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Nidec Avtron AV6A Instructions Manual
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Nidec Avtron AV6A Instructions Manual

Nidec Avtron AV6A Instructions Manual

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Nidec-Avtron Makes the Most Reliable Encoders in the World
8 9 0 1 E . P L E A S A N T VA L L E Y R O A D • I N D E P E N D E N C E , O H I O 4 4 1 3 1 - 5 5 0 8
T E L E P H O N E : ( 1 ) 2 1 6 - 6 4 2 - 1 2 3 0 • F A X : ( 1 ) 2 1 6 - 6 4 2 - 6 0 3 7
E - M A I L : t a c h s @ n i d e c - a v t r o n . c o m • W E B : w w w . a v t r o n e n c o d e r s . c o m
DESCRIPTION
The Avtron Model AV6A is a light mill duty absolute encoder. It
expresses the position of rotation as an output message or value.
AV6A can measure a single turn of rotation or multiple rotations. The
AV6A measures the shaft rotation and position without the need for
external power or internal batteries or capacitors through its multi-
turn gear system. The AV6A operates down to zero speed and can be
used for both control and instrumentation applications.
CAUTION
Do not utilize AV6A in hazardous locations which
require ATEX, UL, CUL, CSA, or other explosion protection
certification. AV6A is not certified for hazardous
locations.
The AV6A is designed for mounting on flanges (58mm, 36mm,
1.25"), or on a foot mount bracket for coupling. The AV6A is not
recommended for pulley or chain drive applications.
SAFETY
The AV6A is not considered as a safety device and is not suitable for
connection into a safety system.
AV6A PART NUMBERS AND AVAILABLE OPTIONS
Model
Bus
Flange
AV6A
C- CANOpen
1- 58mm "servo/
clamp" flange,
D- DeviceNet
36mm male
F- CANSafe
pilot, 3X M3,
K- POWERLINK
3X M4 at
L- Parallel
48mm
M- ModbusTCP
2- 58mm
Ethernet
"synchro"
N- Profinet IO
flange, 50mm
P- Profibus DP
male pilot,
R- Ethernet/IP
3X M3, 3X M4
at 42mm
S- SSI
4- 2.5" square
flange
w/1.25" male
pilot
FLANGE COMPATIBILITY
Flange
1
2
4
X - no seal option not recommended
+
Turns/
PPR/bits
Shaft Size
bits
per turn
B- 3/8" dia. x
X- 0/0-
E- 256/8**
5/8" w/flat
single turn
F- 512/9**
C- 10mm dia. x
A- 16/4**
0- 1024/10**
20mm w/flat
D- 128/7**
2- 4096/12
T- 6mm dia., x
E- 256/8**
3- 8192/13
10mm, no flat
2- 4096/12
4- 16384/14
4- 16384/14
6- 65536/16
**Parallel Bus Only
Shaft
IP/Sealing
C
X
, A, S
+
C, T
X
, A, S
+
B
X
, A, S
+
AV6A
Encoder Instructions
WARNING
Installation should be performed only by qualified
personnel. Safety precautions must be taken to ensure
machinery cannot rotate and all sources of power are
removed during installation.
INSTALLATION
Refer to the back page of these instructions for outline and mounting
dimensions.
Equipment needed for installation
Supplied:
AV6A Encoder
Optional:
(none)
Not Supplied:
Open Wrenches, Hex Wrenches, Dial Indicator Gauge
Caliper Gauge, Coupling, Foot Mount and Mounting Screws
Connector
Connector
Exit
A- 1xM12/5 pin
A- side/radial
B- 2xM12/5 pin
E- end/axial
C- 3xM12 4/4/5
or 4/4/4 pins
D- 2xM12/4/5 pin
E- M12/8 pin
STANDARD CONNECTORS & OUTPUT FORMATS
F- M23/12 pin
Bus
G- M27/26pin
CANOpen
J- 2x cable entry
DeviceNet
K- 3x cable entry
CANSafe
M- M23/8pin Hengstler
POWERLINK
N- M23/8pin Stegmann
Parallel
Q- M23/8pin Kubler
ModbusTCP
W- Cable, 1m
Profinet
Profibus DP
EtherNet/IP
SSI
1
MODEL
AV6A
SOLID SHAFT
IP
Special
Output
Rating
Option
1- Binary
X- None, IP54
000- none
+
A- IP66 shaft seals
2- Gray
9xx- special cable
length
S- IP66 seals,
xx=length
stainless
*0.3m
housing
Code
Connectors
Output
C
A, B, C, J, K, W
D
A, W
F
K
K
C
L
G, W
1, 2
M
D
N
C
P
C, J, K
R
C
S
E, F, W
1, 2
1
1
1
1
1
1
1
1

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Summary of Contents for Nidec Avtron AV6A

  • Page 1 AV6A Nidec-Avtron Makes the Most Reliable Encoders in the World 8 9 0 1 E . P L E A S A N T VA L L E Y R O A D • I N D E P E N D E N C E , O H I O 4 4 1 3 1 - 5 5 0 8 T E L E P H O N E : ( 1 ) 2 1 6 - 6 4 2 - 1 2 3 0 •...

  • Page 2: Environmental Considerations

    ENVIRONMENTAL CONSIDERATIONS The encoder must be driven by a positive drive rather than a friction drive. The following means of coupling are acceptable when properly Follow these steps to reduce potential problems: installed: Direct Coupling. Always mount connection points, conduit couplings, junction boxes, etc., lower than actual encoder.

  • Page 3: Troubleshooting

    ON - Encoder is operating normally with no errors the controller to signal the encoder to transmit position. Nidec-Avtron recommends the use of a simple no-cost debugging Read each section for specifics about each bus and troubleshooting tool such as PCAN View.

  • Page 4: Electrical Specifications

    Electrical CANOpen DeviceNet J1939 Parallel Profibus Units Specifications ELECTRICAL SPECIFICATIONS A. Operating Power (Vin = +Vs) Input Voltage 10-30V 10-30V 10-30V 10-30V 5-30V 10-30V 1. Voltage & Current ....SSI ........4.5-30VDC; 300mA @ 5V, 65mA @24V 150’ ++ 8200’ 1650’ 800’...
  • Page 5 CANOpen Protocol “C” Setting Node Number, Baud Rate & Termination Resistor The CANOpen protocol provides a set of data bits inside a CANOpen NOTE: Units with hardware connection caps cannot accept message that represent the encoder position (in turns and within 1 software-commanded address, baud rate or termination resistor turn).
  • Page 6 ID: 0x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55 No reset is triggered. Cycle power after saving changes to parameters. Other Parameters Contact Nidec Avtron for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features. CANOPEN TROUBLESHOOTING...
  • Page 7 NOTE: Any changes to baud rate, node number, or resistor will not take effect until the encoder is reset (typically power cycled)--be Preferred cable: Nidec Avtron recommends structured DeviceNet sure to store parameters in EEPROM. wiring systems, available from a broad range of vendors. Large...
  • Page 8 Incorrect. Encoder in Standby encoder. Mode. Other Parameters 1X Flash Red Recoverable Network Fault Contact Nidec-Avtron or review the EDS file for additional Encoder Malfunction parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features. No Power DEVICENET TROUBLESHOOTING...
  • Page 9 REMOVE THE CONNECTION CAP TO SET THE ADDRESS. Other Parameters Setting Station/Node, Baud Rate Contact Nidec Avtron for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other To set the node number: use the rotating switches on the back of advanced features.
  • Page 10 POWERLINK Diagnostic LEDs Status Meaning LS/DA 1 Green Input connected to Ethernet, power OK, Error node address ok, no Ethernet errors, Status Green encoder operational LS/DA 1 Flashing Active inbound communication Status Green LS/DA 2 Green Output connected to next encoder Status LS/DA 2 Flashing...
  • Page 11 RPM/60 * counts/turn. Example: 12bit/4096 count Preferred cable: Nidec Avtron recommends structured cabling encoder, turn at 60 RPM = 60/60 * 4096 = 4096Hz. wiring systems including overall shielding, available from a broad range of vendors as well as Nidec-Avtron.
  • Page 12 (Verify using ping xxx.xxx.xxx.xxx where xxx represents the new ip Other Parameters address from PC) Contact Nidec Avtron for additional parameters, diagnostic registers, Ethernet baud rate is auto-detected by the encoder, no settings are cam and programmable limit switch functionality and other required.
  • Page 13 the dip switch 2 in the connection cap to “On” to force a hardware address of 10.10.10.10. Reassemble the encoder. Connect the PC to the encoder using standard (not cross-patch) cable. Power the encoder using the second connection port (5-pin). The encoder Link 1 should illuminate green.
  • Page 14 (right most bit Ethernet is not supported at the encoder level but may be utilized at is least significant): the switch backbone level. Consult Nidec Avtron if manual forcing of duplex is required. Standard Profile: data is right-justified: Single-turn data/data within...
  • Page 15 Storing/Saving Encoder Parameters to EEPROM To store the current encoder operating parameters into non-volatile memory: Other Parameters Contact Nidec Avtron for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features. PROFINET IO/ PROFIDRIVE TROUBLESHOOTING Viewing on oscilliscope: for Profinet IO/Profibus IRT the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies.

  • Page 16: Profibus-Dp Troubleshooting

    16 bits: Format is little-endian (lowest bit = right-most bit). Preferred cable: Nidec Avtron recommends structured Profibus DP Setting Zero Position for Single turn Encoders Using 16 Bit wiring systems, available from a broad range of vendors.
  • Page 17 Ethernet is not supported at the encoder level but may be utilized at Polling, cycling, sync, and implicit messaging modes are supported the switch backbone level. Consult Nidec Avtron if manual forcing of by the encoder; use the parameters supplied in the EDS file to set duplex is required.

  • Page 18: Ethernet/Ip Troubleshooting

    Other Parameters Contact Nidec Avtron for additional parameters, diagnostic registers, cam and programmable limit switch functionality and other advanced features. ETHERNET/IP TROUBLESHOOTING Viewing on oscilliscope: for EtherNet/IP the transmit and receive signal pairs should change state rapidly as the controller transmits messages to the encoder and the encoder replies.
  • Page 19 SSI TROUBLESHOOTING SSI Protocol “S” For SSI, monitor the clock input line to ensure the controller is The SSI Protocol “S” provides a clocked set of data bits that triggering the encoder to send position. The clock should obey the represent the encoder position (in turns and within 1 turn).
  • Page 20 AV6A WIRING DIAGRAMS CANOpen Bus “C” OPTION OPTION OPTION “A” “J”, “K” “W” (M12 / 5 (2x, 3x cable (Cable) pin) entry) SIGNAL CAN_GND GREEN Leftmost - G CAN_GND WHITE CAN_H YELLOW Leftmost - H CAN_H CAN_L PINK Leftmost - L CAN_L GND/0V BROWN...
  • Page 21 AV6A WIRING DIAGRAMS DeviceNet Bus “D” OPTION OPTION OPTION “A” “J”, “K” “W” (M12 / 5 (2x, 3x cable (Cable) pin) entry) SIGNAL V-/GND BLACK V-/GND CAN_H WHITE Leftmost - H CAN_H CAN_L BLUE Leftmost - L CAN_L Optional Daisy-Chain CAN_H Rightmost - H CAN_H...
  • Page 22 AV6A WIRING DIAGRAMS Communication Bus “K”, “N”, “R”: POWERLINK, Profinet IO, EtherNet/IP Pinout OPTION “C” SIGNAL PORT1 Rx+ ** Rx- ** Master/Scanner or Switch Tx+ ** Tx- ** Power Power Supply Optional Daisy-Chain PORT2 * NOTE: Twisted pair cable CAT6, CAT5E. Obey pairing as shown, optional overall shield may be used for high noise environments ** NOTE: For encoder switch connections use the “crossover”...
  • Page 23 AV6A WIRING DIAGRAMS Communication Bus “P”: Parallel Pinout OPTION OPTION CONNECTOR “W” “G” REF SIGNAL (Cable) M27/26 SIGNAL SIGNAL YELLOW-PINK PINK-GREEN DIRECTION YELLOW-GREY DIRECTION LATCH GREY-GREEN LATCH PRESET BROWN-BLACK PRESET BIT 25 (MSB) WHITE-BLACK BIT 25 (MSB) BIT 24 BROWN-RED BIT 24 BIT 23 WHITE-RED...
  • Page 24 AV6A WIRING DIAGRAMS Communication Bus “M”: Modbus TCP Pinout OPTION “C” SIGNAL PORT1 Master/Scanner or Switch Power Power Supply 0V/GND * NOTE: Twisted pair cable CAT6, CAT5E. Obey pairing as shown, optional overall shield may be used for high noise environments ** NOTE: For encoder switch connections use the “crossover”...
  • Page 25 AV6A WIRING DIAGRAMS Communication Bus “P”: Profibus Pinout OPTION OPTION CONNECTOR “C” “K” M12x3 (3x cable) SIGNAL CONNECTOR Terminal Point SIGNAL GND (0V) Any (-) GND (OV) 4 pin male Any (+) Bus A in Leftmost A Bus A out 5 pin male Bus B in Leftmost B...
  • Page 26 AV6A WIRING DIAGRAMS Communication Bus “S”: SSI Pinout OPTION OPTION OPTION “W” “F” “E” (Cable) M23/12 M12/8 SIGNAL WHITE BROWN CLK+ CLK+ GREEN CLK- CLK- YELLOW DAT+ DAT+ GRAY DAT- PINK DAT- SET ZERO BLUE SET ZERO SET DIRECTION SET DIRECTION * NOTE: Twisted pair cable required with overall shield;...
  • Page 27 AV6A Flange Option “1” (Clamp), Profibus “P”, Connector M12 “K”, Radial exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A” Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations. Flange/Shaft Body/Connector AV6A...
  • Page 28 AV6A Flange Option “2” (Servo), SSI “S”, Connector M12 “E”, Axial exit “E”, Multiturn IP65 Seals and Aluminum/Steel Enclosure “A” Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations. Flange/Shaft Body/Connector AV6A...
  • Page 29 AV6A Flange Option “2” (Servo), Parallel “L”, Connector M27 “G”, End/Axial exit “E”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A” Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations. Flange/Shaft Body/Connector AV6A...
  • Page 30 AV6A Flange Option “2” (Servo), All Ethernet types (“E”,”K”,”M”,”N”,”R”), Connector M12x3 Side Exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A” Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations. Flange/Shaft Body/Connector AV6A...
  • Page 31 AV6A Flange Option “2” (Servo), SSI “S”, Connector M12/8 “E”, Side exit “A”, Multiturn, IP65 Seals & Aluminum/Steel Enclosure “A” Shaft/front flange dimensions are independent of body/connector/bus systems. The drawings on all these pages can be superimposed to create new combinations. Flange/Shaft Body/Connector AV6A...
  • Page 32 Avtron standard warranty applies. All dimensions are in millimeters approx. Nidec-Avtron Makes the Most Reliable Encoders in the World 8 9 0 1 E . P L E A S A N T VA L L E Y R O A D • I N D E P E N D E N C E , O H I O 4 4 1 3 1 - 5 5 0 8 REV: 09/28/15 T E L E P H O N E : ( 1 ) 2 1 6 - 6 4 2 - 1 2 3 0 •...