1561 manual - Advanced Micro Controls Inc
Contents
1. Four places KEYWAY 0 1885 4 79 0 106 2 69 I 0 1895 4 81 0 108 2 74 DEEP X410 25 4 _ Painted Body L wae SQ X 1 0 25 4 Anodized Flange 0 70 17 8 max a 40 needed NM MS3102E20 27P Connector 29 85 Dimensions in millimeters Figure 2 4 HTT 20 x Outline Drawing Transducer Connector Pinout All of the AMCI transducers that are compatible with the 1561 module have the same connector Figure 2 5 is the connector pinout to the industry standard wire designations Note that the HTT 400 180 has screw termi nals and a conduit connection It has resolver designations printed next to its connection terminals FINE RESOLVER R1 RED WHT COARSE RESOLVER RED WHT R2 BLK WHT 2 BLK WHT S3 BLACK 4 BLUE S1 RED 2 YELLOW S2 YELLOW 1 RED S4 BLUE 3 BLACK Figure 2 5 Transducer Connector Pinout Autotech Transducer Installation Supported Transducers The 1561 module directly supports Autotech SAC RL210 G128 transducers The Autotech SAC RL210 G64 transducers not supported by AMCI Refer to Autotech literature for dimensional drawings and mounting recommendations When using Autotech transducers only 10 bit resolution 1 024 counts per turn is supported If you need higher resolution in an Autotech package AMCI offers the HTT 400 180 which i2. FAUL i 1561 Like an absolute optical encoder a resolver is a sensor that converts an angle into electrical signals However this is where the similarities end The resolver is an analog device that does not contain sensitive compo 8 nents such as optics and electronics that may be damaged by severe ronmental conditions Also the position resolution of a resolver is limited only the electronics that decode its signals When attached to a 1561 module the resolver gives an absolute position value with up to twenty bits of position resolution over one hundred eighty turns using a twelve conductor cable An absolute optical encoder would require a Po cable with at least twenty two wires to accomplish the same resolution A 1561 application generally falls into one of two categories P Rotary Application The resolver position directly correlates to an ee oh angular position on the machine One example is monitoring a ea p rotary table by attaching multi turn transducer to the drive motor and using it to monitor and control such functions as motor braking to stop the table at its stations gt Linear Application The resolver position correlates to a physical Figure 1 1 1561 Module length One example is monitoring the position of a load on either a track or ball screw such as a press shut height monitor In this ty
3. 1561 Miulti Turn Resolver Interface Modules ADVANCED MICRO CONTROLS INC 5 2 lt LNGMPASS gt AMERICAS PARTNER GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of different applica tions Therefore the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application While efforts have been made to provide accurate information within this manual AMCI assumes no responsibility for the application or the completeness of the information contained herein UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS INC BE RESPONSIBLE OR LIABLE FOR ANY DAMAGES OR LOSSES INCLUDING INDIRECT OR CONSEQUENTIAL DAM AGES OR LOSSES ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS MANUAL OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN Throughout this manual the following two notices are used to highlight important points WARNING WARNINGS tell you when people may be hurt or equipment may be damaged if the procedure is not followed properly CAUTION le ta tell you when equipment may be damaged if the procedure is not followed No patent liability is assumed by with respect to use of information circuits equipment or software described in this manual The informatio
4. END gt 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amci com ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 92 LEADERS IN ADVANCED CONTROL PRODUCTS
5. 53 CS1 CS2 FS2 FS3 Shields CR2 FR2 CR1 FR1 nlo aa 6 Transducer Connector AMCI Part MS 20 Bendix MS3106A20 27S C Course Resolver F Fine Resolver Figure 2 3 CTT x Wiring Diagram 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com yd INSTALLATION Transducer Specifications HTT 20 HTT 400 425 amp HTT425 Motor Mount HTT425 T Transducers Transducers Shaft Diameter 0 625 Shaft Diameter 0 250 or 10mm Shaft Loading Radial 400 Ibs max Shaft Loading Radial 40 Ibs max Axial 200 16 max Axial 20 lbs max Starting Torque 8 oz in 25 C Starting Torque 1 5 oz in 25 2 2 Moment of Inertia 1 25x 10 oz in sec Moment of Inertia 6 25x 10 Enclosure HTT 20 400 NEMA 4 Enclosure HTT425 NEMA 4X When properly installed Environmental All Transducers Operating Temperature Shock Vibration 20 to 125 C 50G s for 11 milliseconds 5 to 2000 Hz 20 G s Table 2 3 Transducer Specifications Transducer Mounting resolver based transducers are designed to operate in the industrial environment and therefore require little attention However there are some general guidelines that should be observed to ensure long life gt Limit transducer shaft loading
6. damage the 1561 module or PLC The earth ground connection on the MS style connectors is The earth ground connection on the screw terminal transducers is the green screw ADVANCED MICRO CONTROLS INC _ BACKPLANE PROGRAMMING A 1561 module communicates with the SLC processor through the input and output image tables The input image table is used to transmit Status Position and Tachometer data to the processor The output image table is used to setup the 1561 as well as preset the position value and clear latched transducer faults This chapter details the data format of the input and output image tables and how to program the 1561 Data Addressing Data address are defined in the following I X n Input Image Table O X n Output Image Table Where X is the slot number of the 1561 n is the word number in the data block When referring to a specific bit in word the characters bb will be appended to the file address where bb is the bit address Programming Cycle Programming changes are written to the module with a Programming Cycle All programmable parameters can be changed and the Position value preset with a single Programming Cycle Programming Cycles are controlled with the Transmit Bit and Acknowledge Bit 1 Write the new programming data into the output image table with the Transmit Bit reset This step insures that the correct data is in the output
7. if you are using a new 1561 module to replace an older one or building a new machine based on a design that used an older module Rest assured that AMCI took backward compatibility issues into account when designing this upgrade Modules built on series firmware 6 and later are backwards compatible with older modules out of the box When shipped from the factory all of the parameters are set to their default values which makes the newer 1561 s behave exactly as the older ones All backplane programming of the new features use bits and words that were previously reserved If you followed AMCI s suggestion and made all of these reserved bits zero in your old ladder logic and data your program will work without error The only reason to change your program and data is to program the new features 19 option An option was available on certain older 1561 modules that made them compatible with transducers from Autotech Controls This option was denoted by adding 19 to the end of the part number With the release of series E version 6 all 1561 modules can be programmed to directly support AMCI or Autotech transduc ers Consequently the 7 19 option is being phased out If you are replacing a module with 7 19 option you can now order a standard product and have the same functionality Series 1500 Family Members Table 1 1 below shows the six members of the Series 1500 family of modules Only the 1561 is covered by
8. to the following maximums Radial Load Axial Load All 0 625 Shafts 100 Ibs 445 N 50 Ibs 222 4 N All other Shafts 30165 133 15 Ibs 66 7 N Table 2 4 Transducer Bearing Loads Minimize shaft misalignment when direct coupling shafts Even small misalignments produce large loading effects on front bearings It is recommended that you use a flexible coupler whenever possible Transducer Outline Drawings Outline drawings for most of our transducers are available on our website hitp www amci com The outline drawing of the HTT 20 x transducers is also available on the following page of this manual If you are not using the standard HTT 20 x transducer and need the outline drawing check our website first If you cannot find it there contact AMCI and we will fax you the appropriate information 14 ADVANCED MICRO CONTROLS INC INSTALLATION 2 Transducer Outline Drawings continued HTT 20 x Outline Drawing 3 000 76 20 2 000 50 80 gt 0 500 12 70 tt 1 000 0 375 953 4 00 101 60 25 40 0 500 12 70 0 150 3 81 je B D 1 25 r 31 8 2 000 1 000 50 80 25 40 1 1815 30 010 1 1807 29 2 4 375 807 29 990 111 13 F 0 6247 15 867 0 6237 15 842 1 4 20 UNC 2B 0 50 12 7 min depth
9. 100 or 2 180 See Figures 1 2B and 1 2C After 100 or 180 turns the electrical zeros of the resolvers are realigned and the multi turn cycle begins again 4 N fo coarse N fo FINE N l coaRsE N FINE coarse N Mechcanical Zero After One Turn After Two Turns Figure 1 2 Resolver Alignment in Multi turn Transducers The fine resolver yields the absolute position within the turn directly Using a proprietary algorithm the mod ule determines the number of turns completed by the difference in positions of the two resolvers The abso lute multi turn position is then calculated as number of turns completed counts per turn fine resolver position The 1 000 and 1 800 turn transducers have a 10 1 gear ratio between the input shaft and the resolvers There fore they can encode ten times the number of turns but at a tenth of the resolution 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki INTRODUCTION Other Compatible Transducers In addition to AMCI transducers the 1561 now directly support Autotech multi turn transducers The Auto tech models supported are All SAC RL210 G128 Transducers Size 40 NEMA 13 Autotech also manufactures a SAC RL210 G64 transducer which is not supported by AMCI If your project is a new installation or you can budget the cost of replacing the transducer we strongly sug gest usin
10. CKPLANE PROGRAMMING Programming Example continued Ladder Logic 1561_EXAMPLE RSS LAD 2 Total Rungs in File 4 Internal bit B3 0 0 must be set to trigger the 1561 module s programming cycle When this bit is set and the 1561 module s Acknowledge bit is not set copy the programming data to the output image table Note the Transmit bit is not set in the programming data Set to Program 1561 1561 module 1561 module output module Acknowledge bit image table data B3 0 1 1 0000 J E 0 15 Source N7 10 1561 Dest 0 1 0 Length 8 When internal bit B3 0 0 is set and the 1561 module s Acknowledge bit is not set set the 1561 module s Transmit bit This initiates a Programming Cycle The module only acts on the data in the output image table on the 0 to 1 transition of this bit When the 1561 module sets the Acknowledge bit this rung resets the Transmit Bit The Acknowledge Bit will be reset by the module before the start of the next scan and the Programming Cycle will be complete Set to Program 1561 1561 module 1561 module Transmit module Acknowledge bit bit B3 0 O 1 0001 J 34 _ 0 15 15 1561 1561 When both internal bit B3 0 0 and the 1561 module s Acknowledge bit are set reset bit B3 0 0 Set to Program 1561 1561 module Set to Program 1561 module Acknowledge bit module B3 0 B3 0 0002 J E 4 0 15 0 1561
11. E Software rev 6 This bit must remain reset when programming module with a serial number below 59 730 Set this bit to program the Preset Value parameter to the value stored in words 5 and 6 The Preset Value uses the Multi Word Format as described on page 18 Note that programming the Preset Value does not change the position count To change the position to your Preset Value set the Apply Preset Value bit O X 0 00 before initiating a Pro gramming Cycle Program Count Direction and Transducer Fault Latch 0 03 This parameter is only available on CDir TFLtch 15615 with serial numbers above 59 730 Firmware rev E Software rev 6 This bit must remain reset when programming a module with a serial number below 59 730 Set this bit to pro gram the Count Direction parameter to the value specified by the CDir bit 0 04 and the Trans ducer Fault Latch parameter to the value specified by the TFLtch bit O X 0 05 When this bit is reset the two parameters are not programmed and the CDir and TFLtch bits must be reset Count Direction 0 04 This parameter is only available on 1561 s with serial numbers above 59 730 Firmware rev E Software rev 6 This bit must remain reset when programming a mod ule with a serial number below 59 730 This bit is only acted upon when the PgmCdFI bit 0 03 is set If the PgmCdFI bit is reset this bit must also be reset When the PgmCdFI bit O X 0 03 is
12. NCED MICRO CONTROLS INC INSTALLATION yd Transducer Cable Installation Use the table below to determine the correct cable and connectors for your application Cables that have been assembled and tested are available from AMCI under the given part numbers If you are making your own cables cable and connectors can be ordered from AMCI Module AMCI Part Belden Cable Module Conn Transducer Conn MS 20 1 Table 2 2 Transducer Cable Numbers NOTE 1 Resolvers are low voltage low power devices If you are using A B guidelines for cabling installation treat the transducer cable as a Category 2 cable It can be installed in conduit along with other low power cabling such as communication cables and low power ac dc I O lines It cannot be installed in conduit with ac power lines or high power ac dc I O lines Refer to the Allen Bradley Automation Wiring and Grounding Guidelines Publication num ber 1770 4 1 for more information 2 The shields of the transducer cable must be grounded at the module only When installing the cable treat the shield as a conductor Do not connect the shield to ground at any junc tion box or the transducer These precautions will minimize the possibility of ground loops that could damage the module or SLC Transducer Cable Wiring Diagram CTT x Wiring Diagram 1561 Module Connector ge PELDEN 9731 Cable AMCI Part MS 8 Phoenix MSTB2 5 8 ST 5 08 17 57 077 FS4 FS1 CS4
13. X 0 00 to I X 0 08 Power Requirements 11 Status Bits I X 0 11 to I X 0 14 21 Installing the Module 11 Acknowledge Bit 0 15 21 Module ID Code 11 Programming Example 22 Status LED S 12 Ladd r 23 20 Gear Drive Plymouth Ind Park Terryville 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com TABLE OF CONTENTS NOTES 2 ADVANCED MICRO CONTROLS INC O ABOUT THIS MANUAL It is strongly recommended that you read the following manual It was first written for the release of hardware series E firmware version 6 which introduced many new features into the 1561 module Backwards compatible out of the box with older versions of this module the new fea tures are easily enabled over the backplane If there are any unanswered questions after reading this manual call the factory An applications engineer will be available to assist you For additional information our SLC modules as well as the rest of AMCI s products check out our website at www amci com NOTE gt Firmware software rev 6 was released with serial number 59 730 If your 1561 has a serial number below 59 730 you can still use this manual as long as your are aware of three items 1 All new features introduced with hardware series E are not a
14. ale Count Preset Value Count Direction Transducer Fault Latch Program Storage EEPROM Memory Minimum 100 000 write cycles Position Update Time 400 microseconds Position Resolution 100 180 turn Transducers Programmable to 4 096 counts per turn 1 000 1 800 turn Transducers Programmable to 409 6 counts per turn Autotech Transducers Programmable to 1 024 counts per turn Tachometer Resolution and Range 1 RPM over 0 to 3 750 RPM range Updated every 32 milliseconds DC Supply Voltage from Backplane 0 090A max 5Vdc nominal 0 055A max 24Vdc nominal 0 160A max 24Vdc under short circuit conditions Environmental Conditions Operating Temperature 0 to 60 C Relative Humidity 5 to 95 w o condensation Storage Temperature 40 to 85 Module ID Code 3514 Reserves 8 Input and 8 Output Registers Number of registers scanned can be set using SPIOGA Configuration Registers Used 4 Input 7 Output gt ADVANCED MICRO CONTROLS INC _______ INTRODUCTION Overview The Series 1561 module is an Allen Bradley SLC 500 I O compliant card that converts resolver signals from an absolute dual resolver multi turn transducer to digital position and tachometer data that is reported over the backplane Status information is also reported The 1561 eliminates the separate resolver decoder box PLC input card and associated wiring needed to bring resolver data into a SLC
15. aulty module FLASHING CLEARABLE TRANSDUCER FAULT Only appearing when the Transducer Fault Latch is enabled this LED pat tern indicates that there is a latched transducer fault that can be cleared with a Clear Errors command from the backplane When the Transducer Fault Latch is disabled which it is by default the transducer fault clears itself and this display will not occur A transducer fault of this type is most often caused by a burst of electrical noise an intermittent connection or a mis wired transducer cable MODULE OK The module and transducer are operating properly without faults Table 2 1 Status LED s Transducer Input Connector The Transducer Input Connector has eight contacts The mating connector is not supplied with the module It comes as part of an AMCI pre assembled transducer cable it can be ordered as a separate item The part number for the mating connector is MS 8 It is a Phoenix Contact connector part number MSTB2 5 8 ST 5 08 order number 17 57 07 7 Figure 2 2 shows the connector pin out to industry standard wire designations gH 4 gt Course Resolver 751 1 gt F Fine Resolver 6H CS4 gt R1 R2 Reference Winding 51 2 CS3 51 53 COS Winding 4H 661 CS2 52 gt 52 54 SIN Winding 3 H 2 Shields 25 CR2 FR2 152 CR1 FRI Figure 2 2 Transducer Input Connector 12 ADVA
16. d to program the 1561 Word 0 contains programming bits as well as the Transmit Bit The other data words contain the actual data being sent to the module gt 151 Word 0 2 ke 12 11 10 09 08 07 06 05 04 03 02 01 00 Bit or word must 13 2 523 21s P S equal zero for all Transducer Type modules Range 100 180 1 000 1 800 128 PgmTSet ApyPst Word 1 Bit or word must equal zero if the modules hardware Number of Turns See Table 3 1 for valid ranges 5 below 59 730 Upper Word Full Scale Count Word 3 PP Lower Word Full Scale Count Word 4 See Table 3 1 for valid range Upper Word Preset Value Word 5 W Lower Word Preset Value ord 6 See Table 3 1 for valid range Word 7 Reserved Must equal 0000 Figure 3 1 Output Image Table Data Format Apply Preset 0 00 ApyPst Apply Preset 0 00 Set this bit to preset the Position data to the programmed Preset Value When this bit is reset the Position value is left unchanged Applying the Preset Value is the last action taken by the module during a Programming Cycle so you can program a new Preset Value and then apply it in one programming cycle CAUTION Every time you apply a Preset Value the module calculates the position offset needed to bring the position to the Preset Valu
17. ducers 15 Chapter 1 Introduction Autotech Transducer Wiring 16 OVET VIEW 5 Chapter 3 Backplane Programming New Feature S 5 Data Addressing 1 17 Backwards Compatibility 6 Programming Cycle 17 5 10 OPtlOM 6 Guidelines for Programming an Older Module 17 Series 1500 Family Members 6 Multi Word Format 222 20 22 18 Compatible Transducers 7 Output Image Table 18 Other Compatible Transducers 8 Apply Preset Bit O X 0 00 18 Programmable Parameters 8 Programming Bits Transducer Type 8 O X 0 01 to 0 05 19 Number of Turns 9 Command Bits Full Scale Count 9 O X 0 13 and 0 14 19 Count Direction 10 Transmit Bit 0 15 20 Transducer Fault Latch 10 Ranges and Factory Preset Value 10 Default Values 20 Backplane Programming 10 Input Image Table 20 Programming 1 10 Position and Tachometer Data 20 Chapter 2 Installation oon Error Bits I
18. e NOTE When configuring the slot you can enter the SPIOGA Configuration menu and reduce the number of input and output words scanned by the processor This will significantly decrease the access time for the module Set the number of input words to 4 and the number of output words to 7 20 Gear Drive Plymouth Ind Park Terryville CT 06786 11 Tel 860 585 1254 Fax 860 584 1973 http www amci com yd INSTALLATION Status LED s As shown in figure 2 1 the front panel has two Status LED s RUN and FAULT Once power is applied these two LED s indicate the operating status of the module Table 2 1 shows the patterns that may appear on the LED s and their meaning RUN LED OFF MODULE FAULT The parameters stored in the EEPROM are corrupt The fault is cleared by setting the Clear Module Fault bit in the output image table and initiating a Programming Cycle as described in Chapter 3 If the error clears the parameters are set to their default values If the error still exists the module must be returned for repair NON CLEARABLE TRANSDUCER FAULT This LED pattern indicates that there is a transducer fault that the module cannot clear There are six major causes of this fault FAULT LED COMMENT gt Broken transducer cable gt Non compatible transducer gt Improper wiring of the transducer cable gt Improper transducer cable installation gt Faulty transducer gt F
19. e and stores this offset in EEPROM memory The EEPROM on the 1561 modules is guaranteed for 100 000 writes before writing to it will cause it to fail Therefore continuously presetting the position should be avoided If your application requires you to continuously apply the Preset Value consider calculat ing and applying the required position offset in your ladder logic program 18 ADVANCED MICRO CONTROLS INC BACKPLANE PROGRAMMING Output Image Table continued Programming Bits O X 0 01 to O X 0 05 Programming Bits O X 0 01 and O X 0 02 control when the programming data in output words O X 1 through O X 6 is acted upon If a bit is reset when a Programming Cycle is initiated the data values in the corresponding words are ignored Likewise the PgmCdFl bit O X 0 03 controls when the state of the Count Direction bit CDir O X 0 04 and the Transducer Fault Latch bit TFLtch 0 X 0 05 is used to program the Tachometer Response PgmTSet Program Transducer Setup 0 01 Set this bit to program the Transducer Type Number of Turns PgmPV and Full Scale Count parameters in words one through four These three parameters are pro grammed as a group and cannot be programmed separately All values are in binary and the Full Scale Count parameter uses the Multi Word Format as described on page 18 Program Preset Value O X 0 02 This parameter is only available on 1561 s with serial numbers above 59 730 Firmware rev
20. fault Preset Value is zero gt The Preset Value range is 0 to Full Scale Count 1 gt Programming the Transducer Type Number of Turns Full Scale Count resets the Preset Value to zero and resets any offset introduced by an Apply Preset command Backplane Programming A 1561 module is programmed by writing data to it through the output image table Changes to the bits that program the modules parameters are not acted upon until you initiate a Programming Cycle in your ladder logic Programming Cycle A Programming cycle consists of six steps and is controlled by the Transmit Bit in the output image table and the Acknowledge Bit in the input image table 1 Write the new programming data into the output image table with the Transmit Bit reset This step insures that the correct data is in the output image table before the Programming Cycle begins 2 Set the Transmit bit A Programming Cycle is initiated when this bit makes a 0 1 transition 3 Once the 1561 is done with the programming data it will set any necessary error bits and the Acknowledge Bit in the input image table 4 Once you see that the Acknowledge Bit is set check for any errors The error bits are only valid when the Acknowledge Bit is set 5 Respond to any errors and reset the Transmit Bit 6 The module responds by resetting the Acknowledge Bit The Programming Cycle is complete ADVANCED MICRO CONTROLS INC ___ INSTALLATION Power Re
21. g AMCI transducers is the only company in the marketplace that designs and manufactures the resolvers used in its products Our transducers and modules are designed to work together and when specified and installed properly will work for years to come You select between AMCI and Autotech transducers over the backplane from the processor The module then sets the reference voltage according to your selection When using Autotech transducers only 10 bit resolu tion 1 024 counts per turn is supported If you require a higher resolution in an Autotech style package AMCI offers the HTT 400 180 which is a direct bolt in replacement for the Autotech RL210 AMCI strongly suggests using the HTT 400 180 transducer instead of the Autotech RL210 in all new installations NOTE gt Due to differences construction AMCI does not support installations that use transducer cables supplied by Autotech Controls When using Autotech transducers you must use Belden 9731 cable See Transducer Cable Installation on page 13 and Autotech Transducer Wiring on page 16 for information on wiring Autotech transducers The remainder of this chapter introduces the programmable parameters of the module It also introduces backplane programming concepts that you will use to configure the module Programmable Parameters You configure your 1561 module by setting the values of its programmable parameters These parameters are stored in the modules nonvolat
22. ile memory Therefore you do not have to configure the module after every power up The nonvolatile memory is an EEPROM that is rated for approximately 100 000 write cycles Transducer Type This parameter specifies the type of transducer attached to the input channel The module needs this informa tion in order to combine the positions of the two resolver inside the transducer into one multi turn position gt The default value is 100 This value is for all AMCI 100 turn transducers gt The Transducer can be programmed to 100 180 1 000 1 800 and 128 gt Set the Transducer Type to 128 to support Autotech 128 turn RL210 transducers The 1561 will auto matically set the transducer s reference voltage to the proper value gt The Transducer Type Number of Turns and Full Scale Count parameters are programmed as a group All three values must be correct before any of them are accepted gt Programming the Transducer Type resets the Preset Value parameter to its default value of zero ADVANCED MICRO CONTROLS INC INTRODUCTION Programmable Parameters continued Number of Turns The maximum number of turns a transducer can encode is fixed by the gearing inside of it However the 1561 have the ability to divide this maximum number of turns into smaller multi turn cycles The module does this without loss of absolute position within the smaller cycle An example of this feature is shown in figure 1 3 It shows h
23. image table before the Programming Cycle begins 2 Set the Transmit bit A Programming Cycle is initiated when this bit makes a 0 1 transition 3 Once the 1561 is done with the programming data it will set any necessary error bits and the Acknowledge Bit in the input image table 4 Check for errors once the Acknowledge bit makes 0 1 transition The error bits are only valid while the Acknowledge Bit is set 5 Respond to any errors and reset the Transmit Bit 6 The module responds by resetting the Acknowledge Bit The Programming Cycle is complete If the module encounters an error it will set the appropriate error bit in Input Word 0 and stop processing the data All of your data must be correct before the 1561 accepts any changes The EEPROM used to store parameter values and the internal offset that is calculated D CAUTION every time you preset the position is guaranteed for approximately 100 000 write cycles before writing to it will cause it to fail Therefore continuously presetting the position or writing new parameters should be avoided If your application requires you to contin uously preset the position consider calculating the required position offset in you ladder logic program Guidelines for Programming an Older Module If your module has a serial number below 59 730 then the new features that were incorporated into the mod ule with the release of hardware rev E are not available on your module You can use
24. l Scale Count The Full Scale Count parameter specifies the number of counts over the programmed number of turns The range of values for the Full Scale Count parameter is dependent on the values of the Transducer Type and Number of Turns parameters For AMCI Transducers Default value is Number of Turns 4 096 if Transducer Type equals 100 180 Default value is Number of Turns 409 6 if Transducer Type equals 1 000 1 800 Range is 2 to Default Value For Autotech Transducers Transducer Type equals 128 Default value is Number of Turns parameter 1 024 Range is 2 to Default Value The Transducer Type Number of Turns and Full Scale Count parameters are programmed as a group All three values must be correct before any of them are accepted gt Programming the Full Scale Count resets the Preset Value parameter to its default value of zero 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amci com ki INTRODUCTION Programmable Parameters continued Count Direction This parameter sets the direction of transducer shaft rotation that increases the position count Zf the trans ducer is wired as specified in this manual and the count direction is set to positive the count will increase with clockwise rotation looking at the shaft If the count direction is set to negative the position count will increase with counter clockwise rotati
25. list of this parameter s range of values If the programmed value seems to be correct you may have pro grammed the Transducer Type parameter incorrectly For example 90 is valid for the Number of Turns parameter when using a 180 turn transducer If you incorrectly program the Transducer Type parameter to 100 instead of 180 the module will report an error with the Number of Turns parameter even though the problem is with the Transducer Type parameter Full Scale Count Error X 0 02 Set when you attempt to program the Full Scale Count parameter to value outside of its range See table 3 1 Transducer Setup Parameter Values on page 20 for a list of this parameter s range of values If the programmed value seems to be correct you may have pro grammed the Number of Turns parameter incorrectly Another source of error is not converting the value into its multi word format correctly See Multi Word Format on page 18 for a description of the format Preset Value Error 0 03 Set when you attempt to program the Preset Value parameter to a value out side of its range of 0 to Full Scale Count 1 If the programmed value seems to be correct you may have programmed the Full Scale Count parameter incorrectly Another source of error is not convert ing the value into its multi word format correctly See Multi Word Format on page 18 for a descrip tion of the format SPIOGA SPIOGA Error 0 06 Set when there is a communication
26. n contained within this manual is subject to change without notice Standard Warranty ADVANCED MICRO CONTROLS INC warrants that all equipment manufactured by it will be free from defects under normal use in materials and workmanship for a period of 1 year Within this warranty period shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping charges prepaid within one year from date of invoice and which upon examina tion proves to be defective in material or workmanship and not caused by accident misuse neglect alteration improper installation or improper testing The provisions of the STANDARD WARRANTY are the sole obligations of AMCI and excludes all other warranties expressed or implied In no event shall be liable for incidental or consequential damages for delay in performance of this warranty Returns Policy All equipment being returned to for repair or replacement regardless of warranty status must have a Return Merchandise Authorization number issued by AMCI Call 860 585 1254 with the model number and serial number if applicable along with a description of the problem A RMA number will be issued Equipment must be shipped to with transportation charges prepaid Title and risk of loss or damage remains with the customer until shipment is received by AMCI 24 Hour Technical Support Number 24 Hour tech
27. nical support is available on this product For technical support call 860 583 7271 Your call will be answered by the factory during regular business hours Monday through Friday 5PM EST During non business hours an automated system will ask you to enter the telephone number you can be reached at Please remember to include your area code The system will page one of two engineers on call Please have your product model number and a description of the problem ready before you call ADVANCED MICRO CONTROLS INC __ TABLE OF CONTENTS General Information Chapter 2 Installation continued Important User Information Inside Cover Transducer Input Connector 12 Standard Warranty Inside Cover Transducer Cable Installation 13 Returns Policy Inside Cover Transducer Cable Wiring Diagram 13 24 Hour Technical Support Number Inside Cover CTT x Wiring Diagram 1561 13 About This Manual Transducer Specifications 14 Tintroduction 3 Transducer Mounting Revision Record 3 Transducer Outline Drawings 14 Revision History 22 1 3 HTT 20 x Outline Drawing 15 i Transducer Connector Pinout 15 Specifications Autotech Transducer Installation 15 Specifications 4 Supported Trans
28. on gt The default Count Direction Value is positive NOTE gt It is also possible to reverse the count direction by reversing four wires in the transducer cable If you are installing this module as a replacement for an older module or on a machine that is a copy installation of a previous system you will probably not need to set this parameter Once the machine is setup you can easily change this parameter if the position is increasing in the wrong direction Transducer Fault Latch Normally a transducer fault is cleared by the module as soon as a working transducer is properly attached If you have a situation where electrical noise or an intermittent wiring problem is causing spurious transducer faults you may never detect them because the module can detect and clear transducer faults much faster than the processor scans the module If you suspect that these transient faults can or are occurring you must enable the Transducer Fault Latch to reliably capture them With the latch enabled the module will report a transducer fault until the processor issues a Clear Errors command gt The default Transducer Fault Latch value is disabled Preset Value The Preset Value parameter allows you to set the value of the position data to any count within its range Pro gramming the Preset Value does not change the position data it only sets the value that the position will change to when an Apply Preset Command is initiated gt The de
29. ow the 180 turn mechanical cycle of an HTT 20 180 can be broken down into three electronic cycles of sixty turns each The 180 turn cycle could also be broken down into sixty cycles of three turns each HTT 20 180 180 Turn Cycle Mechanical fixed by internal gearing Electronic Electronic Electronic 4 60 Turn Cycle gt 60 Turn Cycle gt 60 Turn Figure 1 3 Programmable Number of Turns Example The range of values for the Number of Turns parameter is dependent on the value of the Transducer Type parameter gt When Transducer Type 100 Number of Turns is programmable to 1 2 4 5 10 20 25 50 or 100 gt When Transducer 180 Number of Turns is programmable to 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 or 180 gt When Transducer Type 1 000 Number of Turns is programmable to 10 20 40 50 100 200 250 500 or 1 000 gt When Transducer Type 1 800 Number of Turns is programmable to 10 20 30 40 50 60 90 100 120 150 180 200 300 360 450 600 900 or 1 800 gt When Transducer Type 128 Number of Turns is programmable to 1 2 4 8 16 32 64 or 128 gt The Transducer Type Number of Turns and Full Scale Count parameters are programmed as a group All three values must be correct before any of them are accepted gt Programming the Number of Turns resets the Preset Value parameter to its default value of zero Ful
30. ows the format of the input image table data that is sent from the 1561 to the processor Word 0 contains Status and Error bits as well as the Acknowledge Bit The other three data words contain Position and Tachometer data 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 0 wodo lo 5 01215130 5131518 lt E 2 5 Bit will always equal zero if the Upper Word Position Data modules hardware Word 1 rev is less than E Serial number is Lower Word Position Data below 59 730 Word 2 Combined Value of 0 to Full Scale Count 1 Tachometer Data Word 3 0 to 3 750 RPM max Words 4 5 6 7 Not used Will equal 0000 Figure 3 2 Input Image Table Data Format Position and Tachometer Data Both the position and tachometer values are transmitted in binary The position data is transmitted in the Multi Word Format described on page 18 ADVANCED MICRO CONTROLS INC _ 20 BACKPLANE PROGRAMMING Input Image Table continued Programming Error Bits 0 00 to 0 08 TTypErr NTrnErr FSCErr PVErr Transducer Type Error X 0 00 Set when you attempt to program the Transducer Type parameter to any value other than 100 180 1 000 1 800 or 128 Number of Turns Error 0 01 Set when you attempt to program the Number of Turns parameter to value outside of its range See table 3 1 Transducer Setup Parameter Values on page 20 for a
31. pe of application linear position is translated to rotary position through either a wheel or gearing The transducer completes several rota tions in order to travel the entire distance New Features The hardware series E firmware revision 6 release of the 1561 modules adds several new features to the prod uct These features are gt gt Preset Value Allows you to preset the position value to any count within its range Previous versions of the module only allowed you to reset the position to zero Count Direction Allows you to set the direction of rotation that produces increasing counts With pre vious versions of the module you had to change the transducer cable wiring to reverse count direction Transducer Fault Latch Allows you to decide if a transducer fault should clear itself when possible or latch the fault and stay in the fault condition until it is cleared from the backplane Previous versions of the modules always self cleared the fault Autotech RL210 Compatibility You can program the Transducer Type parameter to a value of 128 When you do this the module automatically adjusts the reference voltage to the transducer to make the module directly compatible with the Autotech RL210 128 turn transducers 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amci com k INTRODUCTION Backwards Compatibility With these new features you may have some concerns
32. quirements The 1561 draws its power from the rack s 5 and 24Vdc supplies The maximum current draw the 5Vdc supply is 95 mA 0 475 Under normal conditions the maximum current draw on the 24Vdc sup ply is 55 mA 1 32 W When the Reference Voltage is shorted to ground the maximum current draw on the 24Vdc supply changes to 160mA 3 84W while the power draw on the 5Vdc supply remains the same Add these power requirements to the requirements of all the other modules in the rack when sizing the power sup ply Installing the Module Remove system power before removing or installing any module in an I O rack Failure to observe this warning may result in damage to the module s circuitry and or undesired Status LEDs operation with possible injury to personnel Shows Module status You can install the 1561 module in any free slot including the pro cessor Slot of an expanded local rack as long as the power require ments are met 1 Align the module s circuit board with the top and bottom card guides in the rack 2 Gently slide the module into the rack until the top and bottom latches secure the module in place To remove the module depress the top and bottom latches and slide the module out of the rack Transducer Input Module ID Code Connector All 1561 modules covered by this manual have an ID Code of Figure 2 1 1561 Front Panel 3514 This reserves 8 Input and 8 Output words for the modul
33. rols Inc Manuals at are constantly evolving entities Your questions and comments on this manual and the information it contains are both welcomed and necessary if this manual is to be improved Please direct all comments to Technical Documentation 20 Gear Drive Terryville CT 06786 or fax us at 360 584 1973 You can also e mail your questions and comments to techsupport amci com Revision Record This manual 940 05041 supersedes 940 05040 and was first released 7 6 2000 Its release corresponds with the release of hardware series E firmware version 6 This hardware firmware change added many features that are documented in this manual revision Revision History 940 05040 7 21 98 Added parameter range table and updated illustration artwork 1560 594M Original cataloged manual 20 Gear Drive Plymouth Ind Park Terryville CT 06786 3 Tel 860 585 1254 Fax 860 584 1973 http www amci com SPECIFICATIONS Module Location Any SLC 500 I O slot including the proces sor slot of an extended rack Occupies one slot Position Transducer Default of AMCI multi turn brushless resolver transducer Can be programmed to use Autotech RL210 128 turn transducers Transducer Input Isolation 1500 Vac through isolation transformers Data Available to Processor Transducer Position Velocity and Fault Diagnostic data Programmable Parameters Transducer Type Number of Turns Full Sc
34. s a direct bolt in replacement for the Autotech RL210 strongly suggests using the HTT 400 180 transducer instead of the Autotech RL210 in all new installations 20 Gear Drive Plymouth Ind Park Terryville CT 06786 15 Tel 860 585 1254 Fax 860 584 1973 http www amci com P INSTALLATION Autotech Transducer Installation continued Autotech Transducer Wiring Table 2 5 is a wiring table for all supported Autotech transducers The table cross references resolver designa tions AMCI wire color Autotech terminal and connector pin outs and Transducer Input Connector pin out NOTE 5 1 Autotech CBL 10T22 cable is not supported Belden 9731 or exact equivalent must be used 2 Cable drawings for connecting Autotech transducers are available If you want a cable drawing instead of using the table contact AMCI A drawing will be faxed to you upon request Resolver 9731 SAC RL210 SAC RL210 1561 Designation Wire Color Terminals MS Connector Connector 1 2 1 2 3 5 4 6 7 9 8 xls Olmos NJ AI NN BID NI RK NIe 1 Fine Resolver Coarse Resolver 2 Denotes black wire of black and colored wire pair Table 2 5 Autotech Transducer Wiring CAUTION Do not under any circumstances connect the shields of transducer cable to the earth ground connection of the transducer This connection could form a ground loop that may
35. s error between the processor and the mod Msglgn CmdErr ules SPIOGA backplane interface IC Message Ignored 0 07 Set under the following conditions 1 Your ladder logic attempts to program the module while an EEPROM error exists 2 No Command bits are set when a Programming Cycle was initiated Command bits are in output word zero O X 0 00 05 3 If one of the Programming Error bits in input word zero is set I X 0 00 03 the error must be cleared by re programming the incorrect parameter or using the Clear Errors bit O X 0 13 This bit is set if you attempt to program a different parameter before correcting the error on the first Command Error X 0 08 Set under the following conditions 1 One or more of the reserved bits in output word zero 0 06 12 are set when a Programming Cycle is initiated 2 The Count Direction bit 0 04 or the Transducer Fault Latch bit O X 0 05 is set and the Program Count Direction and Transducer Fault Latch bit O X 0 03 is reset when a Programming Cycle is initiated Status Bits 1 0 12 and I X 0 14 ModFlt TranFit Module Fault 0 12 Set when there is EEPROM memory error or other hardware fault If this bit is set initiate a Programming Cycle with the Clear Module Fault bit O X 0 14 set If the error does not clear contact for assistance If it does clear all parameters will be reset to their default values Transducer Faul
36. set and this bit is reset the Count Direction parameter will be set to its positive value When the bit O X 0 03 is set and this bit is set the Count Direction parameter will be set to its negative value Transducer Fault Latch 0 05 This parameter is only available on 1561 s with serial numbers above 59 730 Firmware rev E Software rev 6 This bit must remain reset when programming a module with a serial number below 59 730 This bit is only acted upon when the PgmCdFl bit O X 0 03 is set If the PgmCdFl bit is reset this bit must also be reset When the PgmCdFI bit O X 0 03 is set and this bit is reset the Transducer Fault Latch will be disabled When the PgmCdFI bit O X 0 03 is set and this bit is set the transducer Fault Latch will be enabled Command Bits 0 13 and O X 0 14 ClrErrs Clear Errors 0 13 Set this bit to clear programming errors and latched transducer faults If a transducer fault still exists after a Programming Cycle that had this bit set the transducer fault is non clearable and user intervention is required to fix the fault Clear Module Fault O X 0 14 Set this bit to clear a module fault If the module fault still exists after Programming Cycle that had this bit set contact for assistance See the Inside Front Cover for information on contacting If the fault does clear the module reset all parameters back to their factory defaults Se
37. t X 0 14 Set when there is a non clearable transducer fault on channel lor when a transient fault has occurred and the Transducer Fault Latch is enabled Acknowledge Bit 0 15 Acknowledge Bit 0 15 Set by the module to acknowledge programming data from the processor Programming Error Bits in input word zero I X 0 00 03 are valid only while this bit is set Status Bits I X 0 12 14 are always valid The module reset the Acknowledge Bit after the processor resets the Transmit Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 21 Tel 860 585 1254 Fax 860 584 1973 http www amci com BACKPLANE PROGRAMMING Programming Example Data Table Values Sample data table values are given in figure 3 3 All values are shown using the decimal radix Offset 1 2 3 4 5 N7 0 0 0 0 0 0 0 7 10 8239 180 90 368 640 123 N7 20 0 0 0 0 0 0 Figure 3 3 Sample Program Data Values N7 10 is the Command Word The value of 8 239 202Fh issues the Clear Errors command and programs all of the modules parameters N7 11 16 contain the new parameter values that are shown in table 3 2 Parameter Location Count Direction N7 10 04 Positive Transducer Fault N7 10 05 Enabled Transducer Type N7 11 180 turn Number of Turns N7 12 90 Full Scale Count N7 13 14 368 640 Preset Value N7 15 16 123 456 Table 3 2 Sample Program Parameter Values 22 ADVANCED MICRO CONTROLS INC BA
38. the programming instructions in this chapter as long as you adhere to the following guidelines 1 Programming bits in the output image table associated with the new features must remain reset during a Programming Cycle If any of these bits are set the module responds by setting the Message Ignored bit and does not process the programming data 2 The maximum Full Scale Count value is 1 024 Number of Turns in all cases 3 The bit in the output image table that are used to preset the position 0 00 can still be used However the position can only be reset to zero because the older modules do not support the Preset Value parameter 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amci com BACKPLANE PROGRAMMING Multti Word Format The Full Scale Count and Preset Value parameters exceed 32 767 Therefore these two parameters require two words to hold their data The lower three digits of the value ones tens and hundreds are stored in the second word The thousands digits are stored in the first word For example a Preset Value of 123 456 would be stored as 123 in the first word and 456 in the second word The position data can also exceed 32 767 It is transmitted to the processor using the same two word format as the Full Scale Count and Preset Value parameters Output Image Table Figure 3 1 shows the format of the output image table data that is use
39. this manual The comments in the table gives the name of the appropriate manual for our other Series 1500 modules These manuals are available at our website www amci com for free download in PDF format Model Transducer Inputs Comments 1531 Single turn 10 bit 1 024 count position resolution See Series 1500 Resolver Interface Modules User Manual 1532 Single turn 10 bit 1 024 count position resolution See Series 1500 Resolver Interface Modules User Manual 1541 Single turn 13 bit 8 192 count position resolution See Series 1500 Resolver Interface Modules User Manual 1542 Single turn 13 bit 8 192 count position resolution See Series 1500 Resolver Interface Modules User Manual Single turn 13 bit 8 192 count position resolution 1541 12 0 1 RPM resolution tachometer See Series 1500 Resolver Interface Modules User Manual 12 bit 4 096 count brake monitor module with remote dis 1541 03 play See 1541 03 Resolver Input Brake Monitor Module User Manual Absolute multi turn module 12 bit 4 096 count per turn 180 turns max 737 280 maximum counts With proper transducer can be used for applications of up to 1 800 turns at 409 6 counts per turn Table 1 1 Series 1500 Modules ADVANCED MICRO CONTROLS INC INTRODUCTION Compatible Transducers Table 1 2 lists the AMCI transducers compatible with the 1561 module Mount Turns Comments HTT 20 100 0 625 NEMA 4 heav
40. tting this bit has no affect if a module fault does not exist 20 Gear Drive Plymouth Ind Park Terryville CT 06786 19 Tel 860 585 1254 Fax 860 584 1973 http www amci com BACKPLANE PROGRAMMING Output Image Table continued Transmit Bit O X 0 15 TRMT Transmit Bit 0 15 A 0 1 transition on this bit initiates a Programming Cycle The values of the other bits and words in the output image table are ignored until this bit transitions Also the other bits and words must have correct values in them before this bit transitions or the module will respond with a programming error Ranges and Factory Default Values Parameter Factory Default Transducer Type 100 180 1 000 1 800 or 128 Turn Transducer 100 Turn 1 2 4 5 10 20 25 50 or 100 180 Turn 1 2 3 4 5 6 9 10 12 15 18 20 30 36 45 60 90 or 180 eu Muci 1 000 Turn Any 100 turn value 10 1 800 Turn Any 180 turn value 10 128 Turn 1 2 4 8 16 32 64 128 2 to of Turns 4 096 if 100 or 180 Turn Full Scale Count 2 to of Turns 409 6 if 1000 1800 Turn 2 to of Turns 1 024 if Autotech 128 turn transducer 102 400 Preset Value 0 to Full Scale Count 1 0 Count Direction Positive CW increasing Negative CCW increasing Positive Transducer Fault Latch Disabled Enabled Disabled Table 3 1 Transducer Setup Parameter Values Input Image Table Figure 3 2 sh
41. vailable on your module See New Features on page 5 for a list of these features 2 Older modules do not directly support Autotech RL210 transducers unless they have the 19 option 3 You must not set any of the programming bits associated with the new features when you program your module See Guidelines for Programming an Older Module on page 17 for complete information on programming your module Introduction This manual explains the operation installation and programming of 1561 Resolver Interface Module for the Allen Bradley SLC 500 programmable controller systems Utilizing licensed Allen Bradley SLC 500 I O interface technology this one slot Resolver Interface Module accepts a single multi turn transducer input and plugs directly into the A B SLC 500 rack Communicating through I O registers assigned to the slot this module supplies absolute position and tachometer data to any SLC processor from the resolver based transducer Status information is also transferred to the SLC processor The logo is a trademark and is a registered trademark of Advanced Micro Controls Inc SLC and SLC 500 are trademarks of Allen Bradley Company This product incorporates technology which is licensed by Allen Bradley Company Inc Allen Bradley has not technically approved nor does it support this product All warranty and support for this product and its application is provided solely by Advanced Micro Cont
42. y duty transducer HTT 20 180 0 625 NEMA 4 heavy duty transducer 20 1000 0 625 w additional 10 1 gearing on input 20 1800 0 625 w additional 10 1 gearing on input HTT425 Ann 100 0 250 A B Series 1326 motor mount transducer nn in part number defines connector style Universal motor mount w required adapter plate ee nn in part number defines connector style NEMA 4X HTT 20 100 w Viton shaft seal in part number defines connector style 425 1007 0 625 NEMA 4X HTT 20 100 w Viton shaft seal He in part number defines connector style NEMA 4 HTT 20 180 Bolt in replacement for HTT 400 180 0 625 Autotech RL210 transducers j A 1 000 turn version is also available Table 1 2 Compatible AMCI Transducers Each transducer contains two resolvers The first resolver called the fine resolver is attached directly to the input shaft with a flexible coupler The second resolver called the course resolver is geared to the fine This gear ratio either 99 100 or 179 180 determines the total number of turns the transducer can encode At the mechanical zero of the transducer the electrical zeros of the two resolvers are aligned See Figure 1 2A After one complete rotation the zero of the course resolver lags behind the zero of the fine by one tooth either 1 100 or 1 180 of a turn After two rotations the lag is 2
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