Rockwell Automation 4100 User Manual

AEC

Absolute Encoder Converter

(Cat. No. 4100-5.2)

Installation and Setup Manual

Important User Information

Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the

Application, Installation and Maintenance of Solid-State Control

(available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited.

Throughout this manual we use notes to make you aware of safety considerations:

ATTENTION

Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss

Attention statements help you to:

•

identify a hazard

•

avoid a hazard

•

recognize the consequences

IMPORTANT

Allen-Bradley is a trademark of Rockwell Automation

Identifies information that is critical for successful application and understanding of the product.

European Communities (EC) Directive Compliance

If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives.

EMC Directive

This product is tested to meet the Council Directive 89/336/EC Electromagnetic Compatibility (EMC) by applying the following standards, in whole or in part, documented in a technical construction file:

•

EN 50081-2 EMC — Generic Emission Standard, Part 2 — Industrial Environment

•

EN 50082-2 EMC — Generic Immunity Standard, Part 2 — Industrial Environment

This product is intended for use in an industrial environment.

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC Low Voltage, by applying the safety requirements of EN 61131-2 Programmable Controllers, Part 2 - Equipment Requirements and Tests. For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as the Allen-Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity, publication 1770-4.1.

This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection.

Table of Contents

Preface

Chapter 1

Read This Manual

Read This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Who Should Use this Manual. . . . . . . . . . . . . . . . . . . . . . . . . 1

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Common Techniques Used in this Manual . . . . . . . . . . . . . . . 4

AEC Product Receiving and Storage Responsibility . . . . . . . . . 5

Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Technical Product Assistance . . . . . . . . . . . . . . . . . . . . . . 6

On the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Overview

AEC Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

AEC Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

AEC Mechanical Specifications. . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 2

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Installation & Hook-Up

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Installing the AEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Complying with European Union Directives. . . . . . . . . . . . . 11

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Mounting the AEC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Connecting the AEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Connecting the AEC to the 1394 . . . . . . . . . . . . . . . . . . . 16

Connecting the AEC to the Compact. . . . . . . . . . . . . . . . 17

Connecting the AEC to the 1756-MO2AE. . . . . . . . . . . . . 19

Wiring the AEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Wiring Cable Flying Leads to the Plugs . . . . . . . . . . . . . . 21

The SSI Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

The Control Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 24

Fault Relay 24

Analog Servo Command Pass Through (For Compact Only) . . . . 26

Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . 27

Chapter 3

Chapter 4

Setup

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Setting the Rotary Switches . . . . . . . . . . . . . . . . . . . . . . . . . 29

Configuration Switch Tables . . . . . . . . . . . . . . . . . . . . . . . . 30

Configuration Switch A . . . . . . . . . . . . . . . . . . . . . . . . . 30

Configuration Switch B . . . . . . . . . . . . . . . . . . . . . . . . . 31

Powering the AEC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

AEC With GML Commander . . . . . . . . . . . . . . . . . . . . . . . . 32

Adding AEC to your Commander Diagram . . . . . . . . . . . 32

Setting the Transducer Resolution. . . . . . . . . . . . . . . . . . . . . . . . . 33

Selecting Homing Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Aligning Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Operation

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Absolute Position Update . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Incremental Position Output . . . . . . . . . . . . . . . . . . . . . . . . 35

Position at Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Chapter 5

Appendix A

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Fault Indication & Control Status

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Transducer Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Encoder Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Internal Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

No Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Specifications

Equivalent Circuit Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . 44

iii

Appendix B

Index

Strobe Position For Applications Not Using the 1394 or Compact

Absolute Strobe Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Absolute Strobe Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Incremental Strobe Period . . . . . . . . . . . . . . . . . . . . . . . . . . 49

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Preface

Read This Manual

Who Should Use this Manual

Read and understand this instruction manual. It provides the necessary information to let you install, connect, and set up the AEC for safe, reliable operation. This preface covers the following topics:

•

Who should use this manual

•

The purpose of this manual

•

Terms

•

Common techniques used in this manual

•

Allen-Bradley support

You should read this manual if you are responsible for the installation, set up or operation of the AEC (Absolute Encoder Converter).

If you do not have a basic understanding of the products listed below, contact your local Allen-Bradley representative for information on available training courses before using this product.

•

S Class Compact motion controller

•

1394 GMC System module

•

GML (Graphic Motion Language) Commander software

Purpose of this Manual

This manual is an installation and set up guide for the AEC and describes the procedures necessary to properly install and configure it into your motion control system.

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Preface 2

Safety Precautions

The following general precautions apply to the AEC:

ATTENTION

Electric shock can kill. Make sure the AEC is safely installed in accordance with the Installation and Set-up chapters of this manual. Avoid contact with electrical wires and cabling while power is on. Only trained service personnel should open the electrical cabinet.

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E and BS-EN60204.

The system integrator is responsible for local safety and electrical codes.

ATTENTION

An incorrectly applied or installed product can result in component damage or a reduction in product life. Wiring or application errors, such as undersizing or inadequate DC supply, or excessive ambient temperatures can result in a malfunction.

The AEC contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing, or repairing this assembly. Component damage can result if ESD control procedures are not followed. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.

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Preface 3

Contents of this Manual

Chapter Title Contents

Preface Describes the purpose, background, and scope of this manual. Also specifies

the audience for whom this manual is intended.

1 Overview Provides a general description of the AEC, its features and mechanical

specifications.

2 Installation Provides the steps needed to successfully mount and wire the AEC to an SSI

device and the S Class Compact Motion Controller or the 1394 GMC system. 3 Set-Up Provides the guidelines for setting up and configuring the AEC. 4 Operation Provides information on Absolute and Incremental Position. 5 Fault Indication &

Control Status

Appendix A Specifications Provides physical, electrical, environmental, and functional specifications for

Appendix B Strobe Position Contains additional information about setting the strobe for those users

Provides information on fault and status indicators and types of faults.

the AEC.

connecting their AEC to a controller other than the S Class Compact Motion

Controller or the 1394 GMC system.

Terminology

Common Techniques Used in this Manual

In order to avoid confusion, we have used the following general terms in a specific manner within this manual. We define them as follows:

Transducer - the SSI device is considered a transducer for the purposes of this manual.

Encoder - Refers to the AEC connector that goes to the 1394 GMC System or the S Class Compact motion controller. The cable from the controller attaches to the AEC at the Encoder connector.

For specific definitions of other terms used in industrial automation, see the Allen-Bradley Industrial Automation Glossary (publication number AG-7.1).

The following conventions are used throughout this manual:

•

Bulleted lists such as this one provide information, not procedural steps.

•

Numbered lists provide sequential steps or hierarchical information.

•

Words that you type or select appear in bold.

•

When we refer you to another location, the section name appears in italics.

Publication 4100-UM052B-EN-P - October 2001

ATTENTION

IMPORTANT

The exclamation point inside of a triangle, followed by the word “ATTENT ION” indicate circumstances that can lead to personal injury, death, property damage or economic loss.

Identifies information that is critical for successful application and understanding of the product.

Preface 5

AEC Product Receiving and Storage Responsibility

You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.

Leave the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store it:

•

in a clean, dry location

•

within an ambient temperature range of 0 to 85° C (32 to 185° F)

•

within a relative humidity range of 5% to 95%, non-condensing

•

in an area where it cannot be exposed to a corrosive atmosphere

•

in a non-construction area

Allen-Bradley Support

Allen-Bradley offers support services worldwide, with over 75 Sales/ Support Offices, 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone, plus Allen-Bradley representatives in every major country in the world.

Local Product Support

Contact your local Allen-Bradley representative for:

•

sales and order support

•

product technical training

•

warranty support

•

support service agreements

Publication 4100-UM052B-EN-P - October 2001

Preface 6

Technical Product Assistance

If you need to contact Allen-Bradley for technical assistance, please review the information in this manual first. Then call your local Allen-Bradley representative. For the quickest possible response, we recommend that you have the catalog numbers of your products available when you call. See the Related Documentation section of this chapter for the publication numbers of other manuals that can help with this product.

The Rockwell Automation Technical Support number is:

1-603-443-5419

On the Web

For information about Allen-Bradley, visit the following World Wide Web s ite :

http://www.ab.com/

Publication 4100-UM052B-EN-P - October 2001

Overview

Chapter

AEC Description

The AEC is an absolute encoder converter. It receives the absolute position sent by the SSI transducer and changes it to an incremental quadrature signal that the 1394 GMC System module and the S Class Compact motion controller can use.

The AEC is designed to accept outputs from absolute encoders, linear displacement transducers, or any other measuring device, which transmits its measured values over an SSI. Several devices are supported with various combinations of counts per turn and number of turns. These are defined in the Setup chapter of this manual. Parallel output devices are not supported.

The AEC provides two independent channels from absolute to incremental quadrature conversion. The resolution of each channel is set via rotary switches and each one can operate with a transducer using a different supply voltage. (Although the supply voltages may be different, they are not isolated. The grounds must be of equal potential.) Each channel can be individually strobed to obtain new absolute or incremental position information.

7 Publication 4100-UM052B-EN-P - October 2001

8 Overview

AEC Features

The AEC has the following features:

•

Two fully independent axes capable of absolute to incremental quadrature conversion.

•

Each channel can support independent absolute transducer input.

•

User selectable resolution.

•

Fixed transducer acquisition speed of 400 kHz.

•

Each axis provides one differential quadrature output.

•

Fixed quadrature output frequency of 800 kHz.

•

Independent +5 V DC, + 15 V DC, and +24 V DC transducer voltages.

•

Selectable for incremental strobes or internal 1ms timebase.

•

Interfaces directly to Allen-Bradley 1394 GMC System and S Class Compact motion controllers.

•

Normally open and normally closed status outputs for each axis.

•

Bicolor LED status indication for each axis.

•

An on-board reset switch that resets both axes.

•

Absolute Home request remotely clears corrected faults and resets system on a per axis basis.

•

Single 18-36 V DC input voltage power requirement.

•

A rugged steel case for greater protection. The case has pre-drilled mounting tabs.

AEC Mechanical Specifications

The following figure shows the placement and labeling of major items on the AEC front panel.

Publication 4100-UM052B-EN-P - October 2001

Reset

Axis 0 Axis 1

Axis 0

Overview 9

Figure 1 AEC front panel

203.2 mm (8.0 in.) with cable clearance

Use 1/4 -20 or M6 bolt (typical 2 places)

SSIControl

ConfigurationConfiguration

330.2 mm (13.0 in.)

2 1

A B

Axis 1

8 7 6

9 8 7 6

AEC

Encoder EncoderPower

4 3 2 1

5 4 3 2 1

Switches Switches

SSI Control

44.45 mm (1.75 in.)

152.4 mm (6.0 in.)

Package Specifications

Package size mm and (in.) Product weight kg and (lbs.)

342.9 x 152.4 x 44.45 (13.5 x 6.0 x 1.75)

2.27 (5.0)

Material Painted Steel

342.9 mm (13.5 in.)

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10 Overview

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Installation & Hook-Up

Chapter

Chapter Objectives

Installing the AEC

Read this entire chapter before beginning to mount, connect, or wire any of the components to the AEC. It is the responsibility of the installer to see that the installation conforms to the directions in this manual and local codes and procedures. This chapter covers the following topics.

•

European Union Compliance

•

Mounting the AEC

•

Connecting the AEC to the 1394 GMC system

•

Connecting the AEC to the Compact motion controller

•

Connecting the AEC to the 1746-MO2AE

•

Wiring the SSI transducer to the AEC

•

Wiring the Control connector

•

An example of a Fault relay

•

Wiring the Power connector

The AEC is designed to mount in an electrical cabinet using the flanges on its back panel. This installation method should be observed for all applications. Before powering the AEC, make sure it has been configured correctly and that the transducer(s) and control devices (controller) are connected to it correctly.

Complying with European Union Directives

11 Publication 4100-UM052B-EN-P - October 2001

The information contained in this document pertains to the Absolute Encoder Converter (AEC), an Allen-Bradley product. If the AEC is installed within the European Union or EEA regions and has the CE mark, the following regulations apply.

+ 42 hidden pages

Rockwell Automation 4100 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

European Communities (EC) Directive Compliance

EMC Directive

Low Voltage Directive

Preface

Read This Manual

Who Should Use this Manual

Purpose of this Manual

Safety Precautions

Contents of this Manual

Related Documentation

Terminology

Common Techniques Used in this Manual

AEC Product Receiving and Storage Responsibility

Allen-Bradley Support

Local Product Support

Technical Product Assistance

On the Web

Overview

AEC Description

AEC Features

AEC Mechanical Specifications

Installation & Hook-Up

Chapter Objectives

Installing the AEC

Complying with European Union Directives