Rockwell Automation AEC Installation And Setup Manual
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Rockwell Automation AEC Installation And Setup Manual

Rockwell Automation AEC Installation And Setup Manual

Absolute encoder converter
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Rockwell Automation AEC Installation And Setup Manual

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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 Absolute Encoder Converter (Cat. No. 4100-5.2) Installation and Setup Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 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...
  • Page 4 European Communities (EC) If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and Directive Compliance 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:...
  • Page 5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 6: Table Of Contents

    AEC Description ........7 AEC Features ........8 AEC Mechanical Specifications.
  • Page 7 Configuration Switch B ......31 Powering the AEC....... . 32 AEC With GML Commander .
  • Page 8 Appendix B Strobe Position For Applications Not Using the 1394 or Compact Absolute Strobe Cycle ......47 Absolute Strobe Timing .
  • Page 9 Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 10: Preface

    • 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.

  • Page 11: Safety Precautions

    Preface Safety Precautions The following general precautions apply to the AEC: Electric shock can kill. Make sure the AEC is safely ATTENTION installed in accordance with the Installation and Set-up chapters of this manual. Avoid contact with electrical wires and cabling while power is on.

  • Page 12: Contents Of This Manual

    Provides a general description of the AEC, its features and mechanical specifications. 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. Set-Up Provides the guidelines for setting up and configuring the AEC.

  • Page 13: Related Documentation

    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.

  • Page 14: Common Techniques Used In This Manual

    Identifies information that is critical for successful IMPORTANT application and understanding of the product. AEC Product Receiving and You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Storage Responsibility Check the item(s) you receive against your purchase order.

  • Page 15: Allen-Bradley Support

    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 site: http://www.ab.com/...

  • Page 16: Overview

    Chapter Overview 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.

  • Page 17: Aec Features

    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.
  • Page 18 Overview Figure 1 AEC front panel 203.2 mm (8.0 in.) with cable clearance Use 1/4 -20 or M6 bolt (typical 2 places) Reset Axis 0 Axis 1 44.45 mm (1.75 in.) 152.4 mm (6.0 in.) Package Specifications Package size 342.9 x 152.4 x 44.45 mm and (in.)
  • Page 19 Overview Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 20: Installation & Hook-Up

    Chapter Objectives 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.

  • Page 21: Emc Directive

    To meet CE requirements, the following are required: • The AEC must be mounted in an IP 54 rated metal enclosure on a metal panel. • All equipment must be bonded.
  • Page 22 Mount the AEC next to a 1394 GMC system or an S Class Compact motion controller on a metal enclosure panel using two 1/4 -20 or M6 bolts. Refer to the Mechanical Specifications in the Overview chapter of this manual for mounting dimensions.
  • Page 23 Installation & Hook-Up Figure 3 Mounting the AEC next to a 1394 GMC on a system panel Wireway 1394 GMC System Reset Axis 0 Axis 1 Optional Second AEC for Axis 2 and Axis 3 The AEC can only be mounted on the left side (when...

  • Page 24: Connecting The Aec

    Axis 1 Servo & Servo & Feedback Feedback The AEC can be mounted on either side of the S Class IMPORTANT Compact motion controller on the system panel. Connecting the AEC The following section details how to connect the AEC encoder connectors to the 1394 GMC System and the S Class Compact motion controller.

  • Page 25: Connecting The Aec To The 1394

    Connect the AEC to a 1394 GMC System using the encoder cable (catalog number 1394-GR04) for each axis. This is a four foot cable that connects Axis 0 Encoder or Axis 1 Encoder connector on the AEC to the J3, J4, J5, or J10 encoder feedback connector on the 1394.

  • Page 26: Connecting The Aec To The Compact

    (catalog number 4100-RCS3T) for each axis. This three foot cable connects the Axis 0 Encoder or the Axis 1 Encoder connector on the AEC to the Axis 0, 1, 2, or 3 servo and feedback connector on the Compact. The Compact sends the drive servo output Publication 4100-5.2 - March 2000...
  • Page 27 Installation & Hook-Up signal through the 4100-RCS3T cable. The following figure shows where to connect the encoder cable to the AEC and the Compact. This cable is NOT polarity sensitive. IMPORTANT To connect the Encoder cable: 1. Insert one 12-pin plug in the Axis 0 Encoder or Axis 1 Encoder connector on the AEC.

  • Page 28: Connecting The Aec To The 1756-Mo2Ae

    To connect the AEC to the 1756-MO2AE, use the pre-made encoder cable (4100-CCS15F) for each axis. This 15 foot cable connects the Axis 0 Encoder or Axis 1 Encoder connector on the AEC to the 1756-MO2AE. The 4100-CCS15F is a 15 foot cable with a 12-pin plug on one end and the flying leads on the other end.
  • Page 29 Installation & Hook-Up The wires for Strobe+ and Strobe- must be run through the DC Output card. The pin locations are designated in the following table. DC Output 1756-OB16I/A Pins for Connecting the AEC Strobe Pin Number Pin Value Wire Color...

  • Page 30: Wiring The Aec

    Installation & Hook-Up 21 Wiring the AEC There are several connectors on the front of the AEC. All are duplicated for each axis except the power input connector. Each axis has two five-pin plugs for connecting the SSI transducer and two four-pin plugs for connecting a control.

  • Page 31: The Ssi Connector

    The function of these connectors, their pinouts, and names are defined in the following sections. The SSI Connector The SSI connectors are used to connect the absolute transducer to the AEC. The pin layout and functionality for this connector are as follows. SSI Connector Pin Functions SSI Input...
  • Page 32 Only one of these can be in use at a time. It is your responsibility to determine the power requirement of the transducer you are connecting to the AEC and to use the pin that corresponds to that requirement.

  • Page 33: The Control Connector

    Fault Relay To provide safe operation (opening the fault string if a fault occurs or power to the AEC is lost) the control status relay outputs must be Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 34 They are intended for fault indication only The diagram shows an example of connecting the AEC fault contact into a system fault string. Since the status relay is energized when the AEC is indicating no faults, the contact is closed.

  • Page 35: Analog Servo Command Pass Through (For Compact Only)

    There is one analog command pass through signal pair (Reference + and Reference -) per axis. The 4100-RCS3T encoder cable between the AEC and the Compact (see Connecting the AEC to a Compact section of this chapter) passes the analog command signal from the Compact, through the AEC, and out to the servo amplifier, if connected.

  • Page 36: Power Supply Connector

    Power Supply Connector The power supply connector is used to connect power to the AEC. There is one power input connector for the AEC. The input power is used to operate the AEC and attached transducers. The AEC operates within the voltage range of 18-36V DC. The power source must be able to supply 21W of power continuously.
  • Page 37 Pin Function Supply Common Supply + The following table shows the power supply connector pin numbering, as seen with the AEC mounted in its normal position. Power Supply Pin Numbering Power The following diagram illustrates the power connections for the AEC.

  • Page 38: Setup

    Chapter Setup Chapter Objectives The AEC is used in conjunction with the 1394 GMC System or the S Class Compact motion controller and SSI transducers. It is not a stand-alone product and must be configured to work with the hardware connected to it. This involves specific steps that are determined by the make and model of the hardware connected to the AEC.

  • Page 39: Configuration Switch Tables

    Setup The Compact and 1394 motion controllers must use the ATTENTION LOCKED mode of operation. Configuration Switch Configuration Switch A Tables Transducer Resolutions Transducer Resolution Switch Setting Counts/Turn Bits/Turn 1024 2048 4096 8192 16384 32768 65536 131072 262144 2097152 4194304 16777216 33554432 All Allen-Bradley 842A Encoders must have...

  • Page 40: Configuration Switch B

    Setup Configuration Switch B Transducer Turns, Data Format, & Operation Mode Transducer Turns, Data Format, & Operation Mode Switch Setting Turns Data Code Operation Mode Single Grey Locked Reserved for future use Single Grey Free Run Reserved for future use Single Binary Locked...

  • Page 41: Powering The Aec

    AEC simply does not function until the polarity is corrected. There is no warning or indication of an incorrect polarity connection. The AEC also has over current protection provided by a fuse on the printed circuit board. The fuse is a 2 amp/250V, 5mm radial. A spare fuse is located on the lower left portion of the printed circuit board and is clearly marked “Spare Fuse”.

  • Page 42: Setting The Transducer Resolution

    Commander screen. 2. Select Axis Use from the Configure pull-down menu. 3. Select the axis to configure for the AEC from the Axis Use pull-down. The Configure Axis Use screen displays. 4. At the General screen, select the Axis Type.

  • Page 43: Aligning Absolute Encoder

    Setup GML Commander Reference Manual (publication number GMLC-5.2), the “Configuring Your Axis” chapter, “Defining Homing” section. When executing the Homing or Alignment procedure on ATTENTION a servo axis, feedback is momentarily disabled and then re-enabled ( if the error checking features do not detect an error) in the motion controller.

  • Page 44: Operation

    Absolute Position Update Absolute position information can be requested from the transducer via the AEC at any time. When the AEC interprets the strobe pulse train to be an absolute update request from the controlling hardware, it interrogates the transducer’s absolute position and incrementally streams the position to the awaiting controller.

  • Page 45: Position At Start-Up

    The AEC, when configured for free-running mode for controlling hardware other than the Compact or 1394, sends the incremental position at start-up. In this mode, the AEC behaves like an incremental encoder. Neither mode requires an absolute update to begin transmitting positional information.

  • Page 46: Fault Indication & Control Status

    LEDs provide “at-a-glance” indication of the status of each axis. Although the AEC is equipped with a Reset button, it is not a recommended form of fault resolution. If the non-offending axis is running fine, pressing the reset button could result in a hazardous situation.

  • Page 47: Transducer Faults

    Fault Indication & Control Status Transducer Faults Transducer faults detected by the AEC are indicated by a flashing RED LED for the offending axis. In a fault condition, the quadrature output is inhibited and the fault relay is de-energized. The following table displays a list of probable causes to investigate.

  • Page 48: Internal Faults

    LEDs are solid red, Call Allen-Bradley Technical Support. No Faults In this state, the AEC has detected no errors. The indication per axis is either flashing or solid GREEN. FLASHING GREEN indicates that the AEC has not yet detected a strobe. When configured for locked mode, the AEC is waiting for either an absolute strobe cycle or incremental strobe.
  • Page 49 Fault Indication & Control Status Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 50: Specifications

    Appendix Specifications Figure A.1 shows the connector locations for the AEC. The following Figure 13 AEC Front tables provide the pin numbers and their respective descriptions. Panel SSI Connector Reset Plug A Plug B Axis 0 Axis 1 10 = Clock +...
  • Page 51 Specifications Power Connector 2 = Supply + 1 = Supply - Mechanical Specifications Specification Description Enclosure Type Steel case with integral mounting tabs Enclosure Size 295 x 343 x 43 mm (11.6 x 13.5 x 1.7 in) Environmental Specification Specification Description Operating Temperature 0 to 60...
  • Page 52 Specifications Module Specifications Specification Description Number of Axes Transducer Resolution Counts/Turn and 2 Number of Turns 1 - 2 except 2 Transducer Interface Protocol Acquisition Frequency 400 kHz Data Format Binary or Gray Code Line Driver (Clock) RS-422 (IC 26LS31) Line Receiver (Data) RS-422 (IC 26LS33) Minimum Data Voltage...

  • Page 53: Equivalent Circuit Diagrams

    Specifications Equivalent Circuit The following diagrams detail the equivalent circuits for the Strobe Input, Transducer Data Input, the SSI Clock Output, and the Encoder Diagrams Output. Figure 14 Strobe Input Equivalent Circuit +5V DC 22 k Strobe + Encoder SN74F14 Strobe - Figure 15 Transducer Data Input Equivalent Circuit kΩ...
  • Page 54 Specifications Figure 17 Encoder Output Equivalent Circuit Encoder DS26LS31CN QUAD A DS26LS31CN QUAD B DS26LS31CN Do not wire to the Z signals. The Z channel is not IMPORTANT supported at this time. Allen-Bradley reserves the right to use this signal for future purposes. Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ...
  • Page 55 Specifications Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 56: Absolute Strobe Cycle

    1394 or Compact Absolute Strobe Cycle When the AEC is connected to controlling hardware other than the 1394 or Compact, the setup must be capable of generating Absolute Strobe pulses as outlined in this appendix. An Absolute Strobe cycle is required to obtain the absolute position from the transducer.

  • Page 57: Absolute Strobe Timing

    Absolute Strobe Timing This section defines the timing requirements for the two-strobe pulse train required for absolute position updates. The AEC must receive two strobe pulses to initiate and complete an absolute position update transfer. These are referred to as Ts1 and Ts2 in the data transfer protocol diagram.

  • Page 58: Incremental Strobe Period

    Strobe Position For Applications Not Using the 1394 or Compact input on the AEC. Internally the AEC, holds it high when inactive and to activate, it must be connected and pulled low. Within 30ms (tph) of the strobe going active, the encoder output A and B signals are held at their current state (any incremental updating is prohibited).
  • Page 59 The Strobe (Ts1) must be active for a minimum of 5µs, but less than 5ms to be a valid incremental strobe. When the strobe goes inactive, the AEC interrogates the transducer position and sends any incremental change from the previous sample. The time (Ts1pe) to transmit the incremental position is dependent on the size of the position increment.
  • Page 60 Absolute Position Update, Mounting the AEC next to a 1394, Absolute Strobe Cycle, Absolute Strobe Timing, next to a Compact, AEC Product Receiving and Storage Responsibility Allen-Bradley Support Pin Functions Control Connector, CE requirements, Power Supply, Common Techniques Used in this Manual...
  • Page 61 local product, technical product assistance, Who Should Use this Manual support Wiring On the Web Cable Flying Leads, Control Connector Analog Servo, 26 Fault Relay 24 Terminology Power Supply, SSI Connector, World Wide Web site Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ...
  • Page 62 Back Cover Publication 4100-5.2 - March 2000 PN 999-129 Supersedes Publication 4100-5.2 - March 1999 © 2000 Rockwell International Corporation. Printed in the U.S.A. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 63 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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