Rockwell Automation 57C411 User Manual
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The information in this user's manual is subject to change without notice. ReliĆ
ance Electric Industrial Company assumes no responsibility for errors that may
appear in this user's manual.
WARNING
THIS UNIT AND ITS ASSOCIATED EQUIPMENT MUST BE INSTALLED,
ADJUSTED, AND MAINTAINED BY QUALIFIED PERSONNEL WHO ARE
FAMILIAR WITH THE CONSTRUCTION AND OPERATION OF ALL EQUIPMENT
IN THE SYSTEM AND THE POTENTIAL HAZARDS INVOLVED. FAILURE TO
OBSERVE THESE PRECAUTIONS COULD RESULT IN BODILY INJURY
WARNING
INSERTING OR REMOVING THIS MODULE OR ITS CONNECTING CABLES MAY
RESULT IN UNEXPECTED MACHINE MOVEMENT. TURN OFF POWER TO THE
MACHINE BEFORE INSERTING OR REMOVING THE MODULE OR ITS
CONNECTING CABLES. FAILURE TO OBSERVE THESE PRECAUTIONS COULD
RESULT IN BODILY INJURY.
CAUTION
THIS MODULE CONTAINS STATICĆSENSITIVE COMPONENTS. CARELESS
HANDLING CAN CAUSE SEVERE DAMAGE.
DO NOT TOUCH THE CONNECTORS ON THE BACK OF THE MODULE. WHEN
NOT IN USE, THE MODULE SHOULD BE STORED IN AN ANTIĆSTATIC BAG. THE
PLASTIC COVER SHOULD NOT BE REMOVED. FAILURE TO OBSERVE THIS
PRECAUTION COULD RESULT IN DAMAGE TO OR DESTRUCTION OF THE
EQUIPMENT.
Table of Contents
1.0 Introduction 1Ć1...............................................
2.0 Mechanical/Electrical Description 2Ć1...........................
2.1 Mechanical Description 2Ć1...................................
2.2 Electrical Description 2Ć1.....................................
3.0 Installation 3Ć1................................................
3.1 Wiring 3Ć1..................................................
3.2 Initial Installation 3Ć1.........................................
3.3 Module Replacement 3Ć5.....................................
4.0 Programming 4Ć1..............................................
4.1 Register Organization 4Ć1....................................
4.2 Local I/O Definition 4Ć2.......................................
4.2.1 Single Register Reference 4Ć3...........................
4.2.2 Bit Reference 4Ć3......................................
4.2.3 Examples of Local I/O Definitions 4Ć4....................
4.3 Remote I/O Definition 4Ć4.....................................
4.3.1 Single Register Reference 4Ć5...........................
4.3.2 Bit Reference 4Ć6......................................
4.3.3 Examples of Remote I/O Definitions 4Ć6..................
4.4 Reading and Writing Data in Application Tasks 4Ć6...............
4.4.1 BASIC Task Example 4Ć7...............................
4.4.2 Control Block Task Example 4Ć7.........................
4.5 Using Interrupts in Application Tasks 4Ć8.......................
4.5.1 BASIC Task Example 4Ć9...............................
4.5.2 Control Block Task Example 4Ć9.........................
4.6 Using the External Strobe Input 4Ć10............................
4.7 Restrictions 4Ć11.............................................
4.7.1 Writing Data to Registers 4Ć11............................
4.7.2 Interrupts in Remote I/O Racks 4Ć11......................
4.7.3 Feedback Element in a Drive System 4Ć11.................
5.0 Diagnostics and Troubleshooting 5Ć1............................
5.1 Incorrect Data 5Ć1...........................................
5.2 Bus Error 5Ć3...............................................
5.3 Interrupt Problems 5Ć4.......................................
5.3.1 No Interrupts 5Ć5......................................
5.3.2 Hardware Event TimeĆOut 5Ć5...........................
5.3.3 Hardware Event Count Limit Exceeded 5Ć5...............
5.3.4 Illegal Interrupt Detected 5Ć6............................
I
Technical Specifications AĆ1......................................
Module Block Diagram BĆ1......................................
Field Connections CĆ1...........................................
Related Components DĆ1........................................
II
Figure 2.1 Ć External Strobe Input Circuit 2Ć2............................
Figure 2.2 Ć Low Leakage Requirement for Devices Driving Strobe Input 2Ć2
Figure 2.3 Ć Module Faceplate 2Ć3.....................................
Figure 3.1 Ć Rack Slot Numbers 3Ć1...................................
Figure 3.2 Ć Typical M/N 57C360 Resolver Field Connections 3Ć2..........
Figure 3.3 Ć Typical M/N 57C361 Resolver Field Connections 3Ć3..........
Figure 3.4 Ć Changing the Direction of Rotation 3Ć4......................
Figure 4.1 Ć Resolver Data Registers 4Ć1...............................
Figure 4.2 Ć Interrupt Control Registers 4Ć2.............................
Figure 4.3 Ć Resolver Update Register 4Ć2..............................
Figure 4.4 Ć Module in a Local Rack 4Ć3................................
Figure 4.5 Ć Module in a Remote Rack 4Ć5..............................
III
The Resolver Input Module is used to input the angular position of a
resolver rotor to the DCS 5000 system. The module provides 12Ćbit
resolution of one revolution and a 2Ćbit revolution counter. The
resolver position may be sampled from 500 microseconds to 32.767
seconds. An external strobe input is provided to permit
synchronization of the DCS 5000 system to an external event. The
module can be programmed to interrupt on every sample.
Typically, this module is used to input rotary shaft position for the
purpose of determining shaft position or velocity.
This manual describes the functions and specifications of the
module. It also includes a detailed overview of installation and
servicing procedures, as well as examples of programming methods.
Related publications that may be of interest:
JĆ2611 DCS 5000 PRODUCT SUMMARY
JĆ3600 DCS 5000 ENHANCED BASIC LANGUAGE
JĆ3601 DCS 5000 CONTROL BLOCK LANGUAGE
JĆ3602 DCS 5000 LADDER LOGIC LANGUAGE
JĆ3629 DCS 5000 REMOTE I/O INSTRUCTION MANUAL
JĆ3630 DCS 5000 PROGRAMMING TERMINAL
JĆ3635 DCS 5000 PROCESSOR MODULE INSTRUCTION
IEEE 518 GUIDE FOR THE INSTALLATION OF ELECTRICAL
INSTRUCTION MANUAL
INSTRUCTION MANUAL
INSTRUCTION MANUAL
INSTRUCTION MANUAL
MANUAL
EQUIPMENT TO MINIMIZE ELECTRICAL NOISE
INPUTS TO CONTROLLERS FROM EXTERNAL
SOURCES
1Ć1
2.0 Mechanical/Electrical Description
The following is a description of the faceplate LEDs, field termination
connectors, and electrical characteristics of the field connections.
2.1 Mechanical Description
The input module is a printed circuit board assembly that plugs into
the backplane of the DCS 5000 rack. It consists of the printed circuit
board, a faceplate, and a protective enclosure. The faceplate
contains tabs at the top and bottom to simplify removing the module
from the rack. Module dimensions are listed in Appendix A.
The faceplate of the module contains a female connector socket and
5 LED indicators for module status, including one light that indicates
when the board is operational (on) or malfunctioning (off).
Input signals are brought into the module via a multiconductor cable
(M/N 57C373; see Appendix D). One end of this cable attaches to the
faceplate connector, while the other end of the cable has stakeĆon
connectors that attach to a terminal board for easy field wiring. The
faceplate connector socket and cable plug are keyed to prevent the
cable from being plugged into the wrong module.
On the back of the module are two edge connectors that attach to
the system backplane.
2.2 Electrical Description
The input module contains a tracking resolverĆtoĆdigital converter that
produces a 12Ćbit digital number proportional to one electrical
revolution of a resolver. The digital position may be sampled in one of
two ways. The most common method is to specify the sampling
period. The period may range from a low of 500 microseconds to a
high of 32.7675 seconds, in increments of 500 microseconds.
The second method is to sample the position when an external event
occurs. This method is useful when it is necessary to synchronize the
DCS 5000 with the occurrence of a particular event. Using an
external strobe input is a simple method of synchronizing your
application software to the exact position of an object when an
external event occurs. See figure 2.1 for details about the electrical
characteristics of the external strobe input circuit. Because of the high
input impedance of the strobe input, the device driving the input
must have low leakage. See figure 2.2.
The module can be programmed to generate an interrupt whenever it
does a periodic sample. This mode allows you to synchronize task
execution with the conversion of new data. The converted data will
be latched when the interrupt is generated.
The module contains a 2Ćbit electronic counter that can count a total
of 4 electrical resolver revolutions. This 2Ćbit counter is contained in
the most significant two bits of resolver position, registers 0 and 1.
This counter is reset whenever power is turned on to the system or a
board reset command occurs.
2Ć1
The module produces a 26 volt rms 2381 Hertz sine wave reference
output signal which is capable of driving a 400 ohm load. This
reference signal is transformerĆisolated and shortĆcircuit protected
through a current limiter. The module also receives 11.8 volt rms sine
and cosine signals from the resolver, as well as the 26 volt rms
reference.
There are 5 LEDs on the faceplate of the module. The top LED,
labeled DIRECTION, indicates the direction of rotation of the resolver.
When it is on, the resolver is rotating clockwise. The next LED,
labeled FDBK OK, indicates that the resolver is connected to the
module. The next LED, labeled CCLK OK, indicates that the common
clock is on. The fourth LED, labeled IPS OK, indicates that the
isolated power supply is working. Finally, the bottom LED, labeled
OK, indicates whether the common clock is on and the isolated
power supply is functional. See figure 2.3.
+12V +12V
1
M
9
10
100k
2200 pf
40106
Figure 2.1 Ć External Strobe Input Circuit
9
10
Figure 2.2 Ć Low Leakage Requirement for Devices Driving Strobe Input
2Ć2
0V
9
10
RESOLVER
INPUT
OK
DE
P3
C
B
1
2
3
4
5
6
7
8
9
1
0
3
2
1
F
G
6
7
8
Figure 2.3 Ć Module Faceplate
2Ć3
3.0 INSTALLATION
3.1 Wiring
The installation of wiring should conform to all applicable codes.
To reduce the possibility of electrical noise interfering with the proper
operation of the control system, exercise care when installing the
wiring from the system to the external devices. For detailed
recommendations, refer to IEEE 518.
You should use twisted pair (2 twists per inch) wiring to/from the
resolver.
3.2 Initial Installation
Use the following procedure to install the module:
WARNING
INSERTING OR REMOVING THIS MODULE OR ITS CONNECTING CABLES MAY
RESULT IN UNEXPECTED MACHINE MOTION. POWER TO THE MACHINE
SHOULD BE TURNED OFF BEFORE INSERTING OR REMOVING THE MODULE
OR ITS CONNECTING CABLES. FAILURE TO OBSERVE THESE PRECAUTIONS
COULD RESULT IN BODILY INJURY.
Step 1. Remove power from the system. Power to the rack as well
Step 2. Take the module out of its shipping container. Take the
Step 3. Insert the module into the desired slot in the rack. Refer to
Typical 16 Slot Rack
Typical 10 Slot Rack
Typical 6 Slot Rack
P/S
0123456789101112131415
as all power to the wiring leading to the module should be
off.
module out of the antiĆstatic bag. Be careful not to touch
the connectors on the back of the module.
figure 3.1. Use a screwdriver to secure the module into the
slot.
16
10
6
Figure 3.1 Ć Rack Slot Numbers
3Ć1
Step 4. Mount the terminal strip (from cable assembly M/N
57C373) on a panel. The terminal strip should be mounted
to allow easy access to the screw terminals. Be sure that
the terminal strip is close enough to the rack so that the
cable will reach between the terminal strip and the
module. The cable assembly is approximately 60 inches
long.
Step 5. Attach the resolver but leave the mechanical coupling
between the resolver and the motor unconnected.
Fasten the field wires from the resolver to the terminal
strip. Typical field connections are shown in figures 3.2
and 3.3.
Use twistedĆpair wire, connected as shown, for the cabling
between the resolver and the terminal strip in the control
enclosure. Recommended twistedĆpair wire is Belden
9497 cable or equivalent. Maximum operating cable length
is dependent upon the type of cable you use.
Make certain that all field wires are securely fastened.
M/N 57C360 RESOLVER
REFERENCE
SINE
COSINE
REFERENCE VOLTAGE: 26 Vrms
SINE VOLTAGE: 11.8 Vrms
COSINE VOLTAGE: 11.8 Vrms
Figure 3.2 Ć Typical M/N 57C360 Resolver Field Connections
Terminal Strip
in Control
R1
FROM MODULE
R2
Enclosure
ă1
ă2
ă3
ă4
S1
TO MODULE
S3
S2
S4
ă5
ă6
ă7
ă8
ă9
10
3Ć2
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