Related Manuals for Allen-Bradley 4100-AEC
Summary of Contents for Allen-Bradley 4100-AEC
- Page 1 (217) 352-9330 | Click HERE Find the Rockwell / Allen-Bradley 4100-AEC at our website:...
- 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 Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.
- Page 4 Programmable Controllers, Part 2 - Equipment Requirements and Tests. For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as the Allen-Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity, publication 1770-4.1.
- Page 5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 6: Table Of Contents
AEC Product Receiving and Storage Responsibility ..5 Allen-Bradley Support ......6 Local Product Support . - Page 7 Power Supply Connector ......27 Chapter 3 Setup Chapter Objectives ....... 29 Setting the Rotary Switches .
- 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...
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Page 10: Preface
AEC (Absolute Encoder Converter). Manual If you do not have a basic understanding of the products listed below, contact your local Allen-Bradley representative for information on available training courses before using this product. • S Class Compact motion controller •... -
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. Only trained service personnel should open the electrical cabinet. -
Page 12: Contents Of This Manual
Component damage can result if ESD control procedures are not followed. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook. -
Page 13: Related Documentation
Preface Related Documentation The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local Allen-Bradley office or distributor. Read This Document Document Number Programming Allen-Bradley motion controller with GML GML Commander User Manual v4.01 GMLC-5.1... -
Page 14: Common Techniques Used In This Manual
Preface Common Techniques Used The following conventions are used throughout this manual: in this Manual • Bulleted lists such as this one provide information, not procedural steps. • Numbered lists provide sequential steps or hierarchical information. • Words that you type or select appear in bold. •... -
Page 15: Allen-Bradley Support
• warranty support • support service agreements Technical Product Assistance If you need to contact Allen-Bradley for technical assistance, please review the information in this manual first. Then call your local Allen-Bradley representative. For the quickest possible response, we recommend that you have the catalog numbers of your products available when you call. -
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. 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 17: Aec Features
• Independent +5 V DC, + 15 V DC, and +24 V DC transducer voltages. • Selectable for incremental strobes or internal 1ms timebase. • Interfaces directly to Allen-Bradley 1394 GMC System and S Class Compact motion controllers. • Normally open and normally closed status outputs for each axis. - 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.) (13.5 x 6.0 x 1.75) Product weight...
- Page 19 Overview Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 20: Installation & Hook-Up
(controller) are connected to it correctly. Complying with European The information contained in this document pertains to the Absolute Encoder Converter (AEC), an Allen-Bradley product. If the AEC is Union Directives installed within the European Union or EEA regions and has the CE mark, the following regulations apply. -
Page 21: Emc Directive
• The AEC must be mounted in an IP 54 rated metal enclosure on a metal panel. • All equipment must be bonded. • You must use the specified Allen-Bradley cables. • The AEC is designed to function without maintenance when operated in the environment specified in this manual. - Page 22 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 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 IMPORTANT looking directly at the mounted 1394) of the 1394 GMC System.
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Page 24: 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 25: 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 26: 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 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.
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Page 28: 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 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 Strobe + Yellow Strobe -...
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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
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 32 Installation & Hook-Up 23 SSI Connector Pin Numbering Wiring the connector for the wrong transducer power can ATTENTION result in improper operation or damage to the position transducer. Pins 1 through 3 are reserved for transducer power IMPORTANT output. 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.
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Page 33: 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 34 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 35: Analog Servo Command Pass Through (For Compact Only)
Installation & Hook-Up 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 seen with the AEC mounted in its normal position. -
Page 36: 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 37 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 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
16384 32768 65536 131072 262144 2097152 4194304 16777216 33554432 All Allen-Bradley 842A Encoders must have IMPORTANT Configuration Switch A set to E. Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 40: Configuration Switch B
Multi Binary Free Run Reserved for future use All Allen-Bradley 842A Encoders set for grey output IMPORTANT must have Configuration Switch B set to 0. All Allen-Bradley 842A Encoders set for binary output must have Configuration Switch B set to 4. -
Page 41: 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 42: Setting The Transducer Resolution
Setup 1. Select the Configure menu option from the opening GML 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. -
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
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 45: 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 46: 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 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
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. No Faults In this state, the AEC has detected no errors. The indication per axis is either flashing or solid GREEN. - Page 49 Fault Indication & Control Status Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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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 + 5 = Clock - 9 = Data + 4 = Data -... - Page 51 Operating Temperature 0 to 60 Storage Temperature -40 to 85 Humidity 95% non condensing @ 60 Supported Devices Manufacturer Model Allen-Bradley All series 842A Encoders Stegmann: AG661, AG626 Heidenhain: ROC424 & 417 BEI: MT40 Multi-Turn, BEI RAS25 Single Turn Temposonics III:...
- 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...
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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 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 ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 55 Specifications Publication 4100-5.2 - March 2000 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 56 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 57 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 58 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 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 60 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 SSI Connector,...
- 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...