USER`S MANUAL FOR PM368
Contents
1. Display mode DP lt 0 7 gt set Decimal Point position LZ lt 0 1 gt set Leading Zero suppression mode GT lt 5 10000 gt set Gate Time in milliseconds RM lt 0 1 gt set Retention Mode QUERYING VALUES AND SETTINGS OE Output raw unscaled Encoder position OA Output scaled Actual position OV Output Velocity QA Query All values SET AND RESET POSITION FUNCTIONS AP lt position gt set Actual Position to a value SR lt position gt Set Reset position to a value Wi lt value gt set Window ER Enable front panel Reset IR Inhibit front panel Reset PM368 Printed on 13 July 1999 PAGE Do o Co O 00 NNNN OO D OD Oo oD co coco oco PM368 HANDBOOK REV 1 0 PM368 REAR CONNECTOR PIN ASSIGNMENTS AND FUNCTIONS CONNECTOR DIN 41612 64 WAY ROWS A amp B Rear view LOGIC SUPPLY 24v nominal 10v min 40v max AUX 5V OUTPUT 600mA Max Second encoder RS422 At Second encoder RS422 A i p i p Second encoder RS422 Bt i p Second encoder RS422 B i p Second encoder TTL A Second encoder TTL B i p i p Second encoder A Output Second encoder B Output Second axis RESETOUT Second axis FPRESETEN o p Second axis EXTRESET i p i p RS232 Port2 Tx Transmit RS232 Port2 Rx Receive OV Common o p i p PM368 Printed on 13 July 1999 b a x x 2 5 FF FF F2. by the appropriate address to identify the axis for which the command is intended Where applicable e g setting of system parameters etc the command should then be followed by the desired value aXXnnn a address XX command nnn value if required Command strings should be terminated with a carriage return character ASCII OC hex Upper or lower case characters may be used for the command Spaces within the command line are ignored Replies Responses to commands are prefixed by the axis address number followed by and then either OK or an alpha numeric string depending on the command being responded to once the command has been accepted Each line terminates in carriage return OC and line feed OA Each response is terminated with a null character 00 If an error situation is created an error message appropriate to a mistake or conflicting instruction is sent Error messages have a after the See Error Messages p10 All commands with the exception of Control C and ESC are buffered so that a write ahead approach to programming may be used Commands are executed in consecutive order ALL SET UP PARAMETERS RELATING TO THE BEHAVIOUR OF THE DISPLAY WILL BE HELD IN THE BATTERY BACKED RAM ON POWER DOWN THEY WILL REMAIN AT THE PREVIOUSLY SET VALUES UNTIL ALTERED VIA THE RS 232 BUS PM368 Printed on 13 July 1999 6 PM368 HANDBOOK REV 1 0 PROGRAMMING THE UNIT N B Commands are buffered and will only b
3. F FF FF FF FF FF F FF FF F F F FF F KF x 3 4 6 1 1 1 1 1 Ea js N o JOS UM wUNHOR O NONNNNNNNN KE o JOS OT wWUNHOR FF F FF FF FF FF FF FF FF FF F FF F F FF F FF F F KF x N O Ww O x 31 Ww N First First First First First First First First First First First RS232 encoder RS422 A i p encoder RS422 A i p encoder RS422 B i p encoder RS422 B i p encoder encoder encoder encoder TTL A i p TTL B i p A Output B Output Axis RE SETOUT output axis FP RESETEN input axis EX TRESET input Both axes DIS POrt PBLANK input Tx Transmit o p RS232 Port 1 Rx Receive i p PM368 HANDBOOK REV 1 0 Input and output specifications Supply Current with 600mA taken from 5V output PM368 Supply 1200 1000 800 600 Current mA 400 200 Voltage V Dual l mA Single l mA Blank All signal inputs except RS232 and RS422 are TTL High state threshold is 1 5v Low state threshold is 0 6v Encoder TTL inputs are pulled up to 5v via 1KQ All other inputs are pulled up to 5v via 3K3Q All signal outputs except RS232 are open collectors Max high level output voltage 30V Max low level output current 30mA A MSB143 motherboard may be used
4. Mclennan Servo Supplies Ltd Menon VY AN AN Men GF User Manual For Incremental Encoder Display PM368 HANDBOOK REV 1 0 USER S MANUAL FOR PM368 Mclennan servo supplies Itd Yorktown Industrial Estate 22 Doman Road Camberley Surrey GU15 3DF Telephone Camberley 01276 26146 FAX Camberley 01276 23452 Email sales mclennan co uk PM368 HANDBOOK REV 1 0 The manufacturer reserves the right to update the data used in this manual in line with product development without prior notice THIS MANUAL COVERS ROM VERSION 1 0 Mclennan Servo Supplies Ltd PM368 HANDBOOK REV 1 0 CONTENTS PM368 HANDBOOK REV 1 0 DESCRIPTION The PM368 is an RS232 interfaced Eurocard format intelligent incremental encoder display It is available in two forms The PM368S single axis display The PM368D dual axis display The PM368 will continuously monitor the position of an encoder and display the position on a front panel mounted seven digit display This position may be scaled into working units It is also possible to display the current velocity of the encoder The display is designed to act as a standard 1 to 1 display in its default condition but may be configured for functions that are more useful All set up parameters are sent using commands in ASCII format sent down the RS232 data path in a similar format to PM300 series controllers These parameters are stored in th
5. computer terminal TX Transmit output RX Receive input OV RS232 PORT2 RS232 comms to other units daisy chain TX Transmit output RX Receive input OV PM368 Printed on 13 July 1999 15 PM368 HANDBOOK REV 1 0 Basic connections for MSB143 using PM368S single axis display ENCODER with complimentary outputs ABS8 ABSO ABS9 ABS1 9 9 ABS10 ABS2 INC2A INC1A ABS11 ABS3 INC2A INC1A ABS12 ABS4 INC2B INC1B ABS13 ABS5 O IRES ENCODER Slov TTL outputs INC2B INC1B ABS14 ABS6 TTL2A TTLIA ABS15 ABS7 TTL2B TTL1B 5V 5V OV OV IOUT2A IOUT1A IOUT2B IOUT1B OV an encoder monitor OV OV RESOUT2 RESOUT1 LATCH2 LATCH1 OV OV RS232PORT1 DLOG2 DLOG1 FPREN2 FPRESEN1 EXTRES2 EXTRES1 OV OV ov RS232PORT2 o 3 D 2 3 D S il JES i O e S IS 8 DES IES IE O IES IES i AES L OS MSB143 RS232 connection to PC RS 232 connection to subsequent units PM368 Printed on 13 July 1999
6. e executed after completion of the previous command GENERAL COMMANDS ID IDENTIFY The command ID returns the software version The string is of the form PM368S single axis VER 1 0 or PM368D dual axis VER 1 0 HE HELP Displays a memory jogging list of commands available and their function DV DEFAULT VALUES Set all constants to default values I E 1 1 scaling position display etc SCALING FACTORS The incoming encoder pulses are multiplied by the numerator and divided by the denominator to give a scaled number These may be set to give a display in working units e g millimetres degrees etc EN ENCODER NUMERATOR Range 1 32767 Default 1 Set the numerator for the scaling factor to the value specified ED ENCODER DENOMINATOR Range 1 32767 Default 1 Set the denominator for the scaling factor to the value specified DISPLAY FUNCTIONS PD POSITION DISPLAY Set display mode to display the scaled position of the encoder VD VELOCITY DISPLAY Set display mode to display the scaled velocity of the encoder DD DIFFERENCE DISPLAY Dual Axis Version Only Set display mode to display the difference between the scaled positions of this axis and the other axis of this module BD BLANK DISPLAY Set display mode to blank display All data is still accessible via RS232 interrogation PM368 Printed on 13 July 1999 7 PM368 HANDBOOK REV 1 0 DP DECIMAL POINT POSITION Range 0 7 Default 0 Select decimal point position P t
7. e on board battery backed RAM and persist after power down Commands may be sent from and replies received by a terminal or computer A number of the displays or controllers may be daisy chained on a single RS232 port since each command is prefixed with a number defining the axis to be addressed It will simply pass on a command preceded by a number other than its own Each axis display has a RESET button below it This button must be pressed for at least one second It will only function if it is enabled by both hardware and software The reset position may be set to a position other than its default of zero If the number to be displayed exceeds the scope of the seven digits of the display then it will display HHHHHHHH for a number too big or LLLLLLLL for a number too negative The displays may also be put into RETENTION MODE or remember mode so that the positions are retained after power down These positions will flash to show that they may not be accurate if the axis has moved whilst the power was off They may be accepted as valid positions by a reset either by the front panel pushbutton or by external reset After this has been done the flashing will cease Subsequent resets will perform their usual function PM368 Printed on 13 July 1999 1 PM368 HANDBOOK REV 1 0 ENCODERS The encoder should be of the quadrature type All of the transitions on both tracks of the encoder are counted giving an overall count of four times
8. panel reset button by software PM368 Printed on 13 July 1999 10 PM368 HANDBOOK REV 1 0 ERROR MESSAGES In the normal course of programming the PM368 the device responds to a standard command input by replying with an OK answer to the programmer once the command has been accepted see previous page for string format Alternatively if the command is to query a value or constant the PM368 simply gives the numeric answer However the user may encounter error messages appropriate to a mistake or conflicting instruction the meaning of which is usually self explanatory but are explained below 200 ILLEGAL COMMAND Command not recognised by the PM368 Self explanatory but often seen when miss keyed commands are sent 200 OUT OF RANGE Command numeric value is higher or lower than allowed See command syntax section 200 ZERO NOT VALID The numeric value of zero or if omitted is not valid 200 MUST BE DIVISIBLE BY 5 The numeric value attempted was not a multiple of 5 PM368 Printed on 13 July 1999 11 PM368 HANDBOOK REV 1 0 SUMMARY TABLE OF COMMANDS GENERAL COMMANDS ID IDentify the type and software version HE return HElp page DV set parameters to Default Values SCALING FACTORS EN lt value gt set Encoder Numerator ED value gt set Encoder Denominator DISPLAY FUNCTIONS PD set to Positional Display mode VD set to Velocity Display mode DD set to Difference Display mode BD set to Blank
9. s NOS ee Be OE ae HO woe Om A OM ae AG bo Be PGS Mo SB 2a cd Position zero default displays no decimal points NOTE This is purely a displaying function and does not affect the displayed number Please adjust scaling factors to give required number LZ LEADING ZERO SUPPRESSION Range 0 or 1 Default 0 Set leading zero suppression mode LZO Leading zero suppression ON E G 37 84 LZ1 Leading zero suppression OFF E G 00037 84 GT GATE TIME Range 5 10000 Default 5 multiples of 5 only Set the gate time between updating the display in milliseconds This value is also used for the averaging time for the velocity display and may be set higher to give a more accurate but less frequently updated display RM RETENTION MODE Range 0 or 1 Default O Set retention remember mode RM1 Retention mode ON RMO Retention mode OFF PM368 Printed on 13 July 1999 8 PM368 HANDBOOK REV 1 0 QUERYING VALUES AND SETTINGS OE OUTPUT ENCODER POSITION Interrogate and return the current unscaled encoder position This would normally only be used when setting up a system OA OUTPUT ACTUAL POSITION Interrogate and return the current scaled encoder position Decimal points are not given OV OUTPUT VELOCITY Interrogate and return the current velocity of the encoder This is averaged over the gate time set for this axis QA QUERY ALL Interrogate and return all current set up parameters etc in the following format 201 Encoder Po
10. set position when this input is low There is also the following general input DISPBLANK All displays of the unit are blanked when this input is low For each axis there is the following open collector output RESETOUT This output is pulled low if the displayed number is not within the window of the reset position PM368 Printed on 13 July 1999 2 PM368 HANDBOOK REV 1 0 RS 232 INTERFACE CONNECTIONS The PM368 module accepts instructions from the RS232 serial data input N B Transmitted characters are not echoed back to the terminal The RS232 is configured in a three wire format No handshaking is used For PM368 pin number identification please refer to connector diagram Connections to three wire DTE Data Terminal Equipment De TE PM368 Tx Rx Port 1 Rx Tx Port 1 Signal Ground Ov Port 1 Connections for PM300 series multi axis applications Port 1 connections are as shown above further PM300 series displays or controllers are then daisy chained as shown here Connections with three wire DTE PM3xx controller or display Next PM3xx controller or display Tx POET 2 Rx Port 1 Rx Port 2 Tx Port 1 Ov Port 2 Ov Port 1 PM368 Printed on 13 July 1999 3 PM368 HANDBOOK REV 1 0 DIL SWITCH On the PM368 board will be found an 8 row dual in line switch this designates the axis address number of the device and protocol of the RS232 data bus The functions of the eigh
11. sition 0 Scaled Position 0 Encoder Numerator 1 Encoder Denominator 1 Reset Position 0 Wi ndow 0 Gate Time 5 Front Panel Reset Enabled Display Mode Position Retention Mode On NOTE that the Front Panel Reset only shows if it is software enabled and does not take account if the external hardware enable is active PM368 Printed on 13 July 1999 9 PM368 HANDBOOK REV 1 0 SET AND RESET POSITION FUNCTIONS AP ACTUAL POSITION Range 0 2147483647 Set the current actual scaled position to the value given This does not affect the raw encoder position SR SET RESET POSITION Range 0 2147483647 Default 0 Set the reset position to the value given When a future reset occurs by either from the front panel reset button external reset input or by a power up reset the position will be set to this value WI WINDOW Range 0 2147483647 Default 0 Set the window for the RESETOUT output This output will be pulled low if the displayed number is more than this window away from the Reset Position Because this acts on the displayed number it will work for a velocity or difference display This output will therefore only be updated as often as the gate time for that axis ER ENABLE FRONT PANEL RESET Default Enabled Enable the front panel reset button by software The external FPRESETEN input signal must also be enabled for the button to function IR INHIBIT FRONT PANEL RESET Default Enabled Disable the front
12. t switches are defined in the tables below N B In these tables 1 ON 0 OFF SWITCH NO RS 232 MODE SWITCH NUMBER AXIS ADDRESS 6 5 DATA FORMAT 4 3 2 1 0 0 7 BITS EVEN PARITY 0 0 0 0 200 0 al 7 BITS ODD PARITY 0 0 0 1 201 1 0 7 BITS ZERO PARITY 0 0 1 0 202 1 1 8 BITS NO PARITY 0 0 1 1 203 0 1 0 0 204 SWITCH NO RS 232 MODE 0 1 0 1 205 8 7 BAUD RATE 0 1 1 0 206 0 0 9600 0 1 1 1 207 0 I 4800 1 0 0 0 208 0 1200 1 0 0 1 209 1 1 300 1 0 1 0 210 1 0 1 211 1 0 0 212 1 1 0 1 213 1 1 0 214 1 1 1 1 215 Example When the switch is set as shown here Switch No 8 7 6 eS i 3 2 1 State 0 0 1 1 0 0 1 1 the PM368 would respond to commands prefixed by the number 203 and can be addressed at a baud rate of 9600 The data format would be 8 data bits NO parity and 1 stop bit PM368 Printed on 13 July 1999 4 PM368 HANDBOOK REV 1 0 NOTE The second axis of the PM368D display is addressed as one more than the number of the first axis 1 E the above number 1 PM368 Printed on 13 July 1999 5 PM368 HANDBOOK REV 1 0 COMMAND WORD SYNTAX Most commands are two letters the function of each being described below Each command is preceded
13. the number of pulses per revolution of each track see below Nominal count J 2 3 4 pulses rev Channel A Channel B 4 x resolution Be BE An Do COST SL BOP PONET Dee EA 5106 The unit has inputs for either TTL output or sinking open collector output or the more preferable RS422 complementary output type An on board switch selects between the two sets of inputs for each axis SW2 for the first axis SW3 for the second axis The regulated 5 volt output may be used to power the encoder The leads to the encoder should be screened with the screen grounded There are also open collector encoder outputs for connection to controllers etc If the sense of direction of the encoder is wrong it may be reversed by either swapping the A amp B signals or by simply setting the scaling factor to a negative value Ranges of suitable encoders are available for use with the PM368 displays Please contact the Mclennan Servo Supplies sales office for more information OTHER INPUTS AND OUTPUTS The PM368 has a number of inputs that are pulled high internally to 5V They may accept TTL signals or may be pulled low to OV by a switch open collector driver or an opto isolator For each axis there are the following inputs FPRESETEN The front panel reset button is not enabled unless this input is low EXTRESET The display is immediately reset to the re
14. to facilitate connection PM368 Printed on 13 July 1999 PM368 HANDBOOK REV 1 0 MSB143 Motherboard The MSB 143 is a convenient way of making external connections to the PM368 Display module The unit is designed for fitting to the rear bars of a 19 in Euro rack and incorporates the mating connector for the PM368 display The MSB 143 enables all connections to be made via plug in screw terminal blocks with the exception of the RS232 connections which are made via 3 way MOLEX type plugs This motherboard has been designed for use with both the PM368 incremental encoder displays and the PM367 absolute encoder display For this reason some of the terminals are marked with two legends the same terminal being used for different functions on the two types of display Only the relevant legends are shown below Terminals are provided for INC1A Complimentary RS422 encoder inputs INC1A INC1B INC1B TTL1A TTL encoder inputs TTL1B 5V Encoder supply output 5V OV IOUT1A Open collector quadrature outputs IOUT1B OV RESOUT1 Open collector output for when within its OV window of its reset position RESETOUT FPRESEN1 Front panel reset enable input EXTRESET1 External reset input OV The above connections are for the first axis There is also an equivalent set of terminals for the second axis of a PM368D DISPBLNK Display blanking input OV VLL Power supply inputs OVLL RS232 PORT1 RS232 serial comms to host
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