Control Techniques UD52 User Manual
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Control Techniques UD52 User Manual

Sin-cos encoder interface small option module
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User Guide
UD52
UD52
-
encoder
SIN
COS
interface
small option module
for Unidrive
Part Number: 0460 - 0085
Issue Number: 3

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Summary of Contents for Control Techniques UD52

  • Page 1 User Guide UD52 UD52 encoder interface small option module for Unidrive Part Number: 0460 - 0085 Issue Number: 3...
  • Page 2 Drive with the motor. This option module is intended for use only with Control Techniques Unidrive products. Any other use invalidates the warranty and may cause a safety hazard.

  • Page 3: Table Of Contents

    Contents Chapter Introduction Main features of the UD52 Principle of operation Safety Information Installing the UD52 Making Connections Locations of the terminals Functions of the terminals Serial communications Setting Up the UD52 Initial setting up Phase offset Position information Simulated-encoder outputs (terminals 50, 51, 53, 54)
  • Page 4 UD52 User Guide Issue code: 52nu3...

  • Page 5: Introduction

    102.4kHz (3000 with a 2048-line encoder). The UD52 can be used in a Drive operating in either the Closed-loop Vector or Closed-loop Servo mode in order to obtain speed feedback and very high resolution shaft position. The UD52 is fully compatible with the...

  • Page 6: Principle Of Operation

    The overall resolution is the product of the number of interpolated counts and the number of encoder lines. For example, the UD52 used with a 512-line (2 ) encoder can give a resolution of 2 (1 048 576) counts per revolution).

  • Page 7: Safety Information

    To ensure mechanical safety, additional safety devices such as electro-mechanical interlocks may be required. The Drive must not be used in a safety-critical application without additional high-integrity protection against hazards arising from a malfunction. UD52 User Guide Issue code: 52nu3...
  • Page 8 Drive. Damage may occur, or lives put at risk. Carefully follow the instructions in this User Guide. Before making adjustments to the Drive, ensure all personnel in the area are warned. Make notes of all adjustments that are made. UD52 User Guide Issue code: 52nu3...
  • Page 9 Some parameters have a profound effect on the operation of the Drive. They must not be altered without careful consideration of the impact on the controlled system. Measures must be taken to prevent unwanted changes due to error or tampering. UD52 User Guide Issue code: 52nu3...

  • Page 10: Installing The Ud52

    Drive for at least 10 minutes. Check that the exterior of the UD52 is not damaged, and that the multi-way connector is free from dirt and debris. Do not install a damaged or dirty UD52 in the Drive.
  • Page 11 Figure 1 Installing the UD52 in the Unidrive UD52 User Guide Issue code: 52nu3...

  • Page 12: Making Connections

    Safety Extra Low Voltage (SELV) (eg. to a personal computer), an additional isolating barrier must be included in order to maintain the SELV classification. Locations of the terminals Figure 2 Location of the two-part terminal block UD52 User Guide Issue code: 52nu3...

  • Page 13: Functions Of The Terminals

    F\ (EIA485 serial link) 0V common Simulated-encoder phase quadrature output B or direction output D (EIA485 serial link) Simulated-encoder (D\) phase quadrature output B\ or direction output D\ (EIA485 serial link) 0V common UD52 User Guide Issue code: 52nu3...
  • Page 14 SCDATA\ SIN-COS encoder UD52 Figure 4 Grounding and screening recommendations for the UD52 The sinusoidal signals from a encoder are low-voltage analog signals. Ensure that electrical noise from the Drive or motor does not adversely affect the encoder feedback. Ensure that motor cables are shielded (see Chapter 2 Installing the Drive in the Installation Guide).

  • Page 15: Serial Communications

    Operating mode Terminals Parameter 46, 47 16.16 Closed-loop Servo mode Connect to serial comms. port encoder Closed-loop Vector mode when absolute-position information is required Closed-loop Vector mode when absolute-position No connections information is not required UD52 User Guide Issue code: 52nu3...

  • Page 16: Setting Up The Ud52

    – phase offset. The phase offset can be entered in either of the following ways: • Performing an encoder phasing test. The UD52 measures the phase error automatically and enters the value in 16.09. • If the phase offset is known, you can enter the value manually in parameter 16.09.

  • Page 17: Position Information

    16.03. When the value of 16.03 reaches a maximum limit that is defined in parameter 16.13 S encoder – No. of revolutions, 16.03 is reset and the count starts again from zero. UD52 User Guide Issue code: 52nu3...
  • Page 18 – serial comms. disable is set at 0 (default) • 16.14 S as reference encoder is set at 0 (default) ...the absolute position is indicated by the following parameters: 16.04 S encoder incremental position (coarse) 16.05 S encoder incremental position (fine) UD52 User Guide Issue code: 52nu3...

  • Page 19: Simulated-Encoder Outputs (Terminals 50, 51, 53, 54)

    (terminals 50, 51, 53, 54) The simulated-encoder outputs can be connected to external equipment for monitoring the output of either a encoder connected to the UD52 SIN-COS or the main encoder (Encoder 1) that is connected to the 15-way D-type on the Drive.

  • Page 20: Freeze Inputs (Terminals 48, 49)

    Drive in order to read the freeze position, and pass the data to the system controller or PLC. The initiating signal for the freeze function must be applied to terminals 48 and 49 on the UD52. Related UD70 parameters Q20%.5...

  • Page 21: Related Parameters

    Related Parameters Introduction The parameters listed in this chapter are used for programming and monitoring the UD52. Refer to the Unidrive User Guide for programming instructions. Before attempting to adjust any parameters, refer to the Warnings and Notes at the beginning of Chapter 3 Setting up the Drive in the Unidrive User Guide.
  • Page 22 Simulated encoder F/D output enable 16.08 Encoder 1 [16.07] 3.27 position A (f) A\ (f\) Simulated-encoder 16.06 16.07 output select B (D) Simulated-encoder output scaling B\ (D\) Figure 5 Logic diagram for the UD52 UD52 User Guide Issue code: 52nu3...

  • Page 23: Parameter Descriptions

    RO Uni 16.04 indicates the absolute position of the motor shaft. This position information is derived by the UD52 counting the changes in sign of the encoder outputs, some of the interpolated information and the initial position information. See 16.05 S encoder –...
  • Page 24 Set 16.06 to select the source of the simulated encoder outputs as follows: 16.06 Source encoder Encoder 1 The simulated encoder outputs are derived only from the counted sign reversals of the source encoder and do not include interpolation. No zero- pulse information is produced. UD52 User Guide Issue code: 52nu3...
  • Page 25 RW Uni 16.09 indicates the value of phase offset. See Phase offset in Chapter 5 Setting up the UD52 for ways in which the value is entered. The value is saved at power-down and is changed only when one of the procedures in Phase offset is performed.
  • Page 26 The entered value must be the required power of 2, as follows: 16.13 16.03 counts up 16.13 16.03 counts up to... to... 1023 2047 4095 8191 16383 32767 For use with a single-turn encoder, set 16.13 at 0. UD52 User Guide Issue code: 52nu3...
  • Page 27 RW Bit Set 16.17 at hen the position information is to consist only of the basic line count (without interpolation being obtained from the intermediate values of the sine wave outputs of the encoder). UD52 User Guide Issue code: 52nu3...
  • Page 28 UD52 User Guide Issue code: 52nu3...

  • Page 29: A Specifications

    Maximum cable length 1200m (4000 ft) Maximum data rate (20kbps) 10Mbaud Maximum-common mode voltage –7V ~ +12V ±1.5V Driver output signal Driver load 60Ω Receiver input resistance >12kΩ ±300mV Receiver sensitivity within the common-mode voltage range UD52 User Guide Issue code: 52nu3...
  • Page 30 Current limit with thermal protection Output state Typical output voltage relative to 0V 5mA load 25mA load 1.0V 1.5V High 4.5V 0V common (terminals 44, 52, 55) 200mA Absolute maximum current that can be applied through each terminal UD52 User Guide Issue code: 52nu3...

  • Page 31: B Advanced Functions

    Advanced Functions Alternative configurations Reference: Quadrature encoder connected to the 15-way D-type in the Drive Main feedback: S encoder connected to the UD52 Refer to Menus 3, 13, 16 Reference encoder SCDATA Main feedback encoder Reference: S encoder connected to the UD52...

  • Page 32: Aligning The Encoder Mechanically

    Aligning the encoder mechanically (Closed-loop Servo mode) Note Use this procedure only when the procedure described in Phase offset in Chapter 5 Setting Up the UD52 cannot be performed. When the encoder is used as the feedback, use the following procedure to precisely align the encoder with the motor (for zero phase-offset).
  • Page 33 16.04 indicates one of the correct values. When the encoder is used for feedback (Stand-alone and Slave configurations), ensure the value of parameter 16.09 S encoder – phase offset is zero. UD52 User Guide Issue code: 52nu3...
  • Page 34 UD52 User Guide Issue code: 52nu3...

  • Page 35: C Diagnostics

    Diagnostics Trip codes The following trip codes are associated with the UD52: Drive Conditions display Encoder supply short-circuit (terminals 44 and 45). ENC.PH7 connections from the encoder are incorrectly made or the phase sequence of the motor connections is reversed.
  • Page 36 UD52 User Guide Issue code: 52nu3...

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