Inovance GL20-255I User Manual
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Inovance GL20-255I User Manual

Inovance GL20-255I User Manual

2-channel encoder input module
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*PS00008916A00*

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Summary of Contents for Inovance GL20-255I

  • Page 1 *PS00008916A00*...
  • Page 3 Preface ■ Introduction The GL20‑2SSI series 2‑channel encoder input module can be used with GL20 series communication interface module such as GL20‑RTU‑ECT. This guide describes the product information, mechanical installation, electrical installation, fault diagnosis and programming examples of the product. ■...

  • Page 4: Revision History

    ■ Warranty Inovance provides warranty service within the warranty period (as specified in your order) for any fault or damage that is not caused by improper operation of the user. You will be charged for any repair work after the warranty period expires.
  • Page 5 Damage or secondary damage caused by force majeure (natural disaster, ● earthquake, and lightning strike) The maintenance fee is charged according to the latest Price List of Inovance. If otherwise agreed upon, the terms and conditions in the agreement shall prevail. For details, see the Product Warranty Card.

  • Page 6: Fundamental Safety Instructions

    4. Use this equipment according to the designated environment requirements. Damage caused by improper use is not covered by warranty. 5. Inovance shall take no responsibility for any personal injury or property damage caused by improper use. ■...

  • Page 7: Installation

    An emergency stop circuit, a protection circuit, a forward/reverse operation interlocked ● circuit, and a upper position limit and lower position limit interlocked circuit must be set in the external circuits of PLC to prevent damage to the machine. To ensure safe operation, for the output signals that may cause critical accidents, please ●...
  • Page 8 Prevent metal filings and wire ends from dropping into ventilation holes of the PLC ● during installation. Failure to comply may result in fire, fault and malfunction. Ensure there are no foreign matters on ventilation surface. Failure to comply may result ●...
  • Page 9 Safety Recommendations In the position where the operator directly touches the machinery part, for example, ● where a machinery tool is loaded/unloaded, or where a machine runs automatically, manually‑operated devices or similar must be installed independently of the PLC to start or stop the automatic operation of the system.

  • Page 10: Product Introduction

    1 Product Information Product Introduction The GL20‑2SSI 2‑channel encoder input module is located between the SSI absolute encoder and the controller, and serves to process the periodically sampled encoder values in the controller. It has the following features: Supports the standardization of SSI absolute encoder data frames (i.e. SSI data ●...
  • Page 11 Based on the above description of model number and nameplate, the relevant ordering data of this product is described in the following table. Description Applicable Model Model Product Code GL20 series 2‑channel encoder GL20 communication GL20‑2SSI 01440445 input module interface module ‑...
  • Page 12 Components ‑ ‑...
  • Page 13 Description Name ON: The module is in ● normal operation. Flashing quickly: The ● module is addressed successfully. Yellow Power / running Flashing slowly: The (POWER ● Signal green indicator ① module is powered on +RUN) Indicator but not addressed. OFF: The module is ●...

  • Page 14: Technical Specifications

    Technical Specifications ■ General Specifications Item Specification IP rating IP20 Dimensions (W x H x D) 12mm x 100 mm x 75 mm Weight Approx. 61g ■ Power Supply Specifications Specification Item Rated terminal input voltage 24 VDC (20.4 VDC to 28.8 VDC) Rated terminal input current Max.

  • Page 15: Interface Specifications

    ■ Interface Specifications Specification Item Number of channels Terminal type SSI output: 2, clock output (C+, C‑) ● Channel interface signal SSI input: 2, data input (D+, D‑) ● SSI signal voltage Output voltage 2 x 24 V 100 kHz ‑ 200 m 200 kHz ‑...

  • Page 16: Environmental Specifications

    Specification Item ON/OFF Reverse identification Parity check None/Odd/Even Environmental Specifications Item Specification Operating ‑20°C to 55°C temperature Ambient operating 10% to 90% RH (non‑condensing) humidity Operating No corrosive and flammable gas and no excessive conductive dust environment Storage ‑40°C to 70°C (<90% RH, non‑condensing) temperature Altitude ≤2000 m...

  • Page 17: Mounting Dimensions

    2 Mechanical Installation Mounting Dimensions ■ Module The mounting dimensions (in mm) are shown in the figure below. ■ Cable Connection ‑ ‑...

  • Page 18: Installation Method

    Installation Method ■ Installing Modules Side-by-Side The module is mounted onto a DIN rail in conformity with IEC 60715 (width: 35 mm, thickness: 1 mm). The dimensions (unit: mm) are shown below. When installed on a DIN rail other than the recommended one (especially the one whose thickness is not 1.0 mm), the product will not fit in place as the mounting hook does not work.
  • Page 19 ■ Installing Module onto DIN Rail 1. Align the module with the DIN rail and push the module in the direction indicated by the arrow until you hear a click, as shown below. 2. Make sure the DIN rail mounting hook of the module is locked. The locked and unlocked states of the mounting hook are shown below.

  • Page 20: Removing The Module

    To mount the end plate, hook the bottom of it to the bottom of the DIN rail, rotate the end plate to hook the top of it to the top of the DIN rail, and then tighten the screw to lock the end plate in place, ■...

  • Page 21: Cable Selection

    3 Electrical Installation Cable Selection The cable lug and cable diameter included in the following table are only for reference. Material Applicable Cross Sectional Suzhou Yuanli Name Area of the Cable Model Crimping Model Crimping Tool Tool E0308 0308 E0508 0508 Tubular 0.75...

  • Page 22: Terminal Definition

    Terminal Definition Left Indicator Left Signal Left Terminal Right Right Signal Right Terminal Indicator SSI0 SSI1 differential differential data positive data positive SSI0 D0‑ D1‑ SSI1 differential differential data negative data negative SSI0 SSI1 differential differential clock positive clock positive SSI0 C0‑...

  • Page 23: Terminal Wiring

    Left Indicator Left Signal Left Terminal Right Right Signal Right Terminal Indicator Protective Protective earthing earthing Power input Power input ‑ Terminal Wiring Note Wiring requirements Use the shielded twisted pair cable as the encoder cable; ● The PE terminal of the SSI module is recommended to be well grounded ●...
  • Page 24 4 Configuration Overview Before configuring the GL20‑2SSI module, it is necessary to understand the functions and principles. ■ SSI absolute encoder value detection The SSI absolute encoder uploads the encoder value in its data frame to the GL20‑ 2SSI module. The GL20‑2SSI module will initialize the transmission of the clock signal in the cycle rate while the GL20‑2SSI module processes the encoder value transmitted in synchronization with its cycle rate.
  • Page 25 Hexadecimal Binary Code Gray Code 0101 0111 0110 0101 0111 0100 1000 1100 1001 1101 1010 1111 1011 1110 1100 1010 1101 1011 1110 1001 1111 1000 When the encoding format of SSI absolute encoder is Gray code, if you choose to convert received data frames of the original SSI Gray code type to binary code, certain bits (error bit, parity bit, etc.) will affect the absolute encoder value and can potentially affect consecutive bits.
  • Page 26 need to be uploaded, you need to select variable mode and set the data bits that need to be uploaded and the most significant bit of valid data. When the SSI absolute encoder uses other number of bits, you need to use ●...
  • Page 27 Received data frame 27‑ S10 S9 ‑ ‑ ‑ ‑ ‑ Note S0 to S12 and M0 to M11 are single‑turn and multi‑turn data bits, and the rest of the bits can be set as stop bits, status bits, etc. Example 1: 13Bit encoder, without parity, select "Singleturn‑13Bit"...
  • Page 28 Received data frame Che‑ ckBit The last bit is the parity bit, please refer to "Parity Check" below for possible problems when uploading parity bit. Example 3: 24Bit encoder, no parity, no status bit. The configuration diagram is shown below, and the received data frame is shown in the table below. Received data frame 0: MSB …...
  • Page 29 When the data type of the encoder is 24Bit, the effective data bit is 24, i.e. the MSB is Example 4: 25Bit encoder, the last bit is parity bit, i.e., the effective data bit (MSB) is high 24Bit, the received data frame is shown in the table below. Received data frame 0: MSB …...

  • Page 30: Parity Check

    After receiving the data frame according to this configuration, it is necessary to parse the single‑ and multi‑turn data according to the specifications of the encoder. Other types of encoders can also be configured according to this example. For example, one frame of encoder data contains velocity, displacement, or acceleration, etc.
  • Page 31 ■ Frame interval setting You can configure the frame interval based on the sampling rate supported by the encoder, including 16 μs, 32 μs, 48 μs, 64 μs, 512 μs, 1024 μs. Here we take frame interval of 48 μs as an example: Different SSI absolute encoders have different frame interval requirements.
  • Page 32 For multi‑sampling, when the frame interval is set to 512 μs and 1024 μs, after the first frame of clock signal is sent, an additional frame of clock signal is sent at an interval of 100 μs. The received data are compared. If there is a difference, a fault code is reported.
  • Page 33 Method 2: In the left navigation pane, right‑click on ETHERCAT(EtherCAT ● Master SoftMotion) and select Add Device, then select GL20_RTU_ECT _ x.x. x.x in the popup dialog box and click Add Device. Method 3: In the left navigation pane, right‑click on ETHERCAT(EtherCAT ●...
  • Page 34 2. Add a GL20‑2SSI module. Method 1: In the left navigation pane, double‑click on EtherCAT Config, or in ● the Network Configuration pane, double‑click on the GL20‑RTU‑ECT icon to open the Hardware Configuration pane, then in the right In\Output Module List, double‑click on GL20_2SSI or drag the GL20_2SSI module and place it after the GL20‑RTU‑ECT module.
  • Page 35 Method 3: In the left navigation pane, right‑click on ETHERCAT(EtherCAT ● Master SoftMotion) and select Scan For Devices, then click Scan Devices and select the scanned GL20‑2SSI module, and finally click Copy all to project. 3. Configure channels of the GL20‑2SSI module. You can independently configure each channel of the module and set relevant parameters depending on the encoder.
  • Page 36 parameters. Parameter Description Value Option/Range Default Value Check Enable access Check this option to enable the Check ● Uncheck channel. ● Gray Coding mode Select the code mode according Gray ● Binary to encoder type. ● Disable MulSample It determines the validity of the Disable ●...
  • Page 37 Parameter Description Value Option/Range Default Value None Parity check If the assigned parity check is for None ● Odd check a 25‑bit encoder, 26 bits can be ● Even check read from the encoder. The bit ● after the least significant bit will be judged as the parity bit, and parity errors will be sent to the host in the form of a fault code.
  • Page 38 Frame Type is set to "Variable". 4. After successful compiling, download the project and run it. TwinCAT Configuration Prerequisite https://www.inovance. You can obtain XML file for the GL20‑RTU‑ECT module from Procedure 1. Copy the XML file to the TwinCAT installation directory: TwinCAT\3.1\Config\Io \EtherCAT.
  • Page 39 3. In the Solution Explorer pane, click I/O, right‑click on Devices and select Scan. 4. In the pop‑up dialog, select the network card corresponding to the network port of GL20‑RTU‑ECT module and click OK. 5. In the pop‑up dialog, click Yes and then Yes. ‑...
  • Page 40 Under Device 2 (EtherCAT), you can view the GL20‑RTU‑ECT and GL20‑SSI configuration information. 6. Configure GL20‑2SSI module parameters. Click Box 1 (GL20-RTU-ECT). On the right side, click CoE - Online tab, click "+" before the index "8000:0", double‑click the corresponding value in the Value column, and configure the GL20‑2SSI module parameters in the pop‑up dialog.
  • Page 41 Table 4–1 0x800x: Channel Configuration Index 0x8000: Channel Configuration Sub‑ Name Data type Access mode Mapping Default index SubIndex 000 USINT ‑ Chn_0 Enable and UINT 0x0401 (1025) BaudRate Chn_0 Frame Format UINT 0x0104 (260) Chn_0 Parity Check UINT 0x0000 (0) and Pulse interval Chn_0 Frame Length UINT...
  • Page 42 Index 0x8000: Channel Configuration Sub‑ Name Data type Access mode Mapping Default index Chn_1 Enable and UINT 0x0401 (1025) BaudRate Chn_1 Frame Format UINT 0x0104 (260) Chn_1 Parity Check UINT 0x0000 (0) and Pulse interval Chn_1 Frame Length UINT 0x1919 (25) and Data Length Chn_1 Reserve0 ‑...
  • Page 43 Table 4–3 Sub‑index 002 Description Bit0 Coding Mode 0: Gray code ● 1: Binary code ● Bit1‑2 Data Mode 0: Gray code ‑>binary code ● 1: Binary code ‑>Gray code ● 2: None ● Bit3‑7 Reserved Bit8‑9 Frame Type 0: SinglTurn‑13Bit ●...
  • Page 44 Description Bit8‑10 PulseTrans Interval 0: 1024 ● 1: 16 ● 2: 32 ● 3: 48 ● 4: 64 ● 5: 512 ● Bit11‑15 Reserved Table 4–5 Sub‑index 004 Description Bit 0‑7 Frame Size Bit8‑15 DataBit Size Note Subindex 007 to subindex 0010 are the same as subindex 001 to subindex 004. 7.

  • Page 45: Fault Diagnosis

    5 Fault Diagnosis When the ERR indicator of the module is ON, it indicates that the module encounters a fault. The module reports a fault code. You can get the fault code through the diagnostic data object dictionary value displayed on the "CoE Online" interface, as shown below.
  • Page 46 ■ Module Fault Code Fault Code Fault Description Solution 0x5003 External 24 V power failure Check the isolated power supply of the module ■ Module Channel Fault Code Fault Code Fault Description Solution 0x6030 Channel output 24V short‑ Check for short circuit in module or encoder circuit wiring.
  • Page 47 6 Appendix: Version Information You can get the firmware of GL20‑2SSI module and the firmware of communication interface module from Inovance technical support, and get XML file and InoProShop https://www.inovance.com from . The following table describes the version matching information.

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