Rockwell-automation 1771-DE Absolute Encoder Module User Manual Manuale Utente

UserManualAbsolute EncoderModule(Cat. No. 1771-DE)AllenĆBradley

Introducing the Absolute Encoder ModuleChapter 22Ć5Figure 2.3Terminal Identification123456789101112131415161718192021123456789101112131415161718192021

SpecificationsIntroducing the Absolute Encoder ModuleChapter 22Ć6CAUTION: Electrostatic discharge can degrade performance ordamage the module. Handle

Introducing the Absolute Encoder ModuleChapter 22Ć7New Position Throughput Time200 usEnvironmental ConditionsOperating Temperature0 to 60o C (32 to 1

Chapter 33Ć1Configuring and Installing Your ModuleThis chapter tells you how to:select module features by setting configuration plugspower module inpu

Configuring and Installing Your ModuleChapter 33Ć2Figure 3.1Configuration Plug Locations and Settings (Left Board)E13Left Board13304RightE14E15E1E2E3E

Configuring and Installing Your ModuleChapter 33Ć3Figure 3.2Configuration Plug Location and Settings (Right Board)E1Right Board13305DownConfigurationC

Configuring and Installing Your ModuleChapter 33Ć4encoders. This is the same as selecting “high true” or “low true” inputsfrom the Gray encoder.Confi

Configuring and Installing Your ModuleChapter 33Ć5I/O chassis module slot. They also help to align the module with thebackplane connector.Each module

Configuring and Installing Your ModuleChapter 33Ć6maximum of 300mA.For the best system noise immunity, we recommend use of a separate,linear regulated

Configuring and Installing Your ModuleChapter 33Ć7Output Power SupplyTo power the eight outputs (Figure 3.5), connect at least one +5 to +24VDC supply

Using This Manual 1Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter Objectives 1Ć1. . . . . . . . . . . . . . . . . . . . .

Configuring and Installing Your ModuleChapter 33Ć8We recommend the following Belden cable or its equivalent to connectthe encoder to the module (maxi

Configuring and Installing Your ModuleChapter 33Ć9Figure 3.6SingleĆended Output Encoder Connection Diagram12345678910111213141516171819202112345678910

Configuring and Installing Your ModuleChapter 33Ć10Figure 3.7Differential Output Encoder Connection Diagram1234567891011121314151617181920211234567891

Configuring and Installing Your ModuleChapter 33Ć11Now that you’ve determined the power requirements, keying, and wiringfor your module, you can use t

Configuring and Installing Your ModuleChapter 33Ć12This chapter told you how to select features and set configuration plugs onthe absolute encoder mod

Chapter 44Ć1Module/Processor CommunicationThis chapter describes file parameters for the block-transfer data files youuse to write data to and read da

Module/Processor CommunicationChapter 44Ć2outputs 4 and 5 (and the module is controlling all eight outputs), you mustsend 20 words to the module; you

Module/Processor CommunicationChapter 44Ć3Control WordsEach control word is associated with two outputs. The lower byte ofcontrol word 1 is associate

Module/Processor CommunicationChapter 44Ć4Thewrite-data throughput time is the time between the end of ablock-transfer-write operation and the module

Module/Processor CommunicationChapter 44Ć5Bit 7 is the loss-of-input-power bit. It is set when input power islost; it is reset when power is restored

Table of ContentsiiOffset Feature 5Ć1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Offset Feature 5Ć1. . . . . . . . . . . .

Module/Processor CommunicationChapter 44Ć6the OE bitOutput 0 is turned on when the shaft position is greater than or equal to 330 or when the shaft po

Module/Processor CommunicationChapter 44Ć7When you specify the default block length (00), the followingconsiderations apply for PLC-2 family processor

Chapter 55Ć1Offset FeatureOffset is a new feature of the Absolute Encoder Module (cat. no.1771-DE, revision B). Revision A modules do not have this f

Offset ProgrammingChapter 55Ć2In this example, the 0 machine position is “ahead” of the 0 encoderposition. Depending on which equation you use (your

Offset ProgrammingChapter 55Ć3Format of Offset Words517 16 15 14 13 12 11 10 7 6 4 3 2 1 0SOFFSET VALUENO. OF ENCODER POSITIONSThe offset words are th

Offset ProgrammingChapter 55Ć4Figure 5.1Format of BlockĆtransferĆwrite Data with Offset17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00OE ZT<Word #1

Offset ProgrammingChapter 55Ć5 Bit 7 is the loss-of-input-power bit. It is set when input power is lost; itis reset when power is restored and bit 6

Offset ProgrammingChapter 55Ć6The default block lengths (00) for block-transfer instructions are 20block-transfer-write words and two block-transfer-r

Offset ProgrammingChapter 55Ć7ENBLOCK XFER READDATA ADDR:MODULE ADDR:BLOCK LENGTH:FILE:0040220020200 - 0201DNENFILE TO FILE MOVECOUNTER ADDR:POSITION:

Offset ProgrammingChapter 55Ć8Rung 1200/06 and 200/04 are returned in the read operation and latch077/00. When 077/00 is latched, the module toggles

Chapter 11Ć1Using This ManualRead this chapter to familiarize yourself with this manual. It tells youhow to use the manual properly and efficiently.T

Chapter 66Ć1TroubleshootingIn this chapter you will read how to troubleshoot your absolute encodermodule using the ACTIVE (GREEN) and FAULT (red) indi

TroubleshootingChapter 66Ć2 The block lengths of read- and write-block-transfer instructions shouldbe equal (PLC-2 family processors); or if they are

AppendixAAĆ1BlockĆtransfer TimingThe time required for a block-transfer-read or -write operation for PLC-2family processors depends on: the system sc

Appendix AAĆ2 Program Scan (PS) = (5 ms/1K words) x (number of programwords) Processor I/O Scan (PIO) = (0.5 ms/rack number) x (declared racknumbers

Appendix AAĆ3Figure A.1PLCĆ2/30 Remote System ExamplePLC-2/301772-SD21771AS1771DERack 11771AS1771DERack 21771AS1771DERack 31771AS1771DERack 4108121ĆIW

Appendix AAĆ4 Number of block-transfer words = 2 words (read) or 20 words(write)1. Calculate the system values. Processor Scan Time (PS) = (5ms/1K w

Appendix AAĆ51. Calculate the system values that are determined by the systemconfiguration. Program Scan (PS) = (5 ms/1K words) x (number of programw

Appendix AAĆ6Figure A.2PLCĆ2/30 Local System ExamplePLC–2/301771AL1771DERack 11771AL1771DERack 31771AL1771DERack 41771AL1771DERack 210813-ISolution:

Appendix AAĆ7 Processor I/O Scan Time (PIO) = (0.5 ms/rack number) x (4 racknumbers) = 2 ms Number of Words Transferred (W) = 2 (read) or 20 (write)

Appendix AAĆ8The same equation is used for read and write transfer times.2. Calculate the worst case system time (ST) between twoblock-transfer-read o

Using This ManualChapter 11Ć2If you do not know how to do either of these, read the user’s manual ofyour processor. Refer to our Publications Index (

Appendix AAĆ9 I/O chassis entries in the rack list for the channel I/O channels on the scanner that contain bloc-transfer modules block-transfer mo

Appendix AAĆ102. Determine the nominal block-transfer time.3. Compute the approximate scanner time for each block-transferchannel.4. Compute the encod

Appendix AAĆ11Description Number Ch1 Ch2 Ch3 Ch4Active I/O channels3BlockĆtransfer I/O channels2BlockĆtransfer modules on each I/OblockĆtransfer chann

Appendix AAĆ12 = 476 + 36 = 512 ms CT2 = Not a block-transfer channelCT3 = [68] x [1] + 1 x 9 = 68 + 9 = 77 msCT4

AppendixBBĆ1Application ConsiderationsThe absolute encoder module can control outputs within a one-countresolution (turn an output on at position 065

Appendix BBĆ2In the first sample (Figure B.1), we assume that the encoder shaft isturning close to the maximum allowable shaft sped according to the a

Appendix BBĆ3Figure B.2Encoder Operating at Typical Speed (60 RPM)400(Shaft Position)Encoder LSB(Bit 0)New PositionThroughputTimeOutput Bit(000) (00

Appendix BBĆ4The second waveform represents the new position throughput time of themodule. The third waveform represents an output programmed to turn

Appendix BBĆ5WhenControlling:New PositionThroughput Time is:8 outputs200 us6 outputs154 us4 outputs111 us2 outputs 71 usYou must take into account the

Appendix BBĆ6 During the next scan the module reads position 032 and turns the outputon.In this case you could program presets of 030 and 045 with th

Chapter 22Ć1Introducing the Absolute Encoder ModuleThis chapter describes: example applications of the absolute encoder module functions of the modu

AppendixCCĆ1BlockĆtransfer Ladder Diagram ExamplesFigure C.1 illustrates the rungs you need to initiate a bidirectionalblock-transfer operation using

Appendix CCĆ2Data Address: 0050/051This is the first possible address in the timer/counter area of the data table.Use the first available timer/coun

Appendix CCĆ3Figure C.2Example ReadĆand WriteĆdata File (PLCĆ2 Family Processors)HEXADECIMAL DATA MONITORFILE TO FILE MOVEPOSITION: 001COUNTER ADDR:

Appendix CCĆ4Thus, the current encoder position is between 045 and 089 (words 4 and5), which are the presets for output 1.Figure C.3 shows you how to

Appendix CCĆ5Use a file-to-file move to buffer the read data. Use B016:0001 (status)and B016:0002 (position) for all data comparisons.Rack: 002The m

Appendix CCĆ6Figure C.4Example ReadĆand WriteĆdata Files (PLCĆ3 Processors)RADIX = %H START = WB015:0000WORD # 0123456700000 0000 0200 069

Appendix CCĆ7Figure C.5Example ReadĆonly BlockĆtransfer Program for PLCĆ2 Family ProcessorsENBLOCK XFER READDATA ADDR:MODULE ADDR:BLOCK LENGTH:FILE:00

Appendix CCĆ8Rung 1200/06 and 200/4 are returned in the read operation and latch077/00. When 077/00 is latched, the module toggles between aread oper

AppendixDDĆ1Bit and Word Descriptions of Block-transfer DataControl Word for Outputs 0 and 1Bit No.Title Description17 OEOutput enable bit - set this

Appendix DDĆ2Preset WordsWordNo.Description 2Preset value A for output 0 3Preset value B for output 0 4Preset value A for output 1 5Preset value B fo

Introducing the Absolute Encoder ModuleChapter 22Ć2You can use the absolute encoder module with any Allen-Bradleyprogrammable controller that uses blo

Appendix DDĆ3Word No.DescriptionBit No.06 Write-data-valid bit - bit is set at power upand when the processor changes fromprogram to run mode; it is r

Appendix DDĆ4If non-BCDdigit is in word:And the binaryequivalent is:And the Hexerror code is:Then it ispreset:19 7A E 111020 7B F 1111

AppendixEEĆ1 Connection Diagrams for AllenĆBradley EncodersFigures E.1 through Figure E.3 show you how to connect severalAllen-Bradley encoders to the

Appendix EEĆ2Figure E.1Connection Diagram for AllenĆBradley Encoder, Bulletin 845A (BCD)12345678910111213141516171819202112345678910111213141516171819

Appendix EEĆ3Follow these guidelines: Set configuration plug E15 on the absolute encoder module to the rightposition for increasing position. Signal

Appendix EEĆ4 Follow these guidelines: The encoder counts up in a counterclockwise direction if you make pinH an open connection or if you connect

Appendix EEĆ5Figure E.3Connection Diagram for AllenĆBradley Encoder, Bulletin 845C (BCD)12345678910111213141516171819202112345678910111213141516171819

AppendixFFĆ1GlossaryThis glossary defines terms pertaining to Allen–Bradley AbsoluteEncoder Modules. For abroader glossary of programmable controller

Appendix FFĆ2the appropriate response occurring at the output terminals; it depends onthe number of outputs the module is controllingNEW WRITE–DATA TH

Symbols**Empty**, 2Ć1, 2Ć2, 3Ć9, DĆ1AApplication Considerations, BĆ1BBlock-tranfer-write Data, 4Ć1Block-transfer TimingPLC-2/15, AĆ7PLC-

Introducing the Absolute Encoder ModuleChapter 22Ć3The next four sections give a description and specifications of theabsolute encoder module.Status I

Publication 1771-6.5.32 January 1986AllenĆBradley, a Rockwell Automation Business, has been helping its customers improveproductivity and quality for

Introducing the Absolute Encoder ModuleChapter 22Ć4Figure 2.2Fuse LocationsF1 F2F3 F4F5 F6F7 F8Right Board13303Terminal IdentificationFigure 2.3 ident