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Related Manuals for Rockwell Automation Allen-Bradley 4100-5.2
Summary of Contents for Rockwell Automation Allen-Bradley 4100-5.2
- Page 1 Absolute Encoder Converter (Cat. No. 4100-5.2) Installation and Setup Manual...
- Page 2 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 3 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:...
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Page 5: Table Of Contents
Table of Contents Preface Read This Manual Read This Manual ....... . . 1 Who Should Use this Manual. - Page 6 The Control Connector......24 Fault Relay 24 Analog Servo Command Pass Through (For Compact Only) ..26 Power Supply Connector .
- Page 7 Appendix B Strobe Position For Applications Not Using the 1394 or Compact Absolute Strobe Cycle ......47 Absolute Strobe Timing .
- Page 8 Publication 4100-UM052B-EN-P - October 2001...
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Page 9: Preface
Preface Read 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 •... -
Page 10: 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. Only trained service personnel should open the electrical cabinet. -
Page 11: Contents Of This Manual
Preface 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. Overview Provides a general description of the AEC, its features and mechanical specifications. -
Page 12: Terminology
Preface Terminology 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. -
Page 13: Aec Product Receiving And Storage Responsibility
Preface 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. 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. -
Page 14: Technical Product Assistance
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 15: 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. 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. -
Page 16: 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 17 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.) (13.5 x 6.0 x 1.75) Product weight...
- Page 18 Overview Publication 4100-UM052B-EN-P - October 2001...
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Page 19: Installation & Hook-Up
Chapter 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. -
Page 20: Emc Directive
Installation & Hook-Up EMC Directive The AEC is tested to meet Council Directive 89/336 Electromagnetic Compatibility (EMC) in accordance with Article 10 (1). The following directives apply: • EN 50081-2 EMC-Generic Emission Standard, Part 2-Industrial Environment. • EN 50082-2 EMC-Generic Immunity Standard, Part 2-Industrial Environment. - Page 21 Installation & Hook-Up 13 Figure 2 Mounting and Grounding Diagram #10 AWG to Ground Bus AEC Mounting Tab Ground Size 1/4 - 20 or M6 Internal Star Washers Hardware Tapped Hole (Minimum of 3 Threads) Metal Panel Scrape paint off panel to insure (Must be connected to electrical connection between earth ground.)
- Page 22 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 IMPORTANT looking directly at the mounted 1394) of the 1394 GMC System.
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Page 23: Connecting The Aec
Installation & Hook-Up 15 Figure 4 Mounting the AEC next to an S Class Compact motion controller. S Class Wireway Compact Allen –Bradley IMC S Class Reset Axis 0 Axis 1 The AEC can also Optional be placed to the left Second of the AEC for... -
Page 24: Connecting The Aec To The 1394
Installation & Hook-Up The AEC does not support the removal or the insertion of ATTENTION any connectors when under power. The power disturbance can result in unintended machine motion, loss of process control, or an electrical arc that can cause an explosion in a hazardous environment. -
Page 25: Connecting The Aec To The Compact
Installation & Hook-Up 17 When using multiple Encoder devices, we recommend IMPORTANT you wire all of the auxiliary power cables to the same 5V DC power supply. Figure 5 Connecting the Encoder Cables and the 5V Power Supply to the 1394 Wireway 1394 GMC System... - Page 26 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.
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Page 27: Connecting The Aec To The 1756-Mo2Ae
Installation & Hook-Up 19 Connecting the AEC to the 1756-MO2AE See Application Note, publication number 4100-2.7 for more detailed information regarding using the AEC with 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. - Page 28 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 Strobe + Yellow Strobe -...
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Page 29: 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 30: The Ssi Connector
Installation & Hook-Up 7. Use the screwdriver to tighten the clamping screw to the proper torque (0.25 N-m/2.2 in-lb.). 8. Verify that the cable lead does not pull out of the terminal. Cable Leads If the cable lead: Do this: Pulls out of the terminal Repeat steps 3 through 9 again... - Page 31 Installation & Hook-Up 23 The following is the connector pin numbering scheme for the SSI connector as viewed with the AEC mounted in its normal position. SSI Connector Pin Numbering Wiring the connector for the wrong transducer power can ATTENTION result in improper operation or damage to the position transducer.
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Page 32: The Control Connector
Installation & Hook-Up Figure 9 Wiring Diagram for SSI Connector Plug A Clock + Data + Return Shield Plug B Clock - Data - +5V DC +15V DC +24V DC Maximum cable length between SSI Device and the IMPORTANT AEC is 100 feet. Anchor the cable so that no more than 2 feet of cable is IMPORTANT left unsupported. - Page 33 Installation & Hook-Up 25 connected appropriately. The control status relay N/O contact is held energized when the AEC has not detected a fault. There is one control status relay per axis. Each relay provides one normally open and one normally closed pair that is voltage free and isolated from each other and the ground.
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Page 34: Analog Servo Command Pass Through (For Compact Only)
Installation & Hook-Up The pin layout and functionality for the Control connector is as follows: Control Connector Pin Functions Control Pin Number Pin Function Shield Fault N/C Relay Contact Fault N/O Relay Contact Reference - Shield N/C Relay Common Contact N/O Relay Common Contact Reference + The following table displays the connector pin numbering scheme, as... -
Page 35: Power Supply Connector
Installation & Hook-Up 27 Figure 11 Wiring diagram for connecting a Servo Amplifier to the Control Connector Plug A To Servo Amplifier Reference + Shield Plug B Reference - Anchor the cable so that no more than 2 feet of cable is IMPORTANT left unsupported. - Page 36 Installation & Hook-Up The pin layout and functionality for this connector are shown in the following table. Power Supply Pin Functions Power Supply Pin Number 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.
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Page 37: 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 38: 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 39: 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 40: Powering The Aec
Setup Powering the AEC The AEC has reverse polarity protection. However, always take care to observe correct polarity when you connect the power to your unit. If power is connected with the wrong polarity, no damage is done. The AEC simply does not function until the polarity is corrected. There is no warning or indication of an incorrect polarity connection. -
Page 41: Setting The Transducer Resolution
Setup 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. 5. Go to the Position Mode field select either rotary or linear. 6. -
Page 42: Aligning Absolute Encoder
Setup 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. If the axis has stored energy or the ability to move during the time feedback is disabled, you have to apply a breaking mechanism to the axis before you execute the procedure. -
Page 43: Operation
Chapter Operation Chapter Objectives This chapter provides an overview of how the AEC determines position. This chapter covers the following topics: • Absolute Position Update • Incremental Position Output • Position at Start-up Absolute Position Update Absolute position information can be requested from the transducer via the AEC at any time. -
Page 44: Position At Start-Up
Operation Position at Start-up In locked mode, the AEC sends incremental position after receiving incremental strobe pulses. 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. -
Page 45: Fault Indication & Control Status
Chapter Fault Indication & Control Status Chapter Objectives This chapter covers the AEC operation status. Fault states are separated into four basic categories: • Transducer • Encoder • Internal • No Fault Faults can be attributed to: • Improper installation •... -
Page 46: 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 47: Internal Faults
Fault Indication & Control Status Internal Faults Internal faults are internal hardware errors detected by the AEC. For both axes, indication is solid RED, quadrature output is inhibited, and the fault relay is de-energized. In the case of a Global Hardware fault, where both LEDs are solid red, Call Allen-Bradley Technical Support. - Page 48 Fault Indication & Control Status Publication 4100-UM052B-EN-P - October 2001...
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Page 49: 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 + 5 = Clock - 9 = Data + 4 = Data -... - Page 50 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 51 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...
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Page 52: 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 53 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-UM052B-EN-P - October 2001...
- Page 54 Specifications Publication 4100-UM052B-EN-P - October 2001...
- Page 55 Appendix Strobe Position For Applications Not Using the 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 56 Strobe Position For Applications Not Using the 1394 or Compact 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.
- Page 57 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 58 Strobe Position For Applications Not Using the 1394 or Compact Incremental Strobe Timing Period Parameter Tinc (Incremental strobe period = Ts1 + Ts1s1) 60ms Ts1 (Strobe1 active pulse width) 0.005ms 10ms Ts1s1 (Time from Strobe inactive to next active strobe) Ts1pe 30000 - Ts1 Ts1pe (Time from Strobe inactive edge to end of position increments)
- Page 59 Index Absolute Position Update, Mounting the AEC Absolute Strobe Cycle, next to a 1394, 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 SSI Connector, Configuration Pin Numbering...
- Page 60 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-UM052B-EN-P - October 2001...
- Page 61 For more information refer to our web site: www.ab.com/motion Publication 4100-UM052B-EN-P – October 2001 PN 999-129 © 2001 Rockwell Automation Corporation. All rights reserved. Printed in USA. Supersedes Publication 4100-5.2 – March 2000...