User's Manual
Contents
1. corresponding field Press Write value to encoder and the encoder carries out the position calculation 4 3 2 Offset and preset values via Hardware You can set the hardware option by selecting Hardware under the roll down menus Encoder data and Offset and preset values or by clicking on the white input box Hardware preset The following input mask appears HARDWARE PRESET x HARDWARE PIN PRESET 1 E TZ Input pin enabled HARDWARE PIN PRESET 2 33554431 JV Input pin enabled 17 Programming You can store any two position values as preset value 1 and preset value 2 To activate the two preset values mark the corresponding control fields and close the window by clicking on OK Default setting Preset value 1 Hardware pind 0 preassigned with the encoder zero position Preset value 2 Hardware pin 6 33554431 preassigned with the encoder end position 4 4 Parameter transfer Once you have set or changed data in the corresponding parameter input fields the new parameters are transferred when you press Write parameters to encoder ENCODER PROGRAMMING Write parameters to encoder Successful transfer is confirmed with the following message which you acknowledge with OK INFORMATION Gi Scaling parameters transferred Operational parameters transferred Hardware Preset parameter transferred Hardware Preset2 parameter transferred 18 Checking the Encoder 5 Checkin2. may not be changed by the user Default setting Port COM 2 Baud rate 9600 kilobaud If you want to save the set interface parameters on your PC activate the function Save port and baud rate to file and press EXECUTE Programming 4 Programming Programming is carried out by entering all of the desired parameter data in the corresponding Windows input masks and then transferring this data to the absolute rotary encoder Before you begin entering data you must upload the parameters of the encoder to be programmed into your software Activate the function Read parameters from encoder The parameter fields of the program mask now adapt to suit the software version of the encoder ENCODER PROGRAMMING Write parameters to encoder If the parameters are uploaded successfully the following display appears INFORMATION i Curve parameters transferred Operational parameters transferred Offset parameter transferred Preset parameter transferred Preset2 parameter transferred Do you want to update the parameters in the window a Press Ja to show the transferred parameters in the display windows of the program mask Programming 4 1 Interface variables To set the interface variables click on one of the white text fields under OUTPUT CODE The following input mask appears CODE FORMAT cc Tannenbaum Zl SEQUENCE SEQUENCE MODE Cw xl Set by software xl 1
3. the corresponding text field The encoder calculates the corresponding scaling factor and outputs the programmed number of measuring steps per revolution e Scaling factor Enter the scaling factor less than 1 The encoder uses this factor to calculate the basic resolution with 8192 increments according to the formula Measuring steps revolution scaling factor x 8192 increments The accuracy of the internal calculation is 1 measuring step per revolution Number of revolutions Here you set the number of revolutions which should be completed before the encoder returns to position value 1 In this way it is possible to limit the total measuring range or generate defined zero crossovers 15 Programming 4 3 Offset Preset values 16 Offset The offset value is used to correct the current position value The result is a new position value New position value position value minus offset Preset value The preset value function sets the current position value to the desired preset value Thus adjusting the encoder to the machine axis is possible New position value preset value When programming offset and preset values you first need to define whether the functions will be executed via software programming or via hardware pins on the connecting element This setting can be made under Encoder data Offset and preset values eee Communication Help Software hardware versions 33554432 pos Identification Operating s
4. 0 Programming 4 1 1 Codes The rotary encoders offer two possibilities for transferring the absolute position values Pure binary code With the pure binary code the numerical value is formed of powers to the base 2 Thus the integer value 13 is equal to 1x2341x22 0x2 1x29 13 i e 13 is in pure TT code as 1101 Track 1 Position at Gray code The characteristic feature of the Gray code is its unit distance which means any two successive position values differ only in one code value Thus the maximum read error between one position and the next corresponds to 1 4 grating period of the finest track Track 3 Track 2 a Position 1 To select the correct code please read the description of your interface card to check which code can be processed 11 Programming 4 1 2 Data format Two transfer formats are possible with synchronous serial interfaces Tree Tannenbaum format SSI With SSI transfer of the position values in tree format a distinction is always made between the multiturn part 12 bits 4096 revolutions and the singleturn part 13 bits 8192 positions per revolution Thus data bits are always transferred in 25 clock pulses the data assignment of which however can vary A reduced resolution of the multiturn part due to scaling Is filled in with preceding zeros If the singleturn resolution is reduced the zeros are filled in at the end Example 12 bits s
5. Dr Johannes Heidenhain GmbH PROGRAMMABLE SSI ENCODER Ele Encoder data Communication Help rev 096 re SCALING DIAGRAM ENCODER PROGRAMMING X Diagr offset Disabled 1 1 x E E Factor ENCODER DATA Dj Head parameters from encodel Ee Wirte parameters to encoder Multiturn Singleturn OFFSET PRESET Roon Software offset Hardware 100 0 TE Ea Gee HEIDENHAIN User s Manual Software for programmable SSI encoders 7 99 Version 1 0 General Conditions for Use General Conditions for Use 1 By paying the purchase price the buyer does not acquire the program but ra to use the program 2 The buyer is permit her only a temporally unlimited right ed to make copies of the installation disks only for backup and to copy it to his hard disk It is prohibited to sell su possession are retai ch copies to a third party All rights of ned by the manufacturer 3 The transfer of the right to use the program to a third party requires the e xpress written consent of the manufacturer The transfer cancels the right of use for the original buyer All backup copies must be either given along with the originals or destroyed without delay and the manufacturer must also be informed of this accordingly 4 The manufacturer is not liable for damages of any kind that might result from the use of this program Trademarks Windows 3 1 Windows 95 and Windows NT are regi
6. In the directory English select the file Setup exe and follow the installation program To start the program call PROGSST exe 3 2 Installation under Windows 95 NT Place the disk in your disk drive Select the disk drive in the Explorer In the directory English select the file Setup exe and follow the installation program To start the program call PROGSST exe 3 3 Setting RS 232 C transfer Once you have started the programming software you need to set the parameters for the RS 232 C interface on the PC Select the menu item Communication RS232 Dr Johannes Heidenhain GmbH PROGRAMMABLE SSI ENCODER ox 4096 rev SCALING DIAGRAM na ENCODER PROGRAMMING cal Di H Ta wey Disabled bats rs Coie NEES tay inequal i ENCODER DATA ie Read parameters from encoder OUTPUT CODE Write parameters to encoder Multiturn Singleturn OFFSET PRESET Position Software offset Disc data D jf a Commissioning the Software The following window opens One start bit Port number Baud rate Eight data bit No parity bit Activity Change port number C Change program baud rate Change encoder baud rate EEWTE Save port and baud rate to file In the roll down menu Port number select the COM address to which the programming cable is connected The functions Change program baud rate and Change encoder baud rate are not active The baud rates
7. cage ae e Pangea ede ees vas dee i adh ae ec eke Introduction 1 Introduction 1 1 Brief description This software permits simple programming of HEIDENHAIN s absolute rotary encoders with programmable SSI interface using a PC You need to program the following parameters and functions Interface variables e Output format of the position values in Gray or pure binary code e Data format tree Tannenbaum format SSI or standard synchronous serial right aligned e Direction of rotation for increasing position values Scaling setting e Singleturn resolution up to max 8192 positions per revolution e Multiturn resolution up to max 4096 distinguishable revolutions Offset preset values For zero reset preset or compensation Also possible with hardware programming via connecting element In addition you can check the values you have set This is particularly important for exchange of units encoders have the correct settings Otherwise under certain circumstances the default settings may lead to serious malfunction of the machine qth Before commissioning ensure that the programmable The programming software with user s manual can be ordered from your HEIDENHAIN agent under the Ident Nr 331 423 01 Introduction 1 2 PC requirements You need the following hardware gt Minimum requirement IBM or 100 IBM compatible PC gt Recommended hardware 486 or later You need
8. g the Encoder 5 1 5 2 Graphic display Position fields When you click on the field Test encoder the position fields are activated and the graphic display updated ENCODER DATA Multiturn 116 Singleturn 599 Position amp C j 9350871 Disc data e e j 116 599 The position values have the following meaning Multiturn Current revolution of the programmed number of revolutions Singleturn Current singleturn position value of the programmed resolution per revolution Position Current position value revolution number x singleturn position value Disc data Non scaled encoder position value The programmed parameters are illustrated in the graphic display In particular we can see the position of the scaled position value in relation to the basic value The values represented in green show the maximum resolution and the maximum number of possible revolutions for the encoder being used The scaled resolution is represented in red The increasing edge of the sawtooth curve shows the scaled measuring range The blue point shows the current scaled position value of the rotary encoder 19 Storing the Encoder Parameters 6 Storing the Encoder Parameters 20 You are advised to store the set encoder parameters in a data file This is particularly useful when the encoder is being exchanged Click on File in the main menu and then on Save as in the roll down menu which appears Make sure that you have saved all of
9. ht aligned format If the output is scaled however all of the filled in zeros precede the data bits of the total position information multiturn positions x singleturn positions Example 2 bits singleturn 9 bits multiturn pure binary code Clock 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 lee 0 0 o 220 219 218217 216 215214 213 222m 210 E PD ae 76 25 24 33 a2 z 30 ooo Values from 0 to 2 097 151 Positions per revolution x number of revolutions Example for non binary scaling Singleturn 360 positions Multiturn 5 revolutions pure binary code Clock 1 1 2 314 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 lololofolofololololol olo a o ao 2s 28 a7 26 25 2423 22 21 20 YPM el oyVMfeyoyo leyoyeteyoye Values from 0 to 1799 Positions per revolution x number of revolutions To select the correct code please read the description of your interface card to check which code can be processed W Note If the total resolution measuring steps revolution x number revolutions set during scaling lt 8192 the position value is transferred automatically with 13 clock pulses If the total resolution gt 8192 the position value is transferred with 25 clock pulses 13 Progra
10. ingleturn 9 bits multiturn Gray code Clock 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 4096 U12 U11 U10 U9 JUs U7 U6 uU5 U4 U3 U2 UT Pt P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 8192 2048 0 U11 U10 U9 U8 U7 U6 U5 U4 U3 eof P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 0 4096 1024 0 0 U10 U9 U8 U7 U6 U5 U4 U3 U2 U1 P1 P2 P3 P4 P5 P6 P7 P8 P9 PI0 P11 0 0 2048 512 0 0 0 uous u7 U6 us5 u4 U3 a P2 P3 P4 P5 P6 P7 PS8 P9 Pio 0 0 0 1024 deeler entea 4 o 0 0 0 o0 o0 0 0 0 0 fu2julfPifP2jrP3joj o ojojolojoj ojojo s sheer peepee pepe spe mere epee pee pepe pee pe Multiturn umber of revolutions Singleturn Positions per revolution Example for non binary scaling Singleturn 360 positions Multiturn 5 revolutions pure binary code Clock 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 olo olo olol oloo 2 2 20 28 27 2 2 27 23 22 21 20 0 fo fo lo 0 0 0 0 0 0 0 Values from Values from 0 to 359 0 0 0 0 1to5 Multiturn Singleturn Number of revolutions Positions per revolution 12 Programming Synchronous serial right aligned data format Like with SSl tree format the encoder also outputs data bits in 25 clock pulses with standard rig
11. mming 4 1 3 Direction of rotation 14 You can set the direction of rotation for increasing position values in the input box SEQUENCE e Clockwise CW Increasing position values with clockwise rotation viewed from encoder shaft side e Counterclockwise CCW Increasing position values with counterclockwise rotation viewed from encoder shaft side Setting the direction of rotation You can change the direction of rotation for increasing position values either via software programming or via hardware programming Software programming If programming via software is selected the direction of rotation for increasing position values cannot be changed when the encoder is in operation Hardware programming pin 2 If pin 2 hardware is selected and the voltage is permanently supplied to pin 2 of the connecting element the direction of rotation for increasing position values can be changed without any software programming Programming 4 2 Scaling setting To set the scaling factor click on one of the white text fields under SCALING The following input mask appears SCALING PARAMETERS x SCALING SCALING TYPE a SCALING FACTOR UNITS REVOLUTION 8192 REVOLUTIONS 4096 Activate scaling by setting the SCALING to Enabled Type of scaling There are two possibilities for scaling the encoder e Units revolution Enter the number of measuring steps per revolution in
12. oders support different alarms and warnings The functions supported on a particular unit are shown in black Functions not supported are shown in white The following mask appears Operating status Supply voltage error Current too high Commissioning diagnostics Frequency exceeded Temperature exceeded Operating time limit warning Battery charge Reference point Not supported Not supported Not supported Not supported Not supported Not supported Not supported Not supported While the encoder is under power the operating time of the unit is stored every 6 minutes in 0 1h intervals The following mask appears under Operating time INFORMATION G 23
13. r is being impaired by some disturbance The reliability of the position value can no longer be guaranteed Possible alarm messages are as follows e Position error The code connection in the encoder is no longer correct e Supply voltage error The power supply is outside the specified range e Current too high The unit is drawing too much current e Commissioning diagnostics An error occurred in the system diagnosis during setup procedure e Memory error The parameters could not be stored in the memory IC Warnings Warnings are triggered if the encoder is no longer functioning properly The reliability of the position value can no longer be guaranteed Possible warning messages are as follows e Frequency exceeded The number of revolutions per minute is outside the specified range e Temperature exceeded The operating temperature is outside the specified range e Light control reserve The light unit can no longer be adjusted e CPU watchdog status The CPU unit has revealed an operating defect e Operating time limit warning The maximum specified operating time for the encoder has been reached Exchange of the encoder unit is recommended at the next servicing e Battery charge The charging strength of the battery is no longer sufficient e Reference mark The reference mark has been reached on the unit 7 4 Operating time Further Encoder Information Different programmable enc
14. stered trademarks Contents General Conditions for USC cccccccssssssscecseeecessssseeeeeeeeesssssneeeeeeeessessseseeesensessegs 2 Contents 1 Introduction issiseiesies Sass Arise eased estes eve ene Ea Ea Aa hes PEE SE 1t Brief description aeea tees enor deeds 1 2 PC requirements 1 3 Software information 2 Programming Accessories and Assembly cccc c e eceeeeeeeeeeeneeeeeeeeeneneaee 6 3 Commissioning the Software 3 1 Installing under WINdOWS S Kerisi a e e aia E 7 3 2 Installation under Windows 95 NT 3 3 Setting RS 232 C transfer 4 Programming cccceeeeeeeeeeeeeeeeeeeeeeeeeeees 4 1 Interface variables 4 1 1 Codes 4 1 2 Data format 4 1 3 Direction of rotation AD Sealg Setting in aise e e e a e Pa AAE ret 4 Se Offset PresetvalUsS nuin a a othe gues Lek west obey 4 3 1 Offset and preset values via software programming 17 4 3 2 Offset and preset values via hardware pins 17 4 4 Parameter transfer 5 Checking the Encoder Bal CPOSIMOMMISIAS Aces kA ee Mth E EESE E ETE S 52 GraphiG dS pa a dee hacen Ah cdrabtiadsachatsasadexthan seen aa ei 6 Storing the Encoder Parameters 7 Further Encoder Information c ccccccccsssssssceceecesssssneeeeeeeesssssneeeeeeeessseaes 7 1 Software and hardware version 7 2 D and series numbers 7B OPSrating Status see 22 0 dedes e epee e E EE E 74 Op fating UME eiae va snk
15. tatus Operating time Operating parameters Scaling parameters Offset and preset values 4096 rev 4096 rev OUTPUT CODE SCALING DATAN TE ENCODER PROGRAMMING Code cale x iagr offset a aa S rec Read parameters from encoder ENCODER DATA ie Bead parameters tom encoded Write parameters to encoder OFFSET PRESET Units rev SEE J sis2 Jenn J 122 Singleturn 6418 Revolutions Position e 1005842 Software offset Hardware preset a 4036 Disc data M Hl 122 6418 0 PinSon Pinfon If you select Software you can set just one preset or offset value The value may only be set in programming mode If you select Hardware you can store any two preset values in the encoder These values are transferred if Up t gt 1 ms is supplied for a short time to the corresponding hardware pins pin 5 or pin 6 of the connecting element Programming 4 3 1 Offset and preset values via Software You can set the software programming option by selecting Software under the roll down menus Encoder data and Offset and preset values or by clicking on the white input box Software offset The following input mask appears OFFSET AND PRESET VALUES Lx OFFSET PRESET I Calculate offset from preset Use only at encoder standstill Read value from encoder Write value to encoder lt S Close Select Define offset direct or Calculate offset from preset and enter the required value in the
16. the different parameter values so that in the future all of the data unit designation series no etc can be retraced Further Encoder Information 7 Further Encoder Information Using the programming software it is also possible to interrogate encoder internal data via the RS 232 C interface Select the information you wish to poll under Encoder data 7 1 Software and hardware version Under the menu item Software hardware versions you will find the versions of the software and hardware of the encoder being used ENCODER VERSION Ci Software 1 04 Hardware 0 10 7 2 ID and series numbers Under the menu item dentification the following information can be interrogated e D number of the encoder Series number of the encoder Series number of the microprocessor board Maximum number of distinguishable revolutions Maximum number of programmable steps per revolution This information allows you to identify clearly the encoder you are using but does not provide any insight into the programmed parameters The following mask appears lt Type no 32617101 i Base encoder ser no 7292538 Interface card ser no 18088004 Number of revs 4096 Singletum res 8192 21 Further Encoder Information 7 3 Operating status 22 Programmable encoders offer reliable diagnosis possibilities A differentiation is made between alarms and warnings Alarms Alarms are triggered if proper functioning of the encode
17. the following software gt Windows 3 1 gt Windows 95 gt Windows NT 1 3 Software information You can check the version number of the programming software under the menu item Help About The following screen appears ABOUT THIS PROGRAM x PROGRAMMABLE SS ENCODER Version 1 03 Copyright 1998 Dr J Heidenhain GmbH Dr Johannes Heidenhain GmbH If problems occur when you are programming SSI encoders please contact your nearest HEIDENHAIN agent Programming Accessories and Assembly 2 Programming Accessories and Assembly The following items can be ordered as accessories Programming cable Id Nr 330 370 01 Power cord 220 V ac Id Nr 335 562 01 T junction Id Nr 325 146 01 Cable assembly encoder to T junction Id Nr 323 897 xx Cable assembly T junction to PLC Id Nr 309 778 xx Assembly U Id Nr 335 562 01 ge E Id Nr 330 370 01 Id Nr 246 240 xx Id Nr 323 897 xx Id Nr 325 146 01 Id Nr 309 778 xx Connections The programming cable connects the encoder with the COM interface of the PC either directly or via T junction It also serves as a power supply Up 10 to 30 V if no control is connected The encoder can then be programmed or checked while locked in a closed loop Commissioning the Software 3 Commissioning the Software 3 1 Installing under Windows 3 x Place the disk in your disk drive Select the disk drive in the File Manager
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