeprotected The parameters which in most cases are set by the OEM largely define the function of the encoder and the EnDat interface When the encoder is exchanged it is essential that its parameter settings are correct Attempts to configure machines without including OEM data can result in malfunctions If there is any doubt as to the correct parameter settings the OEM should be consulted Parameters of the Encoder Manufacturer This write protected memory area contains all information specific to the encoder such as encoder type linear angular singleturn multiturn etc signal periods position values per revolution transmission format of position values direction of rotation maximum speed ac
21. curacy dependent on shaft speeds warnings and alarms part number and serial number This information forms the basis for automatic configuration A separate memory area contains the parameters typical for EnDat 2 2 such as status of additional information temperature acceleration support of diagnostic and error messages For more information on EnDat refer to the EnDat Specification and your EnDat encoder documentation 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 8 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 3 Programmable Parameters The 7272 is configured by programming its Programmable Parameters These parameters are broken down into three groups Module Setup EnDat Setup and Data Setup parameters The 7272 uses two methods for the programming and monitoring of data Input and Output registers are used to program and monitor data that occurs on a regular schedule such as reading the data value and status information or setting the system time Message instructions are used for operations that occur less frequently such as programming the module set up parameters or reading back the set up data for trouble shooting purposes Module Setup Parameters Latched Input The 7272 module has two Latch Inputs one for each channel that allow you to capture and display the current Data Value whenever the input transitions This para
22. e it is reported to the PLC This internal offset is saved in the 7272 module s Flash memory so it is not necessary to home the module at every power up Please note that using a Message Instruction to program a channel s setup data will clear the internal offset generated by an Apply Preset operation The 7272 module s Flash memory is guaranteed for 10 000 write cycles before writing to it will cause it to fault Therefore continuously applying the Preset should be avoided If your application requires you to continuously apply the Preset consider calculating and annlving the Preset in vour PLC program Count Direction This parameter is useful if your Data Value represents a linear position It gives you the ability to reverse the direction of motion needed to increase the position count For simplicity s sake the two values for this parameter are called Positive Direction and Negative Direction When this parameter is set to its default of Positive the Data Value is not changed When this parameter is set to Negative the Data Value is subtracted from a value equal to the 2 Data Bits You will probably need to Apply the Preset to the Data Value after you program the Count Direction parameter If your Data Value represents a rotary position you cannot change the count direction with this parameter However you can easily reverse the count direction with ladder logic This can easily be accomplished with two rungs of logic If the data
23. f the cable Because the rack cabinet is typically better grounded than the machine AMCTI recommends that the cable shields be terminated at the 7272 module However if your cable shield is attached to the sensor s housing and the sensor is grounded through its mounting you must not connect the cable shields to the 7272 module because this will create a ground loop If a junction must be made in the signal cable treat the shield as a signal carrying conductor Do not connect the shield to ground at any junction box or the encoder sensor If the signal cable must cross power feed lines it should do so at right angles Route the cable at least five feet from high voltage enclosures or sources of RF radiation 24Vdc pins 2 amp 20 External Power Supply GND pins 3 4 21 22 5Vdc out pins 23 24 input data pins 9 or 10 input pins 11 or 12 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 7 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMLI ControlLogix 7272 EnDat Interface Manual Revision 2 4 EnDat interface and protocol The EnDat EncoderData interface is a digital bidirectional interface for encoders It is capable of transmitting position values from the encoder as well as reading and updating information stored in the encoder or of saving new information Thanks to the serial transmission method only four signal lines are required The data are transmitted in synchro
24. he Data Value is between these two setpoints If the ON setpoint is greater than then OFF setpoint then the bit will be set when the Data Value is outside of the these two setpoints A separate Limit Switch bit based on the same ON OFF setpoints also exists for the Interpolation Data Value EnDat Setup Parameters These parameters are used to extract the Data Value from the bit stream These parameters define the clock speed of the data transfer the number of data bits resolution and the format of the data EnDat Clock Frequency This parameter allows you to set the EnDat clock frequency to one of five values 125kHz 250kHz 500kHz 1 0MHz or 2 0MHz The default value of 125kHz value will work in all applications Your sensor s user manual should contain information on what EnDat Clock Frequency is appropriate for both the sensor and the type and length of cable used Number of EnDat Data Bits Encoder Resolution This value sets the number of position bits that the 7272 will read from the EnDat transducer per interrogation This parameter has a range of 1 to 48 and must equal the user s EnDat Encoder resolution The default value is 24 bits Note On power up the 7272 module interrogates the EnDat encoder attached to each channel for its actual resolution According to the EnDat 2 1 specifications this Encoder Manufacturer parameter is located in Word13 If this value does not match the Number of EnDat Data Bits stored in the 7272 module
25. ion Communication Tab When the Configuration window shown above is completed click on the Communication tab The following window will open Click on the Browse button and set the path parameter to the slot where the 7272 module is located All of the remaining Communication parameters can remain at their default settings Message Configuration message ch1 Configuration Communication Tag AMCI_ 272 Connected 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 13 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Extended Error Codes The Message Instructions used to send data to the 7272 module have an error register that can be used to obtain diagnostic information from the module This register s address is user_tag exerr The following table shows the values that will be displayed in this register if the data sent to the 7272 module is not valid Extended Error Codes 1 Configuration Bits Word Format Error reserved bits not equal to 0 2 MSBit Number outside the range of to 48 3 Number of EnDat Data Bits outside the range of 1 to 48 4 Preset Value outside range 5 Limit Switch ON outside range 6 Limit Switch OFF outside range 7 Starting MS Bit Position gt Number of Endat Data Bits 10 Channel not used This will be displayed as 16 0000_ 000A EnDat Specific Error Codes 100
26. lated Data Value 2 LS Word 0 to FFFF_FFFF 18 Actual EnDat Value 2 MSWord 0 to FFFF_FFFF 19 Actual EnDat Value 2 LSWord 0 to FFFF_FFFF Description of the Status Word 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 Bit 0 APPLY PRESET ACKNOWLEDGE This bit will be set when the corresponding Apply Preset Command bit is set in the output registers Bit 1 INTERPOLATION ACKNOWLEDGE This bit will be set when the corresponding Interpolation Command bit is set in the output registers after carrying out the INTERPOLATION operation Bit 2 VELOCITY AT ZERO Set when there has been no motion for the last portion of the Velocity Update Time Bit 3 MOTION DIRECTION Set when data value is decreasing The bit remains in the last state when there is no motion Bit 4 LATCHING INPUT Set when the latching input for respective channel is receiving power This bit will be set even if the function of the input has been disabled by the channel s programming Bit 5 LIMIT SWITCH STATE Set when the data value is between the programmed Limit Switch ON and OFF Setpoints Bit 6 INTERPOLATION LIMIT SWITCH STATE Set when the interpolated data value is between the programmed Limit Switch ON and OFF Setpoints This bit will only be updated on the 0 to 1 or 1 to 0 transitions of the Interpolation Command Output bit Bit 7 ENCODER RESOLUTION MISMATCH FAULT Set when the Number of EnDat Data Bits value
27. meter which is composed of two bits allows you to capture the input on the 0 to 1 transition the 1 to 0 transition or on both transitions The function of the Latched Input will be disabled if neither bit is set To be read by the 7272 module the latching inputs must be on for between 0 2ms and 1 2ms depending on the number of channels being used The 7272 module reports the status of the Latched input even if the function of the latched input has been disabled The Latched Value is not saved through power down Therefore the Latched Value displayed in the 7272 module s input registers at power up will be zero Interpolated Data value This additional and optional feature may be useful for customers using the ControlLogix PLC s virtual axis functionality If used the 7272 module will take the PLC s Central System Clock Time and the sensor s velocity data to calculate an Interpolated or Look Ahead Data value This has two possible functions One the Interpolated Data Value along with the time value can be sent to other ControlLogix modules for example the AMCI 8213 VA allowing them to schedule their responses with a high degree of precision Two the Interpolated Data Value allows the user to Look Ahead to what the Data Value will be at a defined time in the future Here is the procedure for generating the Interpolation Data Value 1 Make the PLC the System Time Master by opening the Controller Properties and clicking
28. nism with the clock signal from the PLC module The type of transmission position values parameters diagnostics etc is selected by mode commands that the PLC module sends to the encoder Without propagation delay compensation the clock frequency depending on the cable length is variable between 100 kHz and 2 MHz With propagation delay compensation the maximum clock frequency is mainly determined by the cables and connecting elements used Command set The command set is the sum of all available mode commands The EnDat 2 2 command set includes EnDat 2 1 mode commands When a mode command from the EnDat 2 2 command set is transmitted to EnDat 2 1 encoder the encoder may generate an error message EnDat 2 1 command set Encoder to transmit position value Selection of encoder memory area Encoder to receive parameters Encoder to transmit parameters Encoder to receive reset e Encoder to transmit test values The current version of AMCI 7272 Module supports EnDat 2 1 set of commands Control cycle for transfer of position values The transmission cycle begins with the first falling clock edge The measured values are saved and the position value is calculated After two clock pulses to select the type of transmission the PLC module transmits the mode command Encoder transmit position value After successful calculation of the absolute position value the start bit begins the data transmission from the encoder to the PLC module The su
29. of Data Bits Revision 2 4 2 26 10 Encoder Parameters section updated Output Registers section error corrected Status word bit 8 and 11 updated added Bit 11 Reset Command Fault 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 22 Tel 860 585 1254 Fax 860 584 1973 Web www amci com
30. on the Date Time tab Click on the box next to the Make this controller the Coordinated System Time Master text so that a check mark appears in the box and accept the changes by clicking on OK The Interpolated position value will be valid only if this step is performed 2 Create a GSV instruction in your ladder logic with the Class Name set to CST and the Attribute Name set to CurrentValue to read the system time from the PLC The destination address must be made up of two DINT registers 3 If desired add a value to word 0 of the time value read above This value is entered in lus increments every 1000 equals lms and equals the amount of time that you want to look ahead 4 Place the time value from step 3 into the output registers The next time that the Interpolation Transmit bit transitions from either 0 to 1 or 1 to 0 the Central System Time will be sent to the 7272 module 5 The latest Interpolation Data Value will be located in the input data the next time the module is updated at the normal RPI update 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 9 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMLI ControlLogix 7272 EnDat Interface Manual Revision 2 4 Limit Switch Position This two word parameters defines ON and OFF setpoints If the ON setpoint is less than the OFF setpoint a bit in the Input Registers which can be easily interrogated by a relay instruction will be set when t
31. polation CST Value 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 20 Tel 860 585 1254 Fax 860 584 1973 Web www amci com ControlLogix 7272 EnDat Interface Manual Revision 2 4 Command Bits for channels 1 amp 2 Bit 0 APPLY PRESET COMMAND The 0 to 1 transition of this bit changes the respective EnDat channel s Data Value to the Preset Value that was programmed with the channels Setup Message Instruction The Default Preset Value is zero Bit 1 INTERPOLATION COMMAND Both transitions of this bit 0 to 1 and 1 to 0 causes the respective EnDat channel to read the Current System Time from the output register and calculate the Interpolated Data Value This Interpolated Data Value will be read by the PLC during the next RPI update of the module Bit 2 APPLY ENCODER RESET COMMAND The 0 to transition of this bit causes the module to send the RESET command to the EnDat encoder This will stop current data transfer from the encoder Refer to the EnDat Specification for details Note Before the Apply Encoder Reset Command will take affect it may be necessary to use the Write EnDat Encoder Parameter message instruction to reset the parameter in the error in the encoder itself Bits 3 to 31 Reserved for future use Apply Preset Programming Cycle 1 The ladder logic program sets the APPLY PRESET COMMAND bit when you want to change the channel s current Data Value to the previously programmed Prese
32. rns Policy All equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by AMCI Call 860 585 1254 with the model and serial numbers along with a description of the problem A RMA number will be issued Equipment must be shipped to AMCI with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by AMCI 24 Hour Technical Support Number Technical Support in the form of documents FAQs and sample programs is available from our website www amci com 24 Hour technical support is also available on this product For technical support call 860 585 1254 Your call will be answered at the factory during regular business hours Monday through Friday 8AM 5PM EST During non business hours an automated system will ask you to leave a detailed message and the telephone number that you can be reached at The system will page an engineer on call Please have your product model number and a description of the problem ready before you call 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 2 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMLI ControlLogix 7272 EnDat Interface Manual Revision 2 4 Table of Contents Installing the 7272 Module Chapter 1 4 Hardware Overview Chapter 2 5 Module Specifications 5 Front Panel amp LED Function 6 Connector Pinout
33. rung transitions from false to true 3 The Message Control tag message chl in this example used for Message Instruction Control must have the MESSAGE data type 4 Clicking on the button in the Message Instruction opens the Message Configuration Window an example of which is shown below Enter the appropriate data for the channel and operation being performed When finished click on the Apply button to accept the new data Message Configuration message_ch1 Configuration Communication Tag Message Type CIP Generic Service Custom Source Element ch1_data 0 v Type Source Length 36 t Bytes Service fac mo i i Code 4c Hex Class j4 Hex Destination vl Instance 201 Attribute 0 Hex erie Message Type CIP Generic Service Type Must be Custom Service Code 4C to write data to the 7272 module 4B to read data from the 7272 module Class Must be equal to 4 Instance Determined by the type of data being transferred see the table below Attribute Must be set to zero Source Element If the Message Instruction is being used to send data to the 7272 module then the source parameter will be the first tag of the array that contains the data to be sent to the 7272 module If the Message Instruction is being used to read data from the 7272 module than the source parameter must be left blank 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 12 Tel 860 585 1254 Fax 860 584 1973 Web
34. t Value 2 The 7272 module will set the APPLY PRESET ACKNOWLEDGE bit in the input registers to indicate that it has received the command 3 When the ladder logic program sees that the APPLY PRESET ACKNOWLEDGE bit is set it will reset the APPLY PRESET COMMAND bit The programming cycle is now complete The 7272 module s Flash memory is guaranteed for 10 000 write cycles before writing to it will cause it to fault Therefore continuously applying the Preset should be avoided If your application requires you to continuously apply the Preset consider calculating and applying the Preset in your PLC program Interpolation Command Programming Cycle 1 The ladder logic program reads the desired Central System Time value from the PLC using a GSV instruction The Destination tag must consist of at least two DINT registers 2 Ifdesired add the amount of time in microseconds that you want to look ahead to the lower word of Central System Time 3 Write the desired Central System Time value into the Interpolation CST Value Output Register Based on the state of the Interpolation Acknowledge bit toggle the Interpolation Command bit either on or off 5 Based on the measured Velocity for the corresponding sensor channel the 7272 module calculates the Interpolated Data Value and places it in the respective Input Register The 7272 module then adjusts the Interpolation Acknowledge Bit accordingly gt If desired the user can send the In
35. ter value 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 14 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMICI ControlLogix 7272 EnDat Interface Manual Revision 2 4 List of readable parameters For details see the EnDat Specification E Parameter number range Description 0xB9 0 3 Operating Status xa Hi Parameters a the encoder OxA5 0 15 manutacturer OxA7 0 15 Operating Parameters OxA9 0 63 0xAB 0 127 OEM Parameters 0xAD 0 127 0xB7 0 127 Compensation values of the encoder manufacturer Write EnDat Encoder Parameters The EnDat module will use Message Instructions with the following information to modify encoder parameters The data sent to the channel consists of three 32 bit words 12 bytes shown in the table below containing MRS code parameter number and parameter value to write MRS code denotes the memory area according to the EnDat specification The parameter number in the following table is used to tell the 7272 module which of the encoder parameters to read Note that the data value in the input registers will be frozen while the parameter is being written to the sensor EnDat SERVICE CODE 4C CLASS 4 Length in Bytes Used with assembly Channel 1 INSTANCE 211 ATTRIBUTE 0 12 instances 101 102 EnDat SERVICE CODE 4C CLASS i Length in Bytes Used with assembly Channel 2 INSTANCE 212 ATTRIBUTE 0 12 instance 102
36. terpolated Position along with the system time to another ControlLogix module each time the Interpolation Acknowledged bit changes state The following is an example of the ladder logic that can be used to generate the Interpolation Data Value 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 21 Tel 860 585 1254 Fax 860 584 1973 Web www amci com ControlLogix 7272 EnDat Interface Manual Revision 2 4 GS Get System Value Class Name CST Instance Name Attribute Name Current alue Dest system_time 0 pe DD Add Source time_offset pe Source B system_time 0 0 Dest Local 4 0 Data 1 o 7272 channel 1 7272 channel 1 Interpolated Interpolated Command Acknowlege bit bit Local 4 1 Data 0 1 Local 4 0 Data 0 1 i Chapter 8 Manual Revision History Revision 0 0 was created 05 26 08 and was the initial release of the specifications 07 21 08 Velocity Update Time changed from 60 160 ms to 60 120 ms Revision 1 0 08 08 08 EnDat Specific Error Codes added Revision 2 0 11 19 08 Encoder resolution changed to 48 bit Revision 2 1 1 22 09 Updated Setup Parameters Reset Command Bit Added New fault bits added Revision 2 2 4 23 09 Note added page 10 on the power up sequence Revision 2 3 7 23 09 added bit 10 Transducer Fault Encoder not connected or CRC ERROR Updated Extended Error Codes page 14 The Name of the parameter Number of Clock bits changed to Number
37. the information provided by the encoder s manufacture to determine the type and maximum length of cable that should be used to connect the sensor to the 7272 module When plugged into the 7272 module pin 1 is located in the upper right hand corner External 24Vdc pins 2 and 20 are internally connected together GND1 2 3 4 pins 3 4 21 and 22 are internally connected together and must be connected to the external 24Vdc supply s common The 7272 module uses the external 24Vdc supply to power the isolation circuitry and to generate 5Vdc user power pins 23 and 24 These two pins which are internally connected together can be used to power sensors requiring less than 500 mA of current 7272 module 5Vdc Voltage Earth Grounds 1 through 4 pins 1 13 14 and 19 are internally connected together and are connected to the ControlLogix rack structure The cable shields of the sensor s cable should be connected to these terminals Transducer signals are generally low voltage low power signals If you are using A B guidelines for cabling installation treat the transducer cable as a Category 2 cable It can be installed in conduit along with other low power cabling such as communication cables and low power ac dc I O lines It cannot be installed in conduit with ac power lines or high power ac dc I O lines Like all signal and communication cable the transducer cable should be shielded These shields must be grounded only at one end o
38. value is equal to zero do nothing and if the data value is not equal to zero subtract the current data value from the maximum value that your rotary encoder will output Velocity Update Time The Velocity Update Time parameter sets the amount of time between Rate of Change information updates to the PLC Its can be set to either 60 milliseconds or 120 milliseconds with 120 milliseconds being the default Decrease the time between updates for faster response to changes in this value Increase the time between updates for better averaging of this value The Velocity update time does not affect the rate at which the position data is updated The Velocity data is measured in Counts Second 20 Gear Drive Plymouth Industrial Park Terryville CT 06786 page 11 Tel 860 585 1254 Fax 860 584 1973 Web www amci com AMC ControlLogix 7272 EnDat Interface Manual Revision 2 4 Chapter 4 Message Instructions The programming of the 7272 module s Setup data requires the use of Message Instructions The format of this instruction is shown below input condition to send the setup data to channel 1 of the 272 channel 1 7272 module message instruction QU Equal Source A send_ 272 pe 1 MSG Message Message Control message_chl Source B 1 A different message instruction is needed for each channel of the 7272 module The message instruction sends data to or reads data from the 7272 module only when the

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