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1760 manual - Advanced Micro Controls Inc

1. 32 Module Setup Command 18 HTT 20 x Outline Drawing 33 Transducer Setup Command 18 Transducer Connector Pinout 33 Apply Preset Value Command 18 Transducer Cable Installation 34 Auxiliary Commands eee 18 20 Gear Drive Plymouth Ind Park Terryville CT 06786 3 Tel 860 585 1254 Fax 860 584 1973 http www amci com TABLE OF CONTENTS Chapter 3 Installation continued Transducer Cable Wiring Diagrams 34 1761 Wiring ccouuossen nnen 34 1762 Wiring cccouuesse nenne 35 GC 1 Grounding Clamp lt ouoissnneeen 35 Autotech Transducer Installation 36 Supported Transducers 36 Transducer Wiring ceecee 36 Chapter 4 Module Addressing Definition of Terms uuuuoisnn inisee 37 Block Transfer suosiisinnnn 37 Single Transfer seee 37 VO Rack 1uuisismasssaasma saasta aav sa aaasan 37 VO Group siseses niesie 37 Slot Pait iisi stailaa malt a ansaa tanaan 37 2 Slot Addressing oososen 37 1 Slot Addressing s es 38 Yo Slot Addressing osoen 38 Addressing the 1761 or 1762 as a Block Transfer Module 38 Addressing Shortcuts 38 Addressing the 1761 asa Single Transfer Module sessen 39 Addressing Shortcuts 39 Addressing Examples n 39 2 Slot Addressi
2. ClrErr Clear Errors Bit 0 01 Set to 1 to clear module and programming errors These include Transducer Faults gt All Programming Errors NOTE gt A NvRAM error can only be cleared from the keyboard DisKB Disable Keyboard Bit 0 02 Set this bit to 1 to disable all programming from the front panel Parameters can be monitored from the keyboard but they cannot be changed This bit does not have to be set continuously to disable keyboard programming The status of the keyboard is retained by the 1761 and 1762 when power is removed Therefore the only way to enable the keyboard once the Disable Keyboard Command is accepted is with the Enable Keyboard bit Bit 0 03 EnKB Enable Keyboard Bit 0 03 Set this bit to 1 to counteract a previous Disable Keyboard command RMS Read Module Setup Bit 0 04 Set this bit to 1 to read back the Resolver Type and Position Format parameters RTS Read Transducer Setup Bit 0 05 Set this bit to 1 to read back the Transducer Setup parameter values of the transducer specified by the Channel Number bit See ChNum bit above RPT Read Position and Tachometer Bit 0 06 Set this bit to 1 to read back status position and tachometer data of the transducers NOTE gt 1 If both of the DisKB and EnKB bits are set when a BTW is initiated the module will respond with a Command Error 2 One and only one of the RMS RTS and RPT bits must be set when transmitting this com mand Set
3. 123 456 then the even I O group contains 123 and the odd I O group contains 456 If the position data equals 789 then the even I O group equals 000 and the odd I O Group contains 789 D CAUTION The A B backplane interface IC was designed primarily as a block transfer controller Because of this 32 bit single transfers with 1 slot addressing do not work with all pro cessors It is the users responsibility to test 32 bit single transfers in the system to deter mine if transfer operates correctly Ye Slot Addressing With slot addressing two I O groups 32 I O bits are assigned to each slot in the chassis Therefore the module has four I O groups in its slot pair two in each slot The 1761 and 1762 modules do not use the first or second I O groups Block transfers use the third I O group for control bits When using 32 bit single trans fers the third I O group contains the upper three digits of the position value and the fourth I O group contains the lower three digits of the position data Addressing the 1761 or 1762 as a Block Transfer Module When configured as a block transfer module the processor reads data from the 1761 or 1762 with block trans fer read BTR instructions If enabled with the PLC Program parameter the processor can program setup parameters and issue auxiliary commands with block transfer write BTW instructions The block transfer address is made up of four digits They are the I O Rack Number two di
4. 53 SAMUS Bil seccsessisssesdieceidaacntesvaviavess 54 Programming Error Bits 54 Module Setup Data n se 56 Transducer Setup Data 0 0 eee eerie 56 Chapter 8 Sample PLC 5 Program Data Table Values 0 cccecseeesseceeeeeees 57 Ladder Logic srcour airia 58 ADVANCED MICRO CONTROLS INC S ABOUT THIS MANUAL Read this chapter to learn how to navigate through the manual and familiarize yourself with the conventions used in it Audience This manual explains the set up installation and operation of AMCI s 1761 and 1762 Resolver Interface Modules for the Rockwell Automation 1771 I O PLC platform It is written for the engineer responsible for incorporating the 1761 or 1762 into a design as well as the engi neer or technician responsible for their actual installation There are thirteen modules in the 1700 Series Intelligent Resolver Interface Modules for Allen Bradley 1771 I O These modules accept one two three or four resolver inputs and convert the resolvers analog signals into digital position and tachometer data that can be transmitted to the processor over the backplane The series is further broken down into the 1730 modules that are 10 bit single turn resolver interface modules the 1740 modules that are 13 bit single turn resolver interface modules and the 1760 series that are multi turn resolver interface modules that offer 12 bit resolution per turn This manual explains the operati
5. AMCI Part MS 8 MS 14 MSTB2 5 8 ST 5 08 MSTB2 5 14 ST 5 08 Phoenix Part 1757077 1757132 Table 2 1 Transducer Input Connector Figure 2 23 shows the pinout to industry standard resolver wire designations Cabling information for AMCI and Autotech transducers is given in chapter 3 starting on page 34 Transducer Cable Installation gt CH Channel Number 140 o FS4 gt 13 FS1 ui gt F Fine Resolver 11 CS3 T RKelerence 1n ing gt 1 S3 COS Winding 10 H a cS1 cs2 Fs2 Fs3 Ei en 9 H J Shields cc gt S2 S4 SIN Winding ate leet r oO 6 H o CS4 2 5 H CS3 Y 44 CS1 CS2 FS2 FS3 lt 34 o Shields Ee 2 O o CR2 FR2 Both Transducers 18 CR1 FR1 Both Transducers Figure 2 23 Transducer Input Connector 20 Gear Drive Plymouth Ind Park Terryville CT 06786 29 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION GC 1 Ground Clamp EN GC 1 A GROUNDING CLAMP 2 Figure 2 24 GC 1 Clamp The shield of the transducer cable must be attached to the chassis with a GC 1 Ground Clamp This guarantees a low impedance path to ground for any EMI radiation that may be induced into the cable Without it noise from the cable may affect the operation of the 1761 1762
6. Error Messages There are three types of faults that the 1761 or 1762 module will recognize Transducer Fault Error 1 A problem exists on a transducer channel gt nvRAM Fault Error 2 A problem exists with the non volatile RAM or parameter values are not stored correctly Reference Voltage Fault The reference voltage constants could not be automatically restored while clearing a nvRAM error In all cases the red FAULT LED will be on and the module will display an error message as shown below These errors are also reported over the backplane See Block Transfer Data Format page 45 Single Trans fer Data Format page 46 or Status Position and Tachometer Data page 53 for information on how these errors are reported over the backplane Transducer Fault Error 1 This message is only shown when the module is displaying position or tachometer data The parameters are displayed normally Figure 2 20 shows the display for an error on channel 1 If the error is on channel 2 the display will be Err1 2 If there is a transducer fault on both channels the display will read Err1 b If the FAULT LED is on while the position is displayed the fault is on the other channel Use the NEXT key to switch to the faulted channel The fault can be cleared by pressing the Figure 2 20 CLEAR key if the Err1 message is blinking There are six major causes of a trans Transducer Fault ducer fault Pos TAC SF O A B c D N 535
7. m MAAN ADVANCED GA micro CONTROLS INC Manual 940 07052 Series 1760 Resolver Interface Modules 1761 1762 SAL AUTO S KN e A lt E GMPASS gt AMERICAS PARTNER 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 information 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 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 This manual is copyright 2003 by Advanced Micro Controls Inc You may reproduce this manual in whole or in part for your personnal use provided that this copyright notice is included You may distribute copies of this complete manual in electronic f
8. Bolt in replacement for HTT 400 180 0 625 Autotech RL210 transducers 0 047 Cable Reel Transducer 540 span 0 003 max HTTCR 9n 100 Cable resolution 45 ft stranded stainless cable standard HTT425 Fnn 100 0 625 HTT425 Tnn 100 0 625 A 1 000 turn version is also available Table 1 2 Compatible AMCI Transducers Fach transducer contains two resolvers The first resolver called the fine resolver is attached directly to the input shaft with a flexible coupler The second resolver called the course resolver is geared to the fine This gear ratio either 99 100 or 179 180 determines the total number of turns the transducer can encode At the mechanical zero of the transducer the electrical zeros of the two resolvers are aligned See Figure 1 4A After one complete rotation the zero of the course resolver lags behind the zero of the fine by one tooth either 1 100 or 1 180 of a turn After two rotations the lag is 2 100 or 2 180 See Figures 1 4B and 1 4C After 100 or 180 turns the electrical zeros of the resolvers are realigned and the multi turn cycle begins again C FINE N coarse N e N J coarse N a FINE N J coarse N A B C Mechcanical Zero After One Turn After Two Turns Figure 1 4 Resolver Alignment in Multi turn Transducers The fine resolver yields the absolute position within the turn directly Using a proprietary algorithm the mod ule determines the number of turns completed by the difference i
9. ers These resolvers are geared together in a vernier arrangement The module decodes the separate resolvers and combines their positions into an absolute multi turn position The 1761 accepts a single dual resolver transducer while the 1762 accepts two transducers CLEAI A 1760 module application generally falls into one of two categories Rotary Application The resolver position directly correlates to an angular position on the machine One example is monitoring a rotary table by attaching a multi turn transducer to the drive motor As the motor rotates the transducer position is used to monitor and control such functions as motor braking to stop the table at its stations Linear Application The resolver position correlates to a physi oo cal length One example is a packaging machine where the trans ducer completes multiple turns for each product Here the transducer position is used to control when glue is applied or Figure 1 1 1762 Module when the package is cut to length Another example of a multi turn application is monitoring the position of a load on either a track or ball screw In this type of appli cation linear position is translated to rotary position through either a wheel or gearing The transducer completes several rotations in order to travel the complete linear distance AMCI also has a line of cable reel transducers for use in some linear applications A cable reel transducer has a stra
10. 10 20 40 50 100 200 250 500 or 1 000 gt When using a HTT 20 1800 the number of turns is programmable to 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 or 1 800 gt When using a SAC RL210 G128 the number of turns is programmable to 1 2 4 8 16 32 64 or 128 The default value of this parameter is equal to the programmed value of the Transducer Type Parameter Pro gramming the Transducer Type parameter resets the Number of Turns to its default value Full Scale Count The Full Scale Count parameter specifies the number of counts over the programmed number of turns AMCI Transducers gt Default value is Number of Turns 4 096 if 100 or 180 turn transducer gt Default value is Number of Turns 409 6 if 1 000 or 1 800 turn transducer gt Range is 2 to Default Value Autotech Transducers gt Default value is Number of Turns parameter 1 024 gt Range is 2 to Default Value Programming the Transducer Type parameter or Number of Turns parameter resets the Full Scale Count to its default value 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amci com i f INTRODUCTION Transducer Setup Parameters continued Circular Offset The Circular Offset lets you change the position count without rotating the transducer shaft This offset is most commonly used to force the position to the correct count after the machine has
11. 16 output bits Eight I O Groups numbered 0 through 7 make up a single I O Rack Slot Pair Backplane slots of an I O Chassis are numbered consecutively from zero starting at the left most I O slot The processor slot is not numbered A slot pair is two adjacent backplane slots the left of which is even num bered Most A B chassis have the slot numbers printed on the backplane The module must be installed in a single slot pair to operate properly See Installing the Module on page 31 for more information The figures in this chapter show the module in a single slot pair 2 Slot Addressing Two slot addressing assigns one I O group to each slot pair in the chassis Block transfers use the I O group for control bits You cannot use 32 bit single transfers if the chassis is configured with 2 slot addressing 20 Gear Drive Plymouth Ind Park Terryville CT 06786 37 Tel 860 585 1254 Fax 860 584 1973 http www amci com MODULE ADDRESSING Definition of Terms continued 1 Slot Addressing With 1 slot addressing one I O group 16 I O bits is assigned to each slot in the chassis Therefore the mod ule has two I O groups in its slot pair one in each slot Block transfers use the odd numbered I O group for control bits When using 32 bit single transfers the upper three digits of the position data is at the even I O group the lower three digits of the position are at the odd I O group As an example if the position is
12. I O Group Numbers 0 1 y sual Module Slot Number 0 KO BT Address 0110 a TE ST Upper Position Addr 1 010 ENA a ST Lower Position Addr I 011 S N HUSH EES a m H E N U U ur um U U U U F 000000 00000000 0 0 Module Slot Numbers Figure 4 3 2 Slot Address Example 1 2 Slot Addressing WER 1 Rack OH I O Rack 1 gt lt I O Rack 2 gt lt 1 o Rance Rack Number 02 6 H 2 3 156701 2545 qr eee 2545167 A I O Group Numbers 2 3 I 1 o Module Slot Number 0 ios BT Address 0220 d ST Upper Position Addr 1 022 Eng ST Lower Position Addr 1 023 a il sa A S I g i ur m ur T m S 0000000000 00000 Module Slot Numbers Figure 4 4 Slot Address Example Restrictions and Warnings The 1761 or 1762 module must be installed in a single slot pair in order to operate properly See Installing the Module on page 31 for more information on installing a module The A B backplane interface IC was designed primarily as a block transfer controller Because of this 32 bit single transfers with 1 slot addressing do not work with all processors It is the users responsibil ity to test 32 bit single transfers in the system to determine if transfer operates correctly When using a 1761 or 1762 module in a Remote I O chassis the I O Adapter must be a 1771 ASB Series B Firm
13. INC INTRODUCTION Module Setup Parameters continued PLC Program The PLC Program parameter tells the module to accept or ignore programming instructions from the back plane This parameter is only available if you have selected block transfers with the Transfer Type parameter The default value of the PLC Program parameter Read Only prevents the module from accepting program ming instructions In order to enable backplane programming you must set the parameter to program enabled The PLC Program parameter is only programmable from the keyboard NOTE gt 1 When in Read Only mode the block transfer read length is three words long for a 1761 or six words for a 1762 2 When backplane programmable all block transfers to the modules are ten words long Because of this you may have to modify your existing data file sizes as well as your ladder logic if upgrading your system 3 After changing this parameter you must cycle power to the module to re initialize the A B backplane interface chip 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com W f INTRODUCTION Backplane Programming When a 1761 or 1762 module is configured to use block transfers you have the option of programming the module using data sent to it with block transfer writes See Transfer Type on page 16 and PLC Program on page 17 All block transfer writes to a 1761 or 1762 are ten w
14. Type This parameter specifies the type of transducer attached to the input channel The module needs this informa tion in order to combine the positions of the two resolver inside the transducer into one multi turn position The Resolver Type parameter which is one of the Module Setup Parameters and described on page 16 con trols what values this parameter can be set to When Resolver Type is set to AMCI res_1 the Transducer Type parameter can be set to gt 100 Turn transducer default value gt 180 Turn transducer gt 1 000 Turn transducer gt 1 800 Turn transducer When the Resolver Type is set to Autotech res_2 the Transducer Type parameter is fixed It specifies a 128 turn transducer You cannot use the Autotech SAC RL210 G064 sixty four turn transducer as it is not com patible with the 1760 modules Number of Turns The Number of Turns parameter sets the number of turns needed to complete one multi turn cycle The val ues that can be programmed into this parameter is dependent on the value of the Transducer Type parameter See above for a description of the Transducer Type Parameter gt When using a 100 turn transducer the number of turns is programmable to 1 2 4 5 10 20 25 50 or 100 gt When using a 180 turn transducer the number of turns is programmable to 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 or 180 gt When using a 1 000 turn transducer the number of turns is programmable to
15. Type 2 PF Position Format Bit 0 04 Set to O to read the Position data in Binary format Set to 1 to read the Posi tion data in BCD format NOTE gt The Position Format bit also defines how the data of the Transducer Setup Command is inter preted If the Position Format is set to Binary then the Transducer Setup data sent to the mod ule must also be in binary If the Position Format parameter is set the BCD then the Transducer Setup data sent to the module must also be in BCD ADVANCED MICRO CONTROLS INC 48 BACKPLANE PROGRAMMING yi Transducer Setup Command When the Transducer Setup bit bit 0 13 of the Command word is set the 1761 or 1762 uses the rest of the data to configure the transducer specified by the LSB of the Command Word Configuring both transducers of a 1762 requires two block transfers The Transducer Setup Command programs the parameters shown below The data format is shown in figure 7 3 Count Direction Transducer Type Decimal Point Number of Turns Full Scale Count Circular Offset Linear Offset Preset Value Transducer Setup Command 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 SS SEED ol ole 2 Word 1 Number of Turns Word 2 Upper 1 2 or 3 digits Full Scale Count Word 3 Lower 3 digits Full Scale Count Word 4 Upper 1 2 or 3 digits Circular Offset Word 5 Lower 3 digits Circular Offset Word 6 Upper 1 2 or 3 digits Linear Offset Word 7 Lower 3 digits L
16. When the Auxiliary Commands bit bit 0 15 of the Command Word is set the module uses bits 0 through 6 of the Command Word as data Auxiliary Commands include clearing errors enabling or disabling keyboard programming and defining the data transmitted to the processor with block transfer reads Format of the block transfer read data is defined starting on page 53 in the section Block Transfer Reads Words 1 through 9 are not used but must be transmitted These words should be considered reserved for future use and must be set to zero The data format for Auxiliary Commands is show in figure 7 5 Auxiliary Commands 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Command OO BE va MOR 2 2 2 2 e amp E 8 213 5 Words 1 9 RESERVED Must egual zero Figure 7 5 Auxiliary Commands Format 20 Gear Drive Plymouth Ind Park Terryville CT 06786 51 Tel 860 585 1254 Fax 860 584 1973 http www amci com vi BACKPLANE PROGRAMMING Auxiliary Commands Data continued Programming Bit Values ChNm Channel Number Bit 0 00 It is used with the RTS bit 0 05 The RTS bit is described below The 1761 and 1762 have the ability to send the values of it backplane programmable parameters back to the PLC If you have a 1762 set this bit to 0 to read back the Transducer Setup parameters of channel one or set this bit to 1 to read back the parameters of channel two If you are using a 1761 and set this bit a Command Error will result
17. been mechanically aligned gt The Circular Offset default value is zero gt The Circular Offset can be programmed from zero to Full Scale Count 1 Programming the Transducer Type Number of Turns or Full Scale Count parameter resets the Circular Off set to zero Use the following formulas to calculate the Circular Offset if the offset presently equals zero If Desired Position gt Current Position Circular Offset Desired Position Current Position Example 1 Current Position 7 412 Desired Position 20 000 Circular Offset 20 000 7 412 12 588 If Desired Position lt Current Position Circular Offset Full Scale Count Current Position Desired Position Example 2 Full Scale Count 409 600 Number of Turns 100 Counts per Turn 4 096 Current Position 353 200 Desired Position 104 000 Circular Offset 409 600 353 200 104 000 409 600 249 200 160 400 If the Circular Offset is not zero when calculating a new offset then it must be taken into account Calculate your new Circular Offset as shown in the examples above and then add the current Circular Offset value to your answer If this new value exceeds the Full Scale Count then subtract the Full Scale Count from this new value To continue Example 2 above Full Scale Count 409 600 Calculated Circular Offset 160 400 Present Circular Offset 354 200 Circular Offset 160 400 354 200 514 600 Note that this exceed
18. bits in word zero Transducer Setup Data 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Programming Decimal amp Word 1 Number of Turns Word 2 Upper 1 2 or 3 digits Full Scale Count Word 3 Lower 3 digits Full Scale Count Word 4 Upper 1 2 or 3 digits Circular Offset Word 5 Lower 3 digits Circular Offset Word 6 Upper 1 2 or 3 digits Linear Offset Word 7 Lower 3 digits Linear Offset Word 8 Upper 1 2 or 3 digits Preset Value Word 9 Lower 3 digits Preset Value Figure 7 8 Transducer Setup Data Format NOTE 1 The Position Format parameter sets the radix of the data echoed back For example if the Position Format parameter is set to BCD the data is words 1 9 will be in BCD format 2 The meaning of the Programming Error bits is given starting on page 54 Programming Error Bits Bits 11 8 ADVANCED MICRO CONTROLS INC CHAPTER 8 SAMPLE PLC 5 PROGRAM The following ladder logic program is an example of how block transfer instructions can be used to read and program a 1761 or 1762 The program shows how to read and buffer data from a backplane programmable 1761 or 1762 module and how a single block transfer write instruction can be used to send various program instructions to the module Data Table Values The data table values are given in figure 8 1 Offset N10 0 N10 10 N10 20 N10 30 N10 40 N10 50 Figure 8 1 Sample Program Data Values N10 30 39 is an Auxiliary Co
19. decimal point at three forces many of the displays to show nnn nnn where nnnnnn is the present value The Decimal Point defaults to zero The Decimal Point can be programmed from zero to five digits to the right of the decimal point Programming the Transducer Type Number of Turns or Full Scale Count parameter resets the Decimal Point to zero 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki i INTRODUCTION Module Setup Parameters Resolver Type The Resolver Type parameter is a new parameter that makes Autotech 128 turn transducers compatible with the 1761 and 1762 modules Autotech sixty four turn transducers are not supported gt The Resolver Type default value is AMCI res 7 If you are using Autotech transducers set this parameter to res_2 The Resolver Type parameter can be changed from the front panel or the backplane NOTE gt If you have a 1762 module both transducers must be either AMCI or Autotech You cannot bring both types of transducers into a single card Position Format This parameter allows you to choose the format of the position data reported over the backplane The choices are Binary or BCD It is included for PLC 2 users that require BCD data for PLC 2 math instructions All other applications should chose the Binary format The Position Format parameter default value is Binary The Position Format paramet
20. in the resolvers characteristics such as those caused by aging or a change in temperature are ignored Rotary rd S4 Transformer Reference Winding COS lt gt N Winding WES VE SN S2 RI NTT SIN Windin Vr DC Ce R2 S3 Rotary lee wv Vs VrSIN Transformer 9 SIN and COS Windings S1 Figure 1 2 Resolver Cut Away View Figure 1 3 Resolver Schematic 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Cn 2 Tel 860 585 1254 Fax 860 584 1973 http www amci com k E INTRODUCTION AMCI Compatible Transducers Table 1 2 lists the AMCI transducers compatible with the 1761 and 1762 modules Mount Turns Comments HTT 20 100 0 625 NEMA 13 heavy duty transducer HTT 20 180 0 625 NEMA 13 heavy duty transducer HTT 20 100 w additional 10 1 gearing on input shaft HTT 20 1000 0 625 HTT 20 1800 0 625 in S w additional 10 1 gearing on input n A B Series 1326 motor mount transducer HTT425 Ann 1007 0 250 nn in part number defines connector style Universal motor mount w required adapter plate AL 00 tdan LU UU n nn in part number defines connector style NEMA 4X HTT 20 100 w Viton shaft seal nn in part number defines connector style NEMA 4X HTT 20 100 w Viton shaft seal nn in part number defines connector style i NEMA 4 HTT 20 180
21. instead of using the table contact AMCI A drawing will be faxed to you upon request Resolver 9731 SAC RL210 SAC RL210 1761 1762 Designation Wire Color Terminals MS Connector Connector Connector 2 1 2 3 5 4 6 7 9 8 d nA 18 108 Oe gt ee gt A BH Co Hh HRI NN BID NIK v 1 F Fine Resolver C Coarse Resolver 2 Denotes black wire of black and colored wire pair 3 Connections shown are for the second transducer Connections for the first transducer are given in the 1761 Connector column Table 3 5 Autotech Transducer Wiring D CAUTION Do not under any circumstances connect the shields of the transducer cable to the earth ground connection of the transducer This connection could form a ground loop that may damage the 1700 module or PLC The earth ground connection on the MS style connectors is pin G The earth ground connection on the screw terminal transducers is the green screw ADVANCED MICRO CONTROLS INC CHAPTER 4 MODULE ADDRESSING This chapter explains how to address a 1761 or 1762 module in a PLC 5 programmable controller system If you are using a PLC 2 or PLC 3 contact AMCI if you need assistance When you configure your programmable controller system a unique address is assigned to each slot of each chassis in the system The I O Rack Number and I O Group Number make up each address A block transfer address is further
22. is ture the data that the BTW in rung 6 sends to the 1760 module will come from registers N10 30 to N10 39 These registers hold the Auxiliary Commands which contains the Clear Errors Command set to set to set to program clear preset setup BTW data errors position parameters location 1 011 1 011 1 011 MOV 0003 J E 1 44 Move 0 1 2 Source 30 30 lt Dest BT9 1 ELEM 40 lt If this rung is true the data that the BTW in rung 6 sends to the 1760 module will come from registers N10 40 to N10 49 These registers hold the Apply Preset Value Command set to set to set to program clear preset setup BTW data errors position parameters location 1 011 1011 1 011 MOV 0004 44 4 E 44 Move 0 1 2 Source 40 40 lt Dest BT9 1 ELEM 40 lt If this rung is true the data that the BTW in rung 6 sends to the 1760 module will come from registers N10 50 to N10 59 These registers hold the Transducer Setup Command set to set to set to program clear preset setup BTW data errors position parameters location 1 011 ron POL MOV 0005 Move GF X 1 2 Source 50 50 lt Dest BT9 1 ELEM 40 lt This rung programs the 1760 module with a block transfer write instruction If the global error bit B3 0 0 is set then only data containing the Clear Error command can be sent to the module set to BTW one 1760 Block clear shot Transfer errors control Write L011 B3 0 BTW 0006 qJ E ONS Block Transfer Write EN 0 1 Module Type Generic Block Transfer Rack 000 DN
23. issued by AMCI Call 860 585 1254 with the model number and serial number if applicable 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 24 Hour technical support is available on this product For technical support call 860 583 7271 Your call will be answered by the factory during regular business hours Monday through Friday 8AM SPM EST During non business hours an automated 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 one of two engineers on call Please have your product model number and a description of the problem ready before you call We Want Your Feedback Manuals at AMCI are constantly evolving entities Your questions and comments on this manual are both welcomed and necessary if this manual is to be improved Please direct all comments to Technical Docu mentation AMCI 20 Gear Drive Terryville CT 06786 or fax us at 860 584 1973 You can also e mail your questions and comments to techsupport amci com ADVANCED MICRO CONTROLS INC a TABLE OF CONTENTS General Information Chapter 2 Module Description Important User Information IFC Front Panel Description
24. specified with a Module Slot Number Note that an I O Chassis is not the same as an I O Rack An I O Chassis is the physical enclo sure for the processor and I O modules An I O Rack Number is part of a modules address in the system Each I O Chassis can have to 4 I O Racks associated with it Definition of Terms Block Transfer The transfer of a block of data over the backplane in one scan A Block Transfer Read transmits data from an I O module to the processor A Block Transfer Write transmits data from the processor to an I O module Up to sixty four words can be transmitted per block transfer Single Transfer The transfer of a single unit 8 16 or 32 bits of data over the backplane The transfer occurs between I O modules and the processors Input or Output Image Tables A 1761 can be configured to transmit position data with 32 bit single transfers These single transfers occur automatically every I O scan and can occur dur ing a program scan with the use of Immediate Input Instructions I O Rack The number of I O Racks not the number of chassis define the programmable controller system In PLC 5 systems the first I O Rack is assigned the number 0 Each I O Rack is further divided into 8 I O Groups When specifying a block transfer or single transfer address all I O Rack and Group numbers are expressed in octal i e 00 01 02 06 07 10 11 I O Group An I O Group consists of 16 input and
25. 1761 1762 Front Panel Description 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION Program Mode vs Display Mode The front panel has two operating modes Program Mode Yellow PRG light on The parameters can be modified from the keyboard The position can be preset by pressing the CLEAR key while displaying the position value Display Mode Yellow PRG light off The parameters can be inspected but not modified You can not preset the position from the keyboard Program Mode and Display Mode refer to the modules front panel only Once enabled by setting the Trans fer Type and PLC Program parameters appropriately you can always program the module from the back plane The module can be locked into Display Mode in one of two ways The first is by removing a jumper on the module The second is writing the Disable Keyboard command which is one of the Auxiliary Commands from the processor It is usually good practice to lock the module in display mode once the system is opera tional This will prevent someone from accidentally changing the parameters while the system is running The only time that changes to the programming should be allowed is during set up or trouble shooting proce dures Program Switch Remove system power before removing with Jumper Installed or installing any module in an I O chassis N The Prog
26. 3 12 11 10 09 08 07 06 05 04 03 02 01 00 vooo MOGA Jo o ajajojaje Word 1 Upper 1 2 or 3 digits Position 1 Word 2 Lower 3 digits Position 1 Word 3 E Tachometer 1 Programming Errors Word 4 Word 5 Upper 1 2 or 3 digits Position 2 Word 6 Lower 3 digits Position 2 Word 7 E Tachometer 2 Word 8 Not used This word is always 0000h Word 9 Not used This word is always 0000h Figure 7 6 Status Position and Tachometer Data Format NOTE gt The position data is transferred in two words because it can be greater than 32 768 The first word contains the thousands digits while the second word contains the hundreds tens and ones digits The Position Format parameter defines the format of the position data The posi tion data can be transmitted in Binary or BCD format The tachometer data is always transmit ted in binary 20 Gear Drive Plymouth Ind Park Terryville CT 06786 53 Tel 860 585 1254 Fax 860 584 1973 http www amci com vA BACKPLANE PROGRAMMING Status Position and Tachometer Data continued Status Bit E Hardware Error Bits 1 15 3 15 5 15 7 15 Set under the following conditions Transducer Fault Error 1 See page 28 for a description of the fault Reference Voltage Fault See page 29 for a description of the fault NvRAM faults are not reliable transmitted when the module is programmable from the backplane This is because the mod
27. 4 words in the PLC 5 memory but the module will only transmit the number of words necessary The number of words transmitted depends on the type of module and the value of the PLC Program parameter Table 5 1 lists the number of words transferred based on module num bers and PLC Program value PLC Program 1761 1762 Read Only 3 words 6 words Program Enabled 10 words 10 words Table 5 1 1761 1762 Block Transfer Read Lengths 20 Gear Drive Plymouth Ind Park Terryville CT 06786 41 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls PLC 5 BT INSTRUCTIONS File Length continued Block Transfer Writes When programming a BTW instruction you must use a length of ten words You cannot use a file length of zero with a BTW instruction to a 1761 or 1762 module If you do so the module will issue an error message to the processor Continuous Parameter The Continuous parameter controls how often the block transfer instruction is executed When the continu ous parameter is set to NO the block transfer is executed only on a false to true transition on the rung This means that a non continuous block transfer can occur at most every other scan When the continuous param eter is set to YES the block transfer will occur when the BT instruction is first scanned and then every scan thereafter until an error in communication occurs Block Transfer Writes to a 1761 or 1762 module must have the Continuous Pa
28. A B C D Default 0 Sooo l PLC SERIES Range 0 to 5 inclusive Special The lt and gt keys have no effect NOTE amp Programming the Resolver Type Transducer Type Number of Turns or Full Scale Count parameters resets this parameter to zero dF Figure 2 16 Decimal Point ADVANCED MICRO CONTROLS INC pcos MODULE DESCRIPTION PA Setup Parameters continued The remaining displays are all Module Setup Parameters For all of these displays the A and V keys change the entire value not one digit The lt and gt keys have no effect Position Format Module Setup Parameter Pg 16 Default Binary format pos TAC SF O A B C D ooo PLC SERIES Range Binary BCD Figure 2 17 Position Format Transfer Type Module Setup Parameter Pg 16 Default Block transfers ea ents PLC SERIES Range Block Single I 5 LEC NOTE gt You must cycle power to the module after changing this parameter Figure 2 18 Transfer Type PLC Program Module Setup Parameter Pg 17 Default Read Only ae PLC SERIES Range Read Only Programming Enabled J I NOTE amp 1 This parameter is only shown when the Transfer Type parameter is set to block transfer Figure 2 19 PLE Program 2 You must cycle power to the module after changing this parameter 20 Gear Drive Plymouth Ind Park Terryville CT 06786 27 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION
29. D The format of the Module Setup Command is given on page 48 ADVANCED MICRO CONTROLS INC BACKPLANE PROGRAMMING yi Apply Preset Value Command When the Apply Preset Value bit bit 0 14 the Command Word is set the 1761 or 1762 presets the position of one or both of the transducers This is accomplished by calculating the Circular Offset needed to change the transducer position count to the Preset Value Words 1 through 9 are not used but must be transmitted These words should be considered reserved for future use and must be set to zero The data format for Preset Transducer Position is show in figure 7 4 Apply Preset Value s Command 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Command PRN PS PS 2 Word 22 Words 1 9 RESERVED Must equal zero Figure 7 4 Preset Position Command Format Programming Bit Values ApyP1 Apply Preset Transducer 1 Bit 0 00 Set this bit to 1 to adjust the position count of channel one to its programmed Preset Value ApyP2 Apply Preset Transducer 2 Bit 0 01 Set this bit to 1 to adjust the position count of channel two to its programmed Preset Value NOTE gt 1 Both transducers can be preset with one command 2 This command only presets the position value It does not program the value assigned to the Preset Value The Preset Value is programmed with the Transducer Setup Command See page 49 for more information on programming the Preset Value Auxiliary Commands
30. Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION Indicator LED Patterns The eight LEDs above the seven segment displays are the indicator LEDs Figure 2 4 is a list of the displays and their indicator LED patterns Note that some of the parameters have the same indicator pattern In these cases the actual displays are different enough to distinguish between the parameters POSTAC SF O A B C D A POSITION M Ene TACHOMETER ee E RESOLVER TYPE COUNT DIRECTION N N N ff TRANSDUCER TYPE N a eo O O NUMBER OF TURNS pe ji MM FULL SCALE COUNT OG g MN MMM COUNTS PER TURN 5 DE _ CIRCULAR OFFSET o lt lt HMMM mM M LINEAR OFFSET S O Im PRESET VALUE i MM DECIMAL POINT i mumumu POSITION FORMAT NU muu a TRANSFER TYPE mmummm MM PLCPROGRAM NW LED OFF LED ON LED ON FOR SECOND TRANSDUCER Figure 2 4 Indicator LED Patterns 22 ADVANCED MICRO CONTROLS INC MODULE DESCRIPTION PA Position Display As shown in figure 2 5a the position display shows the current position when a transducer is properly attached to the cha
31. KPLANE PROGRAMMING BTW Command Word The first word of a BTW is the Command Word As shown in figure 7 1 setting one of the upper four bits of the Command Word tells the 1761 or 1762 which parameters are transferred in the remaining nine words Note that only one bit can be set per block transfer The meaning of the rest of the bits in the Command Word changes and is explained in the following sections Command Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 RESERVED Must equal zero gt Module Setup gt Transducer Setup gt Apply Preset Value s gt Auxiliary Commands Figure 7 1 Command Word Format Module Setup Command When the Module Setup bit bit 0 12 of the Command Word is set the 1761 or 1762 uses bits in the lower byte of the Command Word to program the Resolver Type and Position Format parameters The format of the Module Setup Command Word is shown below Words 1 through 9 are not used but must be transmitted They should be considered reserved for future use and must be set to zero Module Setup 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Command TN 2 via MOOH o 9 9 9 0 0 0 lejoje Words 1 9 RESERVED Must egual zero Figure 7 2 Module Setup Command Data Format Programming Bit Values RT Resolver Type Bit 0 00 Set to 0 to program the Resolver Type to AMCI transducers Resolver Type 1 Set to 1 to program the Resolver Type to Autotech transducers Resolver
32. Only Pos TAC SF O A B C D m m ol gt PLC SERIES This display shows the calculated Counts per Turn It is for the users reference only and cannot be changed Its value is Full Scale Count Number of Turns 4o9600 Figure 2 12 Counts per Turn 20 Gear Drive Plymouth Ind Park Terryville CT 06786 25 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION Setup Parameters continued Circular Offset Transducer Setup Parameter Pg 14 a Default 0 II 11 PLO SERIES Range 0 to Full Scale Count 1 nannnn NOTE gt Programming the Resolver Type Transducer Type Number of Turns LII LII OI 1 or Full Scale Count parameters resets this parameter to zero Figure 2 13 Circular Offset Linear Offset Transducer Setup Parameter Pg 15 Pos TAC SF O D Default 0 ees om PLO SERIES Range 0 to 999 999 Full Scale Count 1 ANGAN NOTE amp Programming the Resolver Type Transducer Type Number of Turns Wooo or Full Scale Count parameters resets this parameter to zero Figure 2 14 Linear Offset Preset Value Transducer Setup Parameter Pg 15 pane ae Default 0 oa PLC SERIES Range 0 to Full Scale Count 1 anA NOTE gt Programming the Resolver Type Transducer Type Number of Turns O UUNIN UNI O or Full Scale Count parameters resets this parameter to zero Figure 2 15 Preset Value Decimal Point Transducer Setup Parameter Pg 15 Pos TAC SF O
33. Position and Tachometer Data 2 Module Setup Parameters 3 Transducer Setup Parameters ADVANCED MICRO CONTROLS INC E n n CHAPTER 2 n MODULE DESCRIPTION Front Panel Description Program Switch On other side of PC Board hidden from view Used to enable programming the module from the keyboard A two pin header next to the switch can be removed to disable Program Mode The switch can also be disabled from the processor Function Display Used to display transducer data and parameter values The eight moc f LED indicators designate what is showing i on the display When programming a parameter a blinking digit in the display shows the position of the Cursor Status Indicators Indicates the operating status of the module POS TAC SF O A a PRG This yellow light is on when the module is in Program Mode RUN This green light is blinking when the module is operating FAULT This red light is on when there is a module fault The type of fault is shown on the display Keyboard Used to examine position and tachometer data as well as examine or change the programming of the module 1 Transducer Input Connector Connector for i one or two transducers The fourteen pin g connector shown is on the 1762 The 1761 module has an eight pin connector si EEE O Figure 2 1
34. R NT Block Transfer Read CEN EN Module Type Generic Block Transfer Rack 000 DN gt Group 1 Module 0 lt ER gt Control Block BT9 0 Data File N10 0 Length 10 Continuous YES Block Transfer Reads occur asynchronously to the Ladder Logic Program Scan To guarentee that the same data is used throughout the entire program scan buffer the data received from the 1760 module This buffered data should be used by the ladder logic program for all compare purposes 1760 BTR buffered data COP Copy File Source N10 0 Dest N10 10 Length 10 If any of the 1760 module s error bit are set set the global error bit B3 0 00 If set this bit prevents block transfer writes in rung 6 from programming the module Block transfer writes that clear errors are still allowed to occur set when 1760 1760 1760 Read 1760 Read transducer module has mode bit 2 mode bit 1 fault bit an error N10 10 N10 10 N10 10 B3 0 L A JF N 13 12 0 0 1760 pro gramming error bit 1 N10 10 E AE 8 1760 pro gramming error bit 2 N10 10 JE 9 1760 pro gramming error bit 3 N10 10 q E 10 1760 pro gramming error bit 4 N10 10 J E LE 11 Page 1 58 Monday June 5 2000 17 25 42 ADVANCED MICRO CONTROLS INC SAMPLE PROGRAM fe Ladder Logic continued 1760exam rsp LAD 2 Total Rungs in File 8 If this rung
35. XXXX XX 3 XXX XXx 4 XX XXXX 5 Xx XXXXx Undefined O CO o Mu O Em O E O E O MY Undefined Table 7 2 Decimal Point Bit Patterns Ranges and Factory Default Values Parameter Transducer Type Factory Default 100 180 1 000 1 800 or 128 Turn Transducer 100 Turn Count Direction CW increasing CCW increasing CW increasing Decimal Point 0 to 5 inclusive 0 Number of Turns 100 Turn 1 2 4 5 10 20 25 50 or 100 180 Turn 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 or 180 1 000 Turn Any 100 turn value 10 1 800 Turn Any 180 turn value 10 128 Turn 1 2 4 8 16 32 64 128 Full Scale Count 2 to of Turns 4 096 if AMCI 100 or 180 Turn 2 to H or Turns 409 6 if AMCI 1000 or 1800 Turn 2 to H of Turns 1 024 if Autotech Transducer Circular Offset 0 to Full Scale Count 1 Linear Offset 0 to 999 999 Full Scale Count 1 Preset Value 0 to Full Scale Count 1 Table 7 3 Transducer Setup Parameter Values NOTE gt The Position Format parameter which is programmed with the Module Setup Command also defines how the data of the Transducer Setup Command is interpreted If the Position Format is set to Binary then the Transducer Setup data must be in binary If the Position Format parameter is set the BCD then the Transducer Setup data must be in BC
36. ally developed for military applications and has benefited from more than 50 years of continuous use and development The resolver is essentially a rotary transformer with one important distinction The energy coupled through a rotary transformer is not affected by shaft position whereas the magnitude of energy coupled through a resolver varies sinusoidally as the shaft rotates A resolver has one primary winding the Reference Winding and two secondary windings the SIN and COS Windings See figure 1 2 Resolver Cut Away View The Reference Winding is located in the rotor of the resolver the SIN and COS Windings in the stator The SIN and COS Windings are mechanically displaced 90 degrees from each other In a brushless resolver energy is supplied from the Reference Winding to the rotor by a rotary transformer This eliminates brushes and slip rings in the resolver and the reliability problems associated with them In general the Reference Winding is excited by an AC voltage called the Reference Voltage VR See fig ure 1 3 Resolver Schematic The induced voltages in the SIN and COS Windings are equal to the value of the Reference Voltage multiplied by the SIN or COS of the angle of the input shaft from a fixed zero point Thus the resolver provides two voltages whose ratio represents the absolute position of the input shaft SIN 0 COS 9 TAN 9 where 0 shaft angle Because the ratio of the SIN and COS voltages is considered any changes
37. ard all Transducer Setup parameters and two of the Module Setup parameters can be programmed with block transfer writes BTW Programming from the keyboard can also be disabled Fol low these guidelines when using block transfer writes BTW length is always 10 words Do not set the length to zero when programming the BTW Any unused words in the block transfer should be considered reserved and must be set to zero If a reserved word is not set to zero the module will respond to the BTW with an Invalid Command error Mostof the Transducer Setup parameters can exceed 32 768 Therefore each parameter reguire two words to hold its value The thousands digits must be transferred in the first word the ones tens and hundreds digits must be transferred in the second word For example a Full Scale Count of 368 640 would be transferred as 368 in the first word and 640 in the second word gt Once a block transfer write to the module has completed i e The DONE Bit is set perform a block transfer read to input the status position and tach data of the module Check the error bits and take appropriate action if an error has occurred NOTE gt If there is an error in the data sent to the module it responds by setting the appropriate error bits and ignores all of the data sent to it with the block transfer write 20 Gear Drive Plymouth Ind Park Terryville CT 06786 47 Tel 860 585 1254 Fax 860 584 1973 http www amci com FA BAC
38. ble The formula for the Linear 4 Olffsetis Li a Minimum Desired Value Resolution Linear Offset omn JON 2 500 meters 1000 mm meter 2500 counts Figure 1 6 Linear Offset Example The Linear Offset default value is zero gt The Linear Offset can be programmed from zero to 999 999 FSC 1 Programming the Transducer Type Number of Turns or Full Scale Count parameters resets the Linear Offset to zero Preset Value The Preset Value parameter allows you to set the value of position count without calculating the required off set Programming the Preset Value does not change the position data it only sets the count that the position will change to when an Apply Preset Value Command is initiated from the backplane or when an operator clears the position from the keyboard The Preset Value defaults to zero The Preset Value can be programmed from zero to Full Scale Count 1 Ifthe Linear Offset value is not equal to zero the new position count will be Linear Offset Preset Value after it is preset Programming the Transducer Type Number of Turns or Full Scale Count parameter resets the Preset Value to Zero Decimal Point This parameter sets the position of a decimal point on many of the modules displays and is for the user only It does not affect the data sent over the backplane For example your travel is measured in inches and your resolution is one thousandth of an inch Setting a
39. ble 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 Refer to the Allen Bradley Automation Wiring and Grounding Guidelines Publication num ber 1770 4 1 for more information 2 The shields of the transducer cable must be grounded at the module only When installing the cable treat the shield as a conductor Do not connect the shield to ground at any junc tion box or the transducer These precautions will minimize the possibility of ground loops that could damage the module or PLC 3 To reverse the count direction first reverse the connections of the GRN BLK pair at the MS 8 or MS 14 connector Then reverse the connections of the BLU BLK pair Transducer Cable Wiring Diagrams 1761 Wiring CML x to MS 8 and GC 1 Module Connector gp BELDEN 9731 Cable AMCI Part MS 8 GRN Phoenix MSTB2 5 8 ST 5 08 are 1757077 WHT BLK FS4 8 6 FS1 716 9 E cs4 10 G D cs3 sID BLU o CS1 CS2 FS2 FS3 4 0 H 8 1 c Shields 316 YEL cr2 FR2 2 6 BLK D 6 G CR1 FR1 JO SHIELDS J A BRN 7 J ransducer C Course Resolver BLK Connector F Fine Resolver RED AMCI Part MS 20 ma BLK Bendix nk MS3106A20 27S Grounding Clamp T AMCI Part GC 1 EA Mounts on the chassis below the module F
40. bs max Axial 20 lbs max Starting Torque 8 oz in 25 C Starting Torque 1 5 oz in 25 C 2 2 Moment of Inertia 1 25x 10 oz in sec Moment of Inertia 6 25x 10 oz in sec Enclosure HTT 20 400 NEMA 4 Enclosure HTT425 NEMA 4X When properly installed Environmental All Transducers Operating Temperature Shock Vibration 20 to 125 C 50G s for 11 milliseconds 5 to 2000 Hz 20 G s Table 3 2 Transducer Specifications Transducer Mounting All AMCI resolver based transducers are designed to operate in the industrial environment and therefore require little attention However there are some general guidelines that should be observed to ensure long life Limit transducer shaft loading to the following maximums Radial Load Axial Load All 0 625 Shafts 1001bs 445 N 50 Ibs 222 4 N All other Shafts 30 Ibs 133 N 15 lbs 66 7 N Table 3 3 Transducer Bearing Loads Minimize shaft misalignment when direct coupling shafts Even small misalignments produce large loading effects on front bearings It is recommended that you use a flexible coupler whenever possible Transducer Outline Drawings Outline drawings for most of our transducers are available on our website hitp www amci com The outline drawing of the HTT 20 x transducers is also available on the following page of this manual If you are not using the standard HTT 20 x transducer and need th
41. changes to the document You are allowed to select and copy sections for use in other documents and if you own Adobe Acrobat version 4 05 or later you are allowed to add notes and annotations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com G 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 or the implications of those decisions D CAUTION 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 The following table shows the text formatting conventions Format Description Normal Font Font used throughout this manual Emphasis Font Font used the first time a new term is introduced When viewing the PDF version of the manual clicking on the cross reference text jumps you to referenced section Cross Reference Trademarks and Other Legal Stuff The AMCI logo is a trademark and AMCT is a registered trademark of Advanced Micro Controls Inc PLC 2 PLC 3 and PLC 5 are registered trademarks of Rockwell Automation Viton is a registered trademark of E I DuPont Adobe and Acrobat are registered trademarks of Adobe Systems In
42. corporated All other trademarks contained herein are the property of their respective holders This product is licensed under patents and proprietary technology of Allen Bradley Company Inc Allen Bradley Company Inc does not warrant or support this product in any manner Revision Record The following is the revision history for this manual In addition to the information listed here revisions will fix any known typographical errors and clarification notes may be added This manual 940 07052 supersedes 940 07051 This revision adds a warning about not using the 1761 s sin gle transfer mode in a remote rack This revision was first released February 4 2003 The manual corresponds to software revision 5 checksum 3AA2 for the 1761 and checksum 1930 for the 1762 This software is used on revision H of the main PC board This software revision adds backplane pro grammability to both modules and incorporates several features into the 1761 that were only available before as an option before These new features are described in chapter 1 1761 and 1762 Introduction The hard ware revision is a change over from through hole to surface mount components Minor design enhancements were also included Past Revisions 1760 591M Original cataloged manual 1760 B91M Added Table of Contents and specifications LM1760047 Rev H board backplane programming and Autotech compatibility 940 07040 Corrects Autotech wiring and adds Circular Offs
43. counts max 1761 1 000 and 1 800 turn transducers are also available Using these transducers will reduce the resolution to 409 6 counts per turn 12 bit G I turn 180 turns max 737 280 counts max 1 000 and 1 800 turn transducers are also available Using these transducers will reduce the resolution to 409 6 counts per turn 10 bit 1 024 counts 10 bit 1 024 counts 10 bit 1 024 counts 10 bit 1 024 counts 13 bit 8 192 counts 13 bit 8 192 counts 13 bit 8 192 counts 13 bit 8 192 counts 12 bit 4 096 per turn 180 turns max 737 280 counts max Has a 1761 01 serial output for connection to AMCT s 6100F or 6200F Remote Displays 12 bit 4 096 per turn 180 turns max 737 280 counts max Reset input Programmable to fractional number of turns 1763 10 bit 1 024 per turn 10 000 turns max 10 000 000 counts max Table 1 1 Series 1700 Family Members See AMCI Compatible Transducers on page 10 for information on the AMCI transducers compatible with the 1761 and 1762 1762 N 1731 1732 1733 1734 1741 1742 1743 1744 AIUI NI AI WwW NI eR 1761 21 ADVANCED MICRO CONTROLS INC INTRODUCTION X Brushless Resolver Description The brushless resolver is unsurpassed by any other type of rotary position transducer in its ability to withstand the harsh industrial environment An analog sensor that is absolute over a single turn the resolver was origi n
44. data is always transmitted in binary 20 Gear Drive Plymouth Ind Park Terryville CT 06786 45 Tel 860 585 1254 Fax 860 584 1973 http www amci com 6 DATA FORMAT Single Transfer Data Format A 1761 module can be configured to transmit its position data with single transfers by setting its Transfer Type parameter to single transfer Tachometer data is not available The single transfer length is always 32 bits Chapter 4 MODULE ADDRESSING contains information on where the position data is located in the Input Image Table 1761 Single Transfer Data Word 0 E V Upper Three Digits of Position Data Word 1 Lower Three Digits of Position Data Figure 6 2 Single Transfer Data Format E Error bit When there is a transducer nvRAM or reference voltage fault the module transmits 8000h 1000 0000 0000 0000b in the upper position data word The lower word is set to zero This is the only time the most significant bit of the upper position data word is set V Velocity at Zero bit When the tachometer data equals zero for a minimum of 250 milliseconds this bit is set This bit is reset as soon as the velocity data becomes non zero This bit is included to make the 1761 compatible with the older 1761 10 modules Position data is transmitted in Binary or BCD format The Position Format parameter sets the format of this data See Position Format on page 16 for more information on this parameter Do configur
45. e outline drawing check our website first If you cannot find it there contact AMCI and we will fax you the appropriate information ADVANCED MICRO CONTROLS INC lt 32 INSTALLATION k Transducer Outline Drawings continued HTT 20 x Outline Drawing 3 000 76 20 2 000 50 80 7 0 500 12 70 0 375 9 53 4 00 101 60 gt 1 000 __ ___ gt 25 40 0 500 12 70 0 150 3 81 AN 1 25 i J A 31 8 1 1815 30 010 1 1807 29 990 k 0 6247 15 867 0 6237 15 842 1 4 20 UNC 2B 0 50 12 7 min depth Four places KEYWAY 1 0 1885 4 79 0 106 2 69 i 0 1895 4 81 0 108 2 74 KEY Ee o Painted Body 0 187 4 75 w s Anodized Flange 0188478 SO X 10 25 4 DEEP X 1 0 25 4 N II III T N N 0 70 17 8 max N 1175 Total Clearance of 5 5 140 needed MS3102E20 27P Connector 29 85 Di ions in milli for removal of mating connector Dimensions in millimeters Figure 3 2 HTT 20 x Outline Drawing Transducer Connector Pinout All of the AMCI transducers that are compatible with the 1761 and 1762 modules have the same connector Figure 3 3 is the connector pinout to the industry standard wire designations Note that the HTT 400 180 has screw terminals and a condui
46. e the 1761 module to use single transfers when installing the module in a remote rack Under some conditions it is possible that the 32 bit data from the 1761 will be corrupted when it is read by the Remote I O Adapter This occurs due to limited handshaking between a Remote I O Adapter and the 1761 which can result in the Remote I O Adapter reading the 1761 s data while the module is updating it This form of data corruption cannot occur when the 1761 is in a local rack 46 ADVANCED MICRO CONTROLS INC _ a CHAPTER 7 BACKPLANE PROGRAMMING This chapter describes the format of the data written to and read from a 1761 or 1762 using BTW and BTR instructions when the module is programmable from the backplane It assumes familiar ity with the setup and operation of the module Descriptions of the modules parameters given in chapter 1 are not repeated here However the default minimum and maximum values that can be programmed are listed You must set the Transfer Type parameter to block transfers and the PLC Program parameter to program enabled before backplane programming is enabled See pages 16 and 17 in chapter 1 as well as page 27 in chapter 2 for more information on setting these parameters If you have decided to leave the module non backplane programmable or are using single trans fers refer to chapter 6 for information on the modules data format when using either of these modes Block Transfer Writes In addition to the keybo
47. er can be changed from the front panel or the backplane NOTE gt This parameter affects position data only Tachometer data is always transferred in binary for mat Transfer Type If you have a 1761 module this parameter allows you to define how the module will communicate over the backplane You select either block or single transfer All 1762 modules have this parameter locked to the block transfer value The Transfer Type default value is block transfer The Transfer Type can only be changed from the keyboard NOTE gt 1 If you configure the module for single transfers you will not be able to program the module from the backplane 2 If you configure the module for single transfers the Position Format parameter see above will be locked to its Binary value 3 If you configure the module for single transfers the module must be installed in a chassis using 1 slot or 2 slot addressing 4 After changing this parameter you must cycle power to the module to re initialize the A B backplane interface chip 10 option Prior to hardware revision H customers could order modules with 32 bit single transfer by adding 10 to the end of the part number This practice has been eliminated because 32 bit single transfer is now standard on the modules If your module is a replacement for an older 10 module it will work correctly if the Transfer Type parameter is set to Single lt 16 ADVANCED MICRO CONTROLS
48. et example 940 07050 Corrects catalog number 940 07051 Changes format for PDF publishing Adds HTT 400 information ADVANCED MICRO CONTROLS INC Mn CHAPTER I n 1761 AND 1762 INTRODUCTION This chapter serves as an introduction to the 1761 and 1762 modules It highlights potential applications compatible transducers and all of the modules features including those added since the last revision Overview The 1761 and 1762 modules are Allen Bradley 1771 I O compliant cards that convert resolver signals to digital multi turn position and tachometer data that can be reported over the backplane using either block or single transfers These modules eliminate the separate resolver decoder box PLC input card and associated wiring needed to bring the digital data into a PLC POS TAG SF Like an absolute optical encoder a resolver is a single turn absolute sensor that converts an angle into electrical signals However this is where the similarities end The resolver is an analog device that does not contain sensitive components such as optics and electronics that may be damaged by severe environmental conditions Also the posi n tion resolution of a resolver is limited only by the electronics that m FTA decode its signals When attached to a 1761 or 1762 module the Ame resolver gives an absolute 12 bit position value FUNCTION ENTER RUN FAULT mum The transducers that connect to the 1761 and 1762 contain two resolv
49. g this parameter will reset the Transducer Type Number of Turns Full Scale Count Circular Offset Linear Offset and Preset Figure 2 7 Value parameters to their default values Resolver Type Count Direction Transducer Setup Parameter Pg 12 Default Positive Clockwise increasing counts Pos TAC SF O A B c D LII I I N a PLO SERIES Range Positive Clockwise increasing Negative Counter clockwise increasing d i i A Special The A and W keys change the entire value not one digit The lt and gt keys have no effect The transducer channel number is the fourth digit Figure 2 8 after dir Count Direction Transducer Type Transducer Setup Parameter Pg 13 o Default 100 Turn Transducer Resolver Type AMCI See 128 Turn Transducer Resolver Type Autotech PLC SERIES Range 100 180 1 000 1 800 Turn Resolver Type AMCI 128 Turn Resolver Type Autotech paras Figure 2 9 gt keys have no effect Ti T tansducer Type NOTE gt Programming this parameter will reset the Number of Turns Full Scale Count Circular Offset Linear Offset and Preset Value parameters to their default values Programming the Resolver Type parameter resets this parameter to its default value Special The A and W keys change the entire value not one digit The lt and 24 ADVANCED MICRO CONTROLS INC MODULE DESCRIPTION PA Setup Parameters continued Number of Turns Transducer Se
50. gits the I O Group Number one digit and the Module Slot Number one digit MODULE ADDRESS RGS I O Rack Number I O Group Number Module Slot Number Figure 4 1 BT Module Address Addressing Shortcuts Always base the address on the slot the PC Board plugs into 2 slot address Slot number always eguals one 1 slot address Group number always odd slot number always eguals zero gt slot address Group number always even slot number always equals zero lt 38 ADVANCED MICRO CONTROLS INC MODULE ADDRESSING Addressing the 1761 as a Single Transfer Module Once a 1761 is configured correctly by setting the Transfer Type parameter the processor reads position data with single transfers To use this data you must know the memory locations in the input image table associ ated with the module gt PLC 5 Input Table The characters I followed by a three digit number The first two digits are the I O rack number followed by the I O group number Addressing Shortcuts 2 slot address Not Available 1 slot address Upper three digits of the position data at the even numbered I O Group Lower three digits of the position data at the odd numbered I O Group Example 1 Position Data 123 456 Even Group 123 Odd Group 456 Example 2 Position Data 789 Even Group 000 Odd Group 789 Because the A B backplane interface IC is designed primarily for block transfer use 32 bi
51. gle slot pair in order to operate properly See Installing the Module on page 31 for more information on installing a module When using a 1761 or 1762 module in a remote chassis the Remote I O Adapter must be a 1771 ASB Series B Firmware Rev F or later A Remote I O Adapter that has an earlier Series or Firmware Revi sion may not work properly with the module Do configure the 1761 module to use single transfers when installing the module in a remote rack Under some conditions it is possible that the 32 bit data from the 1761 will be corrupted when it is read by the Remote I O Adapter This occurs due to limited handshaking between a Remote I O Adapter and the 1761 which can result in the Remote I O Adapter reading the 1761 s data while the module is updating it This form of data corruption cannot occur when the 1761 is in a local rack When the processor enables a block transfer it puts all of the needed information into a queue A queue is a data structure where the first piece of information put into the queue is the first piece of information taken out Once the information is queued a separate part of the processor performs the block transfer while the rest of the processor continues with the program scan Each I O rack in the system has it s own queue Each queue can hold 17 BT requests When the block transfer has its Continuous bit set to 1 Continuous Parameter is YES the Block Transfer is placed permanently
52. gt set when Group 1 1760 set to Module 0 lt ER gt module has preset Control Block BT9 1 an error position Data File N10 40 B3 0 L011 Length 10 LF 4 F Continuous No 0 1 set to program setup parameters L011 ae 0007 lt END gt Page 2 Monday June 5 2000 17 25 42 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com 59 ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 VVW AMC CON a LEADERS IN ADVANCED CONTROL PRODUCTS
53. hNm bit See Transducer Setup Command starting on page 49 or Auxiliary Commands on page 51 0101 Invalid Transducer Type An etror exists in your Transducer Setup Command 1 The module is presently configured for an Autotech Transducer and your TType bit pattern is not equal to 00 If you were not expecting the module to be configured for Autotech transducers then an error exists in your Module Setup Command See page 48 for a description of this command See page 49 for a description of the Transducer Setup Command 0110 Invalid Decimal Point An etror exists in your Transducer Setup Command 1 The three Decimal Point bits specify a binary number greater than five See page 49 for a description of the Transducer Setup Command ADVANCED MICRO CONTROLS INC 54 BACKPLANE PROGRAMMING yi Status Position and Tachometer Data continued Programming Error Bits Bits 11 8 continued 0111 1000 1001 1010 1011 1100 1101 1110 1111 Invalid Read Mode An etror exists in your Auxiliary Commands 1 Zero or more than one of the RPT RTS and RMS bits are set See page 51 for a description of the Auxiliary Commands Invalid Number of Turns An error exists in your Transducer Setup Command 1 You did not set the Number of Turns word to one of the values listed in Table 7 3 2 You did not specify the correct transducer with the TType bits in the Command Word 3 You entered the Numbe
54. he display to the last valid number and move the cursor to the first digit The valid range for many parameters is based on the values of other parameters If the module is not accepting a new value check the other parameter settings Pressing the FUNCTION key at any time will remove the cursor and the module will display the last valid setting for the parameter You can then use FUNCTION lt or gt keys to move to the next or previous display Switching Between Channels Pressing the NEXT key will switch between the two transducer channels of a 1762 when displaying the position value tachometer value or transducer setup parameters You will remain in the same display only switch channels The D Indicator LED usually tells you which channel is being dis played It is off when displaying channel one and on when display ing channel two The one exception is the Count Direction display n S g v E a 2 2 c o 3 S E E t Tachometer Data Resolver Type Count Direction I I Full Scale Count Counts per Turn Data Circular Offset Linear Offset Preset Value I Decimal Point Position Format i H Transfer Type PLC Program Block A o N kA Module Setup Parameters This display shows dir followed by the channel number Figure 2 3 Module Display Order 20
55. he maximum number of turns a transducer can encode is fixed by the gearing inside of it However the 1761 and 1762 have the ability to divide this maximum number of turns into smaller multi turn cycles The module does this without loss of absolute position within the smaller cycle An example of this feature is shown in figure 1 5 It shows how the 180 turn mechanical cycle of an HTT 20 180 can be broken down into three electronic cycles of sixty turns each The 180 turn cycle could also be broken down into sixty cycles of three turns each HTT 20 180 180 Turn Cycle p Mechanical fixed by internal gearing Electronic Electronic Electronic 60 Turn Cycle 8 lt 60 Turn Cycle gt 60 Turn Cycle Figure 1 5 Programmable Number of Turns Example You program the number of turns you want the module to decode from the front panel or over the backplane When using a 100 turn transducer the number of turns is programmable to 1 2 4 5 10 20 25 50 or 100 gt When using a 180 turn transducer the number of turns is programmable to 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 or 180 gt When using a 1 000 turn transducer the number of turns is programmable to 10 20 40 50 100 200 250 500 or 1 000 When using a HTT 20 1800 the number of turns is programmable to 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 or 1 800 gt When
56. hometer PLC SERIES is fixed at 32 milliseconds If there is a transducer fault the display will show the Err1 message instead 107 of the current speed See Position Display above The red FAULT LED is lit L i when there is a transducer fault If this LED is on while the tachometer is dis played the fault is on the other channel Use the NEXT key to switch to the faulted channel The fault can be cleared by pressing the CLEAR key if the Err1 message is blinking 1 1 1 1 00 Figure 2 6 Tachometer Display 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com PA MODULE DESCRIPTION Setup Parameters The following are the front panel displays of the module and transducer setup parameters in the order that they are displayed on the front panel Along with the displays are default values range of values and any special programming instructions If you have a 1762 use the NEXT key to switch between the two channels The Transducer Setup parameters are the only parameters repeated for the second channel of the 1762 mod ule The page number given in the heading is the page in chapter one that more fully describes the function of the parameter Resolver Type Module Setup Parameter Pg 16 Default 1 AMClresolvers Pos TAC SF O A D Hoh SS fe PLO SERIES Range 1 AMCTI resolvers 2 Autotech Resolvers Cc 5 NOTE gt Programmin
57. ier to navi pee gate If you are unfamiliar with the module learn how to navigate between displays while in display mode Navigating in program mode will then be easier to learn Position Data I The FUNCTION and gt keys cycle you through the displays in one direction Down in the figure The lt key cycles you through the displays in the opposite direction Note that the display order is cir cular If the Transducer Type parameter is set to block transfers pressing the FUNCTION key while displaying the PLC Program parameter will return you to the position display Pressing the lt key will then return you the PLC Program parameter If the Trans fer Type parameter is set to single transfers the PLC Program parameter is not displayed Navigating in Program Mode Transducer Type The FUNCTION key is still used to cycle through the displays t Number of Turns When you switch to a parameter display the first digit of the value will be blinking This shows the position of the Cursor Use the lt and gt keys to move the cursor and the A and V keys to change the value of the digit under the cursor To guickly set most parameters to zero press the CLEAR key Once the parameter value is correct press the ENTER key to accept it The cursor is removed from the display if the new value is valid The module will only accept valid values for the parameters If the module does not accept a value it will return t
58. igure 3 4 CML x to MS 8 Wiring Diagram ADVANCED MICRO CONTROLS INC lt 34 INSTALLATION k Transducer Cable Wiring Diagrams continued 1762 Wiring 2 CML x to MS 14 and GC 1 s e s e n N n N Y Z T 5 3 Bas 3 Bas 3 35r 0 SOtr s6 O OS H OD OSH n cd x Det x O s 5935 s 5938 v oss 2 0565 H Oa FO lt a 5 lt a LOAA E m 060 Vw J KAS 5 S O z uw O0 0 O D269 A 3 NI A oO T Zo qe nt z Ax o z lo z 9 J x a zIx ojx a Ww a a 3 Lo iva J D al glo ojo Fp gt g amp alo 0 m gt i olo a T I A 8 g H n Los O EN DAS Otanr E 1 D FEN Ox oye 322 S33 Sin SOWODDDIDIDDSDODDNS AS z a a ra W o PIS 2 N 5 a n E 5 treo On Od 00 ON aa fj kei DNNDHWIHNHHHDOHVEEL So J 505 L LO OO OL OLLU OOL oun gt ogs NES NEN lt rg De no ORE o O Sts 06 go Ca 08 D Q 32 8555 e On CEFF lt on n n 6 O Figure 3 5 2 CML x to MS 14 Wiring Diagram GC 1 Grounding Clamp The shield of the transducer cable must be attached to the chassis with a ground ing clamp AMCI part number GC 1 This guarantees a low impedance path to ground for any EMI radiation that may be induced into the cable The drain wire from the grounding clamp must be connected to pin 3 of the MS 8 or MS 14 Transducer Input Connector Pi
59. in the queue Each queue has a Queue Full bit in word 7 of the processor s status file Bit 8 is for Rack 0 Bit 9 is for Rack 1 and so on up to bit 15 for Rack 7 The appropriate bit is set when a queue is full of BT Requests Once set your ladder logic program must clear these bits We recommend that your program monitor these bits and take appropriate action if these bits are set If you have more than 17 block transfers associated with one rack and you set all of their continuous parameters to YES only the first 17 block transfers scanned will be performed All other transfers can not be put into the queue and will never be performed 44 ADVANCED MICRO CONTROLS INC CHAPTER 6 DATA FORMAT This chapter covers the format of the position and tachometer data sent from a 1761 or 1762 module when it is not programmable from the backplane This occurs when you are using single transfers or you are using block transfers and the PLC Program parameter is set to Read Only Refer to chapter 7 BACKPLANE PROGRAIMMING for information on the format of the position and tachometer data when the module is programmable from the backplane Block Transfer Data Format When a block transfer read instruction accesses a 1761 or 1762 module the module transmits three 16 bit words for each transducer channel The format of the data is shown in the figure below E Error bit When there is a transducer nvRAM or refer ence voltage fault
60. inear Offset Word 8 Upper 1 2 or 3 digits Preset Value Word 9 Lower 3 digits Preset Value Figure 7 3 Transducer Setup Command Format Programming Bit Values ChNm Channel Number Bit 0 00 Set to 0 to program transducer channel one or set to 1 to program transducer channel two CDIR Count Direction Bit 0 01 Set to 0 if you want the position count to increase with a clockwise rotation of the transducer shaft or set to 1 if you want an increase with a counter clockwise rotation TType Transducer Type Bits 0 02 03 Bits two and three are used to define the type of transducer on the input channel The choices available is dependent on the value of the Resolver Type parameter Resolver Type AMCI Type 1 Autotech Type 2 100 turn transducer 128 turn transducer 180 turn transducer Reserved 1 000 turn transducer Reserved 1 800 turn transducer Reserved Table 7 1 Transducer Type Bit Patterns 20 Gear Drive Plymouth Ind Park Terryville CT 06786 49 Tel 860 585 1254 Fax 860 584 1973 http www amci com vi BACKPLANE PROGRAMMING Transducer Setup Command continued Programming Bit Values continued Decimal Point Bits 0 04 06 These three bits define a binary number that sets the number of digits to the right of the decimal point on the front panel display This parameter has no effect on the data transmitted over the backplane 0 XXXXXx 1 Xxxxx x 2
61. ithin the chassis A slot pair is two adjacent backplane slots the left of which is even numbered Most A B chas sis have the slots numbered on the backplane silk screen Figure 3 1 shows two modules The module on the left is installed correctly in a single slot pair while the module on the right is incorrectly installed i in two slot pairs W aa 4 W _ All addressing and programming examples in this N manual assume that the module is installed in a sin Figure 3 1 Module Installation gle slot pair o We E i a L Keying Bands Plastic keying bands can be inserted into the top backplane connector to prevent the insertion of other mod ules Insert the bands between the following pins gt Pins 28 and 30 Pins 32 and 34 20 Gear Drive Plymouth Ind Park Terryville CT 06786 31 Tel 860 585 1254 Fax 860 584 1973 http www amci com KJ INSTALLATION Transducer Specifications HTT 20 HTT 400 HTT425 F amp HTT425 Motor Mount HTT425 T Transducers Transducers Shaft Diameter 0 625 Shaft Diameter 0 250 or 10mm Shaft Loading Radial 400 Ibs max Shaft Loading Radial 40 Ibs max Axial 200 l
62. mmands programming block The value of 32 766 8002h in N10 30 issues the Clear Errors command N10 40 49 is an Apply Preset Value Command programming block The value of 16 385 4001h in N10 40 issues the Apply Preset Value for Transducer 1 command N10 50 59 is a Transducer Setup Command programming block The values of 8 244 2034h in N10 50 and the data words in N10 51 59 program Transducer 1 as follows Parameter Location Count Direction N10 50 01 Positive Transducer Type N10 50 02 03 180 turn Decimal Point N10 50 04 06 3 Number of Turns N10 51 180 Full Scale Count N10 52 53 737 280 Circular Offset N10 54 55 0 Linear Offset N10 56 57 0 Preset Value N10 58 59 123 456 Table 8 1 Sample Program Parameter Values 20 Gear Drive Plymouth Ind Park Terryville CT 06786 57 Tel 860 585 1254 Fax 860 584 1973 http www amci com EJ SAMPLE PROGRAM Ladder Logic 1760exam rsp LAD 2 Total Rungs in File 8 0000 0001 0002 This sample program reads data from and writes data to a 1760 module located in slot 1 of a PLC 5 rack set for 1 slot addressing In order to use this program the 1760 module must be programmable from the backplane that is with the PLC program parameter set to Program Enabled This parameter can only be modified from the module s keyboard Power to the unit must be cycled after changing this parameter 1760 Block 1760 BTR Transfer enable bit Read BT9 0 BT
63. n 26 Other Compatible Transducers 11 Preset Value sooooosiinnnnnnnnineeeeen 26 Programmable Number of Turns 11 Decimal POUR sdcieatisidionaetiiaens 26 Programmable Parameters s 12 Position Format s es 27 Transducer Setup Parameters 12 E ae TPS emme i Count Direction seseeeseeeeeeeeeeeeee 12 300000 a Transducer Type viiiiilln 13 Error Messages oouoooin een 28 Number of Turns s ccsssccssssssccassoacees 13 Transducer Fault Error 1 28 Full Scale Count vivisinstusaa sissa 13 nvRAM Fault Error 2 vvi 28 Circular Offset sukan mouse aa 14 Reference Voltage Fault 29 Linear OTESE saita sessa 15 Transducer Input Connector s 29 Preset Value csuuuusssun niinen 15 GC 1 Ground Clamp uuviiiiinlels 30 Decimal Point umskuvussussastsuasna 15 N Module Setup Parameters oosn 16 Chaptor instalation Resolver Type an 16 Power Requirements 0 0 neen 31 Position Format c ccccccccccccecececceees 16 Installing the Module oes eens 31 Transfer Type ommaan assa 16 Keying Bands iiiiiiti teeseen 31 10 0PUON s issscssssssersesstontosteovessesbers 16 Transducer Specifications 32 PLC Program cssssssesssessessseneesees 17 Transducer Mounting seeen 32 Backplane Programming oosnneeen 18 Transducer Outline Drawings
64. n 9 of the MS 14 connector is internally con nected to pin 3 and does not need an additional wire The grounding clamp EN package includes installation instructions GC 1 A GROUNDING 7 CLAMP mi Figure 3 6 GC 1 Clamp 20 Gear Drive Plymouth Ind Park Terryville CT 06786 35 Tel 860 585 1254 Fax 860 584 1973 http www amci com k INSTALLATION Autotech Transducer Installation Supported Transducers The 1761 and 1762 modules directly support Autotech SAC RL210 G128 transducers The Autotech SAC RL210 G64 transducers are not supported by AMCI Refer to Autotech literature for dimensional drawings and mounting recommendations When using Autotech transducers only 10 bit resolution 1 024 counts per turn is supported If you need higher resolution in an Autotech package AMCI offers the HTT 400 180 which is a direct bolt in replacement for the Autotech RL210 AMCI strongly suggests using the HTT 400 180 transducer instead of the Autotech RL210 in all new installations Transducer Wiring Table 3 5 is a wiring table for all supported Autotech transducers The table cross references resolver designa tions AMCI wire color Autotech terminal and connector pin outs and Transducer Input Connector pin out NOTE amp 1 Autotech CBL 10T22 cable is not supported Belden 9731 or exact equivalent must be used 2 Cable drawings for connecting Autotech transducers are available If you want a cable drawing
65. n positions of the two resolvers The abso lute multi turn position is then calculated as number of turns completed counts per turn fine resolver position The 1 000 and 1 800 turn transducers have a 10 1 gear ratio between the input shaft and the resolvers There fore they can encode ten times the number of turns but at a tenth of the resolution ADVANCED MICRO CONTROLS INC INTRODUCTION X Other Compatible Transducers In addition to AMCI transducers the 1761 an 1762 modules now directly support Autotech multi turn trans ducers The Autotech models supported are gt All SAC RL210 G128 Transducers Size 40 NEMA 13 Autotech also manufactures a SAC RL210 G64 transducer which is not supported by AMCI You select between AMCI and Autotech transducers from the keyboard and display or over the backplane from the processor The module then sets the reference voltage according to your selection When using Autotech transducers only 10 bit resolution 1 024 counts per turn is supported If you require a higher res olution in an Autotech style package AMCI offers the HTT 400 180 which is a direct bolt in replacement for the Autotech RL210 AMCI strongly suggests using the HTT 400 180 transducer instead of the Autotech RL210 in all new installations If you have a 1762 module both transducers must be either AMCI or Autotech You cannot bring both types of transducers into a single card Programmable Number of Turns T
66. nded stainless steel cable wrapped around a spring loaded drum As the cable is pulled out of the trans ducer the drum rotates which in turn rotates the internal resolvers The cable is retracted by the force of the drums spring Distances of up to forty five feet can be measured with these transducers 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com f K INTRODUCTION Overview continued Both modules have programmable Transducer Setup Parameters that allow you to scale and adjust the posi tion and tachometer data Additional Module Setup Parameters define the type of transducer attached to the module the digital format of the position data and how the module communicates with the processor The 1761 module can be configured to use either block or single transfers When configured to use block transfers you can further configure the module to accept programming instruc tions and commands over the backplane With backplane programming enabled you can force the module to read back parameter values instead of position and tachometer data Series 1700 Family Members The thirteen modules in the 1700 series are shown in the table below The shaded out models are modules not covered in this manual Refer to Audience on page 5 for more information on the manuals for these modules Model Transducer Inputs Resolution 12 bit 4 096 per turn 180 turns max 737 280
67. ng uossien 39 1 Slot Addressing ce e eee 40 1 2 Slot Addressing eee 40 Restrictions and Warnings ess 40 Chapter 5 PLC 5 Block Transfer Instructions OVELVICW 130isstss enn trian v Naa saa teaa 41 Module Address ccccccccceesesseeeeeeeeeees 41 Control Blok ennenen 41 Data Pil eean A 41 Fil Length caccccccsnsvccstsvevdstetscesaeterctacvsvecsies 41 Block Transfer Reads 41 Block Transfer Writes 42 Continuous Parameter ousoiiinnen 42 Enable EN Error ER and Done DN Bits ccouuusnoo nnen 42 Programming Example s s s 43 PLC 5 Restrictions and Warnings 44 Chapter 6 Data Format Block Transfer Data Format 45 Single Transfer Data Format 46 Chapter 7 Backplane Programming Block Transfer Writes uuosusnssnneee 47 BTW Command Word cccscceeeeeeees 48 Module Setup Command eee 48 Programming Bit Values 48 Transducer Setup Command 66 49 Programming Bit Values 49 Ranges and Factory Default Values eceeeeeeeeees 50 Apply Preset Value Command 51 Programming Bit Values 51 Auxiliary Commands s es 51 Programming Bit Values 52 Block Transfer Reads uuuusssnn ennen 53 Status Position and Tachometer Data
68. nnel If you using a 1762 module press the NEXT key to switch between the position dis plays If there is a transducer fault on one channel you will still be able to view the position of the other channel If there is a transducer fault on the first input channel the position display will change to the one shown in fig ure 2 5b If the fault is on the second channel the display will read ERR1_2 If both channels are faulted the display will read Err1 b The red FAULT LED is lit when there is a transducer fault If this LED is on while the position is displayed the fault is on the other channel Use the NEXT key to switch to the faulted channel The fault can be cleared by pressing the CLEAR key if the Err1 message is blinking Refer to Transducer Fault Error 1 on page 28 for more information on the causes of a transducer fault POS TAC SF POS TAC SF PLC SERIES PLC SERIES Fig A Fig B CURRENT POSITION TRANSDUCER FAULT ERROR 1 CHANNEL 1 Figure 2 5 Position and Transducer Fault Displays If the module is in Program Mode keyboard programming enabled pressing the CLEAR key will preset the position to the value programmed into the Preset Value parameter An explanation of the Preset Value can be fount on page 15 Tachometer Display The tachometer display shows the current speed of the transducer in revolu POS TAC SF O N N N E rT es Sea tions per minute with 1 0 RPM resolution The update time for the tac
69. ocessor is switched from run mode or when processor communications are interrupted 42 ADVANCED MICRO CONTROLS INC PLC 5 BT INSTRUCTIONS Ley Programming Example The following example assumes 1 Slot addressing with a 1761 module in I O Rack 2 I O Groups 4 amp 5 of the system a oo k EN Rung 1 BTR Instruction to the AMCI module An GROUP 5 Integer file controls the transfer Data KE s ER transferred every scan with continuous DATA N7 25 transfer enabled LENGTH 0 DN CONTINUOUS Y a FILE Rung 2 Copy File Instruction buffers the data from the module This insures that the program SOURCE N7 25 will use the same data throughout each DEST N7 30 LENGTH 3 Scan 11 Ha XFER R EN Rung 3 The BT write is enabled whenever CR1 is GROUP 5 latched on A BT file controls the transfer MODULE 0 ER Note that the continuous parameter is set to CONTROL BT9 0 NO DATA N14 5 LENGTH 10 DN CONTINUOUS N BTW Request CR1 L Rung 4 CR1 is latched on when a BTW request is made BTW Request BTW CR1 U Rung 5 CRI is unlatched when the BTW request is DN removed and the BTW Done bit is set Figure 5 1 PLC 5 Programming Example 20 Gear Drive Plymouth Ind Park Terryville CT 06786 43 Tel 860 585 1254 Fax 860 584 1973 http www amci com Ls PLC 5 BT INSTRUCTIONS PLC 5 Restrictions and Warnings The 1761 or 1762 module must be installed in a sin
70. on installation programming and servicing the 1761 and 1762 modules The other eleven module in this series the 1731 1732 1733 1734 1741 1742 1743 1744 1761 01 1761 21 and 1763 are covered by the following four manuals Series 1700 Intelligent Resolver Interface Module User Manual 1761 01 Intelligent Resolver Interface Module with Remote Display User Manual 1761 21 Intelligent Resolver Interface Module User Manual 1763 Intelligent Resolver Interface Module User Manual It is strongly recommended that you read the following instructions If there are any unanswered guestions after reading this manual call the factory An applications engineer will be available to assist you Navigating this Manual This manual is designed to be used in both printed and on line forms Its on line form is a PDF document which reguires Adobe Acrobat Reader version 4 0 to open it Bookmarks of all the chapter names section headings and sub headings are in the PDF file to help you navi gate through it The bookmarks should have appeared when you opened the file If they didn t press the F5 key on Windows platforms to bring them up Throughout this manual you will also find green 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 The PDF file is password protected to prevent
71. or the system as a whole The drain wire from the grounding clamp must be connected to pin 3 of the MS 8 or MS 14 Transducer Input Connector Pin 9 of the MS 14 connector which is the shield connections of the second transducer is internally connected to pin 3 and does not need an additional wire The grounding clamp package includes installation instructions ADVANCED MICRO CONTROLS INC MANAN INSTALLATION This chapter describes how to install the 1761 or 1762 module into the I O chassis It also give information on installing AMCI transducers This includes information on transducer mounting shaft loading and cable installation Information on interfacing Autotech transducers is also included Power Reguirements The 1761 and 1762 modules draw power from the I O chassis 5Vdc supply The maximum current draw is dependent on the number of transducer channels and is given in the table below Add this to the power reguirements of all other modules in the chassis when sizing the chassis power supply Model Number 1761 1762 700 mA 750 mA Table 3 1 Backplane Current Draw Installing the Module Remove system power before removing or installing any module in an I O chassis O WARNING Failure to observe this warning may result in damage to the module s circuitry and or undesired operation with possible injury to personnel E H i E ORS 20 oe oS Install the module in a single slot pair w
72. ords long The first word of the block transfer write is called the Command Word As shown in figure 1 7 the four most significant bits of this word define what programming data is being transferred to the module Command Word Word 0 of BTW Data 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 0 0 1 gt Module Setup Command m Transducer Setup Command 0 1 0 0 Apply Preset Value Command 0 gt Auxilliary Commands Figure 1 7 Command Word Format Module Setup Command Use the Module Setup block transfer to program the Resolver Type and Position Format parameters These are the only Module Setup Parameters that can be programmed from the backplane Transducer Setup Command Use the Transducer Setup block transfer to program all of the Transducer Setup parameters Only one chan nel can be programmed at a time Therefore two block transfers are required to program all of a 1762 s Trans ducer Setup parameters Apply Preset Value Command This block transfer presets the transducer position to the value specified by the Preset Value and Linear Offset parameters This block transfer does not program any parameters Auxiliary Commands This block transfer allows you to perform the following functions Clear any programming errors or transducer faults Disable or Enable programming from the front panel gt Specify the data read from the module using block transfer reads 1
73. ormat provided that they are 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 use within the company that you own or are employed by provided you include the notice Portions of this document copyright 2003 by Advanced Micro Controls Inc You may not alter the contents of this document or charge a fee for its reproduction or distribution 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 1 year 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 examina tion 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 Returns Policy All equipment being returned to AMCI for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number
74. r of Turns value in the wrong radix You must enter the value in the radix specified by the Position Format parameter Invalid Full Scale Count An etror exists in your Transducer Setup Command 1 The Full Scale Count value is outside the range specified in Table 7 3 2 You did not split the Full Scale Count value into two words correctly 3 You entered the two Full Scale Count words in the wrong radix You must enter the value in the radix specified by the Position Format parameter See page 49 for a description of the Transducer Setup Command Invalid Circular Offset An etror exists in your Transducer Setup Command 1 The Circular Offset value is outside the range specified in Table 7 3 2 You did not split the Circular Offset value into two words correctly 3 You entered the two Circular Offset words in the wrong radix You must enter the value in the radix specified by the Position Format parameter See page 49 for a description of the Transducer Setup Command Invalid Linear Offset An error exists in your Transducer Setup Command 1 The Linear Offset value is outside the range specified in Table 7 3 2 You did not split the Linear Offset value into two words correctly 3 You entered the two Linear Offset words in the wrong radix You must enter the value in the radix specified by the Position Format parameter See page 49 for a description of the Transducer Setup Command Invalid Preset Value An error exists in your T
75. ram Switch is used to guickly enable or disable pro gram mode as long as the module has not been locked in dis play mode from the processor The module is in program mode N when the switch is pushed towards the back of the module The module is in display mode when the switch is pushed towards the front of the module The yellow PRG light is on when the module is in program mode The Program Switch can be disabled by removing the jumper on the two pin header next to the switch Removing this jumper locks the 1700 in display mode You can also lock the module in display mode with the Disable Keyboard auxiliary command Two Pin Header Failure to observe this warning can result in damage to the module s circuitry and or PROGRAM undesired operation with possible injury E to personnel DISPLAY z Program Switch in Program Mode position O F C I Figure 2 2 Program Switch eine ADVANCED MICRO CONTROLS INC MODULE DESCRIPTION PA Using the Front Panel Display and Keyboard You can examine position and tachometer values as well as inspect or program all of the programmable parameters using the display and keyboard The FUNCTION key along with the lt and gt keys are used to cycle between the displays Figure 2 3 shows the display order Navigating in Display Mode When compared to program mode display mode is eas
76. rameter set to NO Continuously writing Program Instructions to the module may interfere with normal opera tion Block Transfer Reads to a 1761 or 1762 module can have their Continuous Parameter set to YES Enable EN Error ER and Done DN Bits Used to signal the start and finish of a block transfer the processor sets the EN bit to start the transfer and after successfully completing the transfer the module sets the DN bit If an error occurs in the transfer the module will set the ER bit instead of the DN bit The EN ER and DN bits are located in the first word of the Control File The EN Bit is bit 15 the ER Bit is bit 12 and the DN Bit is bit 13 The following warning is taken verbatim from Allen Bradley s PLC 5 Family Programmable Controllers Pro cessor Manual Publication 1785 6 8 2 November 1987 and refers to the control bits of the BT instruction These bits include the Enable Error and Done bits IMPORTANT The processor executes block transfer instructions asynchronous to the program scan The status of these bits could change at any point in the program scan When you test these bits especially the done bit test them only once every ladder program scan If necessary set temporary storage bits for the purpose of enabling subsequent rungs from them Also your ladder program should condition the use of block transfer data on the examination of the block transfer error bit An error may occur when the pr
77. ransducer Setup Command 1 The Preset Value is outside the range specified in Table 7 3 2 You did not split the Preset Value into two words correctly 3 You entered the two Preset Value words in the wrong radix You must enter the value in the radix specified by the Position Format parameter See page 49 for a description of the Transducer Setup Command Reserved Reserved Reserved 20 Gear Drive Plymouth Ind Park Terryville CT 06786 55 Tel 860 585 1254 Fax 860 584 1973 http www amci com F BACKPLANE PROGRAMMING Module Setup Data The format of the module setup data is given in figure 7 7 This data is sent when a BTW sends an Auxiliary Commands to the 1760 with the RMS bit set Bit 0 04 The format is identical to the Module Setup Com mand found on page 48 but has the additional Programming Error bits in word zero Module Setup Data 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Command Programming u J Words 1 9 are always 0000h Figure 7 7 Module Setup Data Format NOTE gt The meaning of the Programming Error bits is given starting on page 54 Programming Error Bits Bits 11 8 Transducer Setup Data The format of the transducer setup data is shown in figure 7 8 This data is sent when a BTW sends an Auxil iary Commands to the 1760 with the RTS bit set Bit 0 05 The format is identical to the Transducer Setup Command found starting on page 49 but has the additional Programming Error
78. s the Full Scale Count of 409 600 New Circular Offset 514 600 409 600 105 000 NOTE amp 1 The range of the Circular Offset is zero to Full Scale Count 1 2 If the calculated Circular Offset exceeds the Full Scale Count the actual offset is Calculated offset Full Scale Count Actual Circular Offset 3 The Preset Value parameter described on page 15 is directly related to the Circular Offset Presetting the position count to the Preset Value is accomplished by recalculating the Circu lar Offset 14 ADVANCED MICRO CONTROLS INC INTRODUCTION X Transducer Setup Parameters continued Linear Offset The Linear Offset changes the range of position counts by adding a fixed number to it The Linear Offsets use is best illustrated with an example 7 5m A 1761 is used to measure a 5 000 meter span with one millimeter resolution Therefore the total number of counts over the full travel is 5 000 meters 1000 mm meter 5000 counts n The Full Scale Count parameter is then set to this value pan The 5 000 meters that the transducer measures is in the range of 2 500 to 7 500 meters on the machine You can use the Linear Offset to force the module to send the position data to the processor in the correct format instead of using the processor to st add the offset once the position value is in the data ta
79. ss ssa a PLC SERIES Broken or intermittent transducer cable Non compatible transducer Improper wiring of the transducer cable Improper installation of the transducer cable Faulty transducer Faulty module nvRAM Fault Error 2 All of the parameters are stored in a non volatile static RAM memory when power is removed from the mod ule The nvRAM has an integral lithium battery that will maintain the parameter values in the absence of power for approximately ten years from the date of manufacture It is remotely possible that the values can become corrupted through electrical noise or an inopportune power outage If this occurs the modules dis play will change to figure 2 21 This message is displayed at all times This error can be cleared by pressing the CLEAR key If the message remains after pressing the CLEAR key the nvRAM is damaged If the message appears on every power up but can be cleared the battery is discharged In either case the module must be returned to AMCI for repairs See the E Cr c inside front cover Returns Policy for additional information POS TAC SF o A B c D mm Eaibs ss PLC SERIES Figure 2 21 The 1761 and 1762 modules store constants in the nvRAM that allow it to adjust the nvRAM Error reference voltage for either AMCI or Autotech transducers If these constants are cor rupted the module will recalculate them as long a working transducer is attached While calc
80. t connection It has resolver designations printed next to its connection termi nals FINE RESOLVER COARSE RESOLVER R1 RED WHT R1 RED WHT R2 BLK WHT R2 BLK WHT S3 BLACK S4 BLUE 1 RED S2 YELLOW S2 YELLOW 1 RED S4 BLUE S3 BLACK Figure 3 3 Transducer Connector Pinout 20 Gear Drive Plymouth Ind Park Terryville CT 06786 33 Tel 860 585 1254 Fax 860 584 1973 http www amci com KJ INSTALLATION Transducer Cable Installation Use the table below to determine the correct cable and connectors for your application Cables that have the MS 20 transducer connector soldered to one end and the other end prepared are available from AMCI under the CML x part number where x is the length in feet These cables are tested before they leave the fac tory If you are making your own cables cable and connectors can be ordered from AMCI Module AMCI Part Belden Cable Module Conn Transducer Conn 1761 CML x 2 req 9731 MS 8 included w 1761 MS 20 1 1762 CML x 2 req 9731 MS 14 included w 1762 MS 20 2 Table 3 4 Transducer Cable Numbers Not shown in the table is the GC 1 ground clamp This clamp is reguired to properly ground the cable shields to the chassis that houses the 1761 or 1762 module This clamp is shipped with each module Additional AMCI 1 Resolvers are low voltage low power devices If you are using A B guidelines for cabling installation treat the transducer ca
81. t transfers with 1 slot addressing does not work in all systems Check operation before using this mode gt VY slot address Always base address on the slot the PC Board plugs into Upper three digits of the position data at the even numbered I O Group Lower three digits of the position data at the odd numbered I O Group Addressing Examples The following are examples of module addressing for 2 slot 1 slot and slot configurations The PLC 5 addresses for block and single transfers are also shown In the following figures the module is placed in a single slot pair See Installing the Module on page 31 for more information on installing the module 2 Slot Addressing VO Group gt Rack Number 00 Number I O Rack Number 0 I O Group Numbers 4 0 i 7 Module Slot Number 1 i BT Address 0041 LEa af 1 1 11 11 JI JI JI ST Address N A 0101010101 01 01 0 1 Module Slot Numbers Figure 4 2 2 Slot Address Example 20 Gear Drive Plymouth Ind Park Terryville CT 06786 39 Tel 860 585 1254 Fax 860 584 1973 http www amci com MODULE ADDRESSING Addressing Examples continued 1 Slot Addressing Number Ja I O Rack Number 0 gt 4 I O Rack Number 1 Rack Number 01 OP A 2s ash eF oir 23i asr 67o
82. tage is its limited number of write cycles approximately ten thousand before the memory would begin to fail With revision H the nonvolatile memory has been changed to battery backed non volatile static RAM nvRAM The battery in the nvRAM is rated for ten years but the nvRAM has an unlimited number of write cycles The nvRAM has the additional advantage of significantly decreasing the time needed to store new parameter values Transducer Setup Parameters Count Direction This new parameter sets the direction of transducer shaft rotation to increase the position count Zf the trans ducer cable is wired as specified in this manual and the count direction is set to positive the position count will increase with clockwise rotation looking at the shaft If the count direction is set to negative the posi tion count will increase with counter clockwise rotation The Count Direction default value is positive NOTE gt It is also possible to reverse the count direction by reversing four wires in the transducer cable If you are installing this module either as a replacement for an older module or on a machine that is a copy installation of a previous system you will probably not need to set this parame ter Once the machine is setup you can easily change this parameter if the position is increas ing in the wrong direction 12 ADVANCED MICRO CONTROLS INC INTRODUCTION X Transducer Setup Parameters continued Transducer
83. tarting address of the five word block in memory that controls the Block Transfer Data File The starting address of the file that stores the data written to or read from the module gt File Length The number of words needed to store the data written to or read from the module Continuous Parameter Determines how often the block transfer is carried out Module Address The Module address is the I O rack I O group and module slot numbers where the module is located in the system These three numbers are entered separately in the block transfer instruction Control Block The Control Block is a block of five words that control the actual transfer of data The address entered into the BT instruction is the first address of the block The control block must have an integer or BT data type and can be its own file or part of a larger file Each BT Instruction reguires it own control block even if multiple instructions access the same module Data File The Data File is the block of words that stores information read from or written to the 1700 module The Data Address is the address of the first word used in the file The data file must have an integer or binary data type It can be a separate file or part of a larger file File Length Block Transfer Reads The File Length is the number of words in your data file When programming a BTR instruction you can set the Block Length to 00 This will reserve 6
84. the module transmits 8000h 1000 Word 0 E Upper Three Digits of Position Data 0000 0000 0000b in the upper position and tachometer data words The lower position word is set to zero This is the only time the most significant bit of the upper posi tion data word is set If the error is a transducer fault only the words of the faulted channel are changed If the 1762 error is anvRAM or reference voltage fault all of the data words are changed Word 0 E Upper Three Digits of Position Data CH 1 Word 1 Lower Three Digits of Position Data Word 2 E Tachometer Data gt The position data is broken down into two words because Word 1 Lower Three Digits of Position Data CH 1 it can be greater than 32 767 15 bits The thousands Word 2 E Tachometer Data CH 1 digits are transmitted in the first word and the hundreds tens and ones digits are transmitted in the second word For example the position 123 456 would be transmitted as 123 in the first word and 456 in the second word Word 3 E Upper Three Digits of Position Data CH 2 Word 4 Lower Three Digits of Position Data CH 2 Word 5 E Tachometer Data CH 2 a gt 1761 and 1762 modules transmit position data in binary Figure 6 1 BTR Data Format or BCD format The Position Format parameter sets the format of this data See page 16 in chapter 1 Position Format for more information on this parameter Tachometer
85. ting more than one or none will cause a Command Error ADVANCED MICRO CONTROLS INC Bes BACKPLANE PROGRAMMING F Block Transfer Reads Use block transfer reads to transfer module status data to the processor The block transfer is always ten words long The block transfer data takes one of three forms gt Status Position and Tachometer data gt Module Setup data gt Transducer Setup data On power up the module transmits status position and tachometer data Use the Auxiliary Commands com mand with the RMS bit 0 04 or the RTS bit 0 05 set to read the other types of data Use the RPT bit 0 06 to switch back to the status position and tachometer data For a full description of the Auxiliary Com mands see Pg 51 Status Position and Tachometer Data The format of the status position and tachometer data is shown in figure 7 6 This data is sent on power up or when a BTW sends an Auxiliary Command to the 1760 with the RPT bit set Bit 0 06 Words 0 through 3 contain the data of transducer one Words 4 through 7 contain the data of transducer two Word 0 is the sta tus bits of transducer 1 Word 4 is the status bits of transducer 2 Words 1 3 contain the position and tachom eter data of transducer 1 Words 5 7 contain the position and tachometer data of transducer 2 Words 8 and 9 are always equal zero If you are using a 1761 words 4 7 are always set to zero Status Position and Tachometer Data 15 14 1
86. tup Parameter Pg 13 Default Programmed value of the Transducer Type parameter HAT TR asialla PLC SERIES Range 100 Turn Transducer 1 2 4 5 10 20 25 50 100 inn 180 Turn Transducer 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 tii 90 or 180 N 1 000 Turn Transducer 10 20 40 50 100 200 250 500 or 1 000 Figure 2 10 Number of Turns 1 800 Turn Transducer 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 or 1 800 128 Turn Transducer 1 2 4 8 16 32 64 128 NOTE gt Programming this parameter will reset the Full Scale Count Circular Offset Linear Offset and Preset Value parameters to their default val ues Programming the Resolver Type or Transducer Type parameters resets this parameter to its default value Full Scale Count Transducer Setup Parameter Pg 13 Defaults Number of Turns 4 096 if AMCI 100 or 180 turn transducer Number of Turns 409 6 if AMCI 1 000 or 1 800 turn transducer Number of Turns 1 024 if Autotech Transducer 107 m U g g 5 00 Range 2 to Default Value NOTE gt Programming this parameter will reset the Circular Offset Linear Off Figure 2 11 set and Preset Value parameters to their default values Programming Full Scale Count the Resolver Type Transducer Type or Number of Turns parameters resets this parameter to its default value Pos TAC SF O A B c D Som PLC SERIES Counts per Turn Data Display
87. ulating the constants the display will show rEF nn where nn 00 to 99 Once recalculated the display will change to the position display If these constants could not be calculated the display will change to the reference voltage fault display ADVANCED MICRO CONTROLS INC 285 MODULE DESCRIPTION 2 Error Messages continued Reference Voltage Fault The 1761 and 1762 modules store adjustment constants in the nvRAM memory that allow it to set the reference voltage for either AMCI or Autotech transducers Usu ally these constants can be restored automatically when a nvRAM fault is cleared If rr the restoration fails the module displays this reference error message Make sure a r T E amp working transducer is properly attached to the module and press the CLEAR key The module will then recalculate the constants If the message remains after pressing Figure 2 22 the CLEAR key contact AMCI See the inside front cover 24 Hour Technical Sup Transfer Type port Number for more information on contacting AMCI Pas TAC SF Ks A B c D Kum mak k m n sein PLC SERIES Transducer Input Connector The transducer input connector of the 1761 has eight contacts while the connector of the 1762 has fourteen contacts The following table lists the AMCI and Phoenix Contact part numbers of the mating connectors which are included with every module shipped from the factory 8 Pin Connector 14 Pin Connector
88. ule defaults to read only mode when there is a nvRAM fault If you specify a block transfer read length of ten words and the module experiences a nvRAM fault the block transfer will stop working If you specify a block transfer read length of zero word and the module experiences a nvRAM fault the number of transmitted words will change from ten words to either three words 1761 or six words 1762 See chapter 6 Block Transfer Data Format on page 45 for more information on the for mat of the block transfer read data when the module is in block transfer read only mode Programming Error Bits Bits 11 8 0000 No Errors All data was accepted 0001 Invalid Message Length The BTW length was not set to ten words 0010 Preset Error An error exists in your Apply Preset Value Command 1 You attempted to preset a transducer that is in transducer fault 2 You have a 1761 module and set the PS2 bit See page 51 for a description of the Apply Preset Value Command 0011 Invalid Command An etror exists in your BTW Command Word 1 More than one of the four most significant bits of the BTW Command Word were set 2 One or more of the remaining twelve bits of the BTW Command Word are set incorrectly 3 A reserved data word does not egual zero See page 48 for a description of the BTW Command Word 0100 Invalid Channel Number An etror exists in your Transducer Setup Command or your Auxiliary Command 1 You have a 1761 module and set the C
89. uoosssnnt 19 Standard Warranty eeen IFC Program Mode vs Display Mode 20 Returns Policy uooososs onneen IFC Program Switch oo eee eeeeeseeeseeeseeeneeees 20 24 Hour Technical Support Number IFC Using the Front Panel Display We Want Your Feedback cccccccccccccceeeeee IFC and Keyboard cceescceesceeseeeeeeeeteees 21 Navigating in Display Mode 21 About This Manual Navigating in Program Mode 21 AUCIONCE 4i 0vilstsnalsa mailasta S N 5 Switching Between Channels 21 Navigating this Manual lt lt uiiiteenten 5 Indicator LED Patterns oiiisiin 22 Manual Conventions uvvviittttmmen 6 Position Display seeen 23 Trademarks and Other Legal Stuff 6 Tachometer Display sscscsscsssseseees 23 Revision Record SRE seit eters ca ta epa tes 6 Setup Parameters osier 24 Past Revisions 0 0 0 eee ceeeeeeeeeeees 6 Resolver Type sccsscsssssssssssseeseesseees 24 Chapter 2 1761 and 1762 Count Direction jumummnusumoassansn 24 Introduction Transducer Type cccesseceeseeeees 24 OVELVIEW paiere ereenn dne inna asa ki 7 10000 A I Full Scale Count ooiiien 25 Series 1700 Family Members 8 Counts per Turn Data 25 Brushless Resolver Description 9 Circular Offset oo eee eeeeeeeeeee 26 AMCI Compatible Transducers 10 Linear Offset sinens vat ovssa
90. using an Autotech SAC RL210 G128 the number of turns is programmable to 1 2 4 8 16 32 64 or 128 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com M li INTRODUCTION The remainder of this chapter introduces the many programmable features of the 1761 and 1762 modules It also introduces backplane programming concepts that allows you to control the mod ule from the processor instead of using the modules keyboard and display Programmable Parameters A 1761 or 1762 module is configured by setting its programmable parameters Parameters are broken into two groups Transducer Setup Parameters Nine parameters that affect the data of each transducer The 1762 module repeats these parameters for each transducer For example a 1762 has two Circular Offset parameters one for each transducer These parameters are programmable from the keyboard or the pro cessor Module Setup Parameters Four parameters that set module communication with the processor and the type of resolvers attached to the card There is only one of each of these parameters Programmable parameters are stored in the modules nonvolatile memory Therefore you do not have to con figure the module after every power up Prior to hardware revision H of the module the nonvolatile memory was EEPROM This technology has the advantage of retaining programmed values for over 100 years Its disadvan
91. ware Rev F or later A Remote I O Adapter that has an earlier Series or Firmware Revi sion may not work properly with the module If you change the Transfer Type or PLC Program parameters you must cycle power to the module to re initialize the A B backplane interface IC If your system presently uses a 1761 as a block transfer module and you are converting the module to a single transfer module remember to remove all block transfer instructions that access the module Block transfers use the I O group bits for block transfer control Therefore block transfers can corrupt single transfer data Do configure the 1761 module to use single transfers when installing the module in a remote rack Under some conditions it is possible that the 32 bit data from the 1761 will be corrupted when it is read by the Remote I O Adapter This occurs due to limited handshaking between a Remote I O Adapter and the 1761 which can result in the Remote I O Adapter reading the 1761 s data while the module is updating it This form of data corruption cannot occur when the 1761 is in a local rack ADVANCED MICRO CONTROLS INC lt 40 E 0 PLC 5 BLOCK TRANSFER INSTRUCTIONS Overview All PLC 5 processors have Block Transfer Instructions in their instruction sets There are five parts to PLC 5 BT Instructions They are Module Address The I O rack I O group and module slot numbers where the module is located Control Block The s

1760 manual - Advanced Micro Controls Inc

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