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7961 User Manual

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1. MTS TEMPOSONICS In 24 Vdc SUPPLY COM SHIELDS ZPNVSSADN 0 J DOOR W N Module Connector AMCI Part 4 MS 8 Phoenix MSTB2 5 8 ST 5 08 Figure 2 2 7961 Connector Wiring 14 ADVANCED MICRO CONTROLS INC MN CHAPTER 3 o VME READ WRITE FUNCTIONS You will use the VME READ BYTE and VME WRITE BYTE functions to communicate with the 7961 Acknowledging that you may not be familiar with the VME_RD_BYTE and VME_WRT_BYTE functions this chapter introduces both of them This chapter also contains information on transfer lengths and addressing specific to the 7961 so you will need to look over this chapter even if you are familiar with the two instructions VME READ BYTE Function The VME READ BYTE VME RD BYTE function is used to read the Data Value Rate of Change and raw SSI data from the 7961 to the 90 70 processor Figure 3 1 is an example of a VME_RD_BYTE function The highlighted sections contain information that you must supply when entering the function 100001 VME RD Q00001 BYTE 3 CONST AM 0029 LEN 00016 CONST ADR Q R00001 00003800 Figure 3 1 GE Fanuc VME RD BYTE Function NOTE gt There are two VME READ functions one for transferring bytes of data and one for transferring words The VME RD WORD function will not work with the 7961 You must use the VME RD BYTE function Parts of the VME RD
2. If the error occurs every power up but can be cleared the battery in the nvRAM is dead In either case the module must be returned to AMCI for repairs See the inside front cover for information on contacting AMCI ACK Acknowledge Bit Bit 16 Set by the 7961 to acknowledge programming data from the processor Error bits in the VME RD data are valid while this bit is set The 7961 resets this bit after a VME WRT BYTE function resets the Transmit Bit 20 Gear Drive Plymouth Ind Park Terryville CT 06786 23 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com pa H DATA FORMAT Sample Program The ladder logic below shows one way of programming a 7961 module It is certainly not the only way to program the module The module is assumed to be located in slot 4 of rack 1 and uses the default memory addresses assigned to the slot M00020 M00016 VME WRT M00016 NI R00002 CONST 0029 CONST 00002082 M00020 _BYTE Read data from the 7961 Data placed in system registers starting with R00010 If it completes without error copy the Status Bits to M00001 through M00016 This allows error detection with relay instructions M00016 Acknowledge Bit M40 is reset if the transfer does not complete M00040 VME RD MOVE BYTE UINT CONST AM R00010 IN Q M00001 RES LEN LEN 00016 00001 CONST ADR Q R00010 00002000 V
3. velocity Range 268 435 455 counts per second max Rate of Change velocity Resolution Determined by and identical to the Data Value resolution Rate of Change velocity Update Time Programmable from 1 millisecond to 1 000 milliseconds with 1 millisecond resolu tion Data Transfer Programmed with a sixteen byte VME WRT BYTE instruction Data available with a sixteen byte VME RD BYTE instruction Data Available to Processor Data Value Rate of Change status bits and raw SSI data Program Storage Non volatile RAM Integrated lithium bat tery is rated for ten years Backplane Power Requirements 5 Vdc O 0 550A 2 75 Watts Transducer Power Supply External 24 Vdc supply needed for trans ducer operation Modules 5 Vdc Supply Fuse 3 5A Fast Blow Littelfuse 22503 5 Environmental Conditions Operating Temperature O to 60 C Relative Humidity 5 to 95 non condensing Storage Temperature 40 to 85 C e ADVANCED MICRO CONTROLS INC TT NA 7961 INTRODUCTION Overview The single slot 7961 SSI Interface Module accepts a single transducer input and plugs directly into the GE Fanuc 90 70 rack The 7961 module reads and scales the data from any SSI transducer and also calculates the data s rate of change The meaning of the Data Value and Rate Of Change information depends on the type of transducer attached to the 7961 A SSI 7961 pressure sensor reports a pressure value and the 7961 calculates E t
4. 5 268 435 455 Word 6 Actual SSI Data Word 7 Double Precision Format Word 8 Reserved Set to Zero Figure 4 3 VME RD Data Format Word 1 Bits SSIErr Error in SSI Setup Parameters Bit 01 This bit is set to signal one of the follow ing conditions 1 The Number of SSI Bits specified in word 2 of the VME_WRT data is not in the range of 1 to 32 2 The MSB Number in word 3 of the VME WRT data is zero or greater than the Number of SSI Bits programmed in Word 2 of the VME WRT data 3 The Number of Data Bits specified in word 3 of the VME WRT data is zero greater than 28 or greater than the Number of SSI Bits programmed in Word 2 of the VME WRT data 4 The sum MSB Number Number of Data Bits exceeds the sum Number of SSI Bits 1 SclErr Error in Scalar Parameters Bit 02 This bit is set to signal one of the following conditions 1 The Scalar Multiplier in word 4 of the VME_WRT data is not in the range of 1 to 32 767 2 The Scalar Divisor in word 5 of the VME_WRT data is not in the range of 1 to 32 767 3 The Scalar Multiplier is not less than or equal to the Scalar Divisor PstErr Error with Preset Parameter Bit 03 This bit is set if signed double precision Preset Value Words 6 amp 7 in the VME WRT data is not in the range of 268 435 455 RUTErr Error with Rate Update Time Parameter Bit 04 This bit is set when the value of the Rate Update Time in word 8 of the VME_WRT data is not in the range o
5. BYTE Function Contact Input 100001 Any type of contact can be used to enable the VME RD function In this example the 7961 is read by the CPU whenever contact I00001 is a logic 1 and the rung is scanned You can omit the contact if you plan to read the 7961 every scan Coil Output Q00001 The coil output becomes true when the VME RD function completes successfully Any type of coil can be used In this example coil 92000001 becomes true when the transfer is complete You should use a coil output with the VME RD function This will allow you to test the coil at a later point in the scan to be sure that the transfer has completed successfully and the data is valid AM Address Modifier Code All 7961 s are factory configured to respond to AM Code 29h This corresponds to the Stan dard Short Non Privileged VME access 16 bit address The actual AM Code programmed into the VME_RD function depends on the rack that the module resides in Table 3 1 on the following page lists the AM Codes for the different racks Note that the module remains configured for the AM Code 29h The GE Fanuc Expansion Module that controls the expansion rack converts the AM Code to 29h before it accesses the modules in its rack 20 Gear Drive Plymouth Ind Park Terryville CT 06736 15 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com E VME READ WRITE Parts of the VME RD BYTE Function continued AM Address Modifier Code
6. KHz 452uS 436uS 1 00 MHz Figure 1 2 SSI Data Stream Format NOTE gt The formal SSI protocol definition includes a multi word transfer capability This is accomplished by holding the clock signal low for the TM time period and restarting the clock This signals the transducer to transfer additional bits of data instead of restarting at bit 1 The 7961 does not support multi word transfers Programmable Parameters The 7961 module is setup by programming its Programmable Parameters These parameters are broken down into two groups SSI Setup Parameters Six parameters that are used to extract the SSI data from the twenty five bit stream These parameters define the clock speed of the data transfer the position and length of the SSI data within the bit stream and the format of the data Data Setup Parameters Five parameters that affect the Data Value and Rate of Change information These parameters allow you to scale the Data Value preset it to a programma ble count and set the update time of the Rate of Change information 6 ADVANCED MICRO CONTROLS INC INTRODUCTION j E SSI Setup Parameters SSI Clock Freguency This parameter allows you to set the SSI clock freguency to one of four values 125 KHz 250 KHz 500 KHz or 1 000 MHz The default value of 125 KHz will work in all applications Setting the clock fre guency to 1 MHz yields the longest idle times between interrogations However your tr
7. improved Please direct all comments to Technical Documentation AMCI 20 Gear Drive Ply mouth Industrial Park Terryville CT 06786 or fax us at 860 584 1973 Revision Record The following is the revision history for this manual In addition to the information listed here revisions will fix any known typographical errors and clarification notes may be added This manual 940 09010 is the initial release of the manual It corresponds to hardware revi sion B and software revision 0 checksum CC02 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com o _S E 7961 SPECIFICATIONS Module Interface Third party VME module Fully compatible with GE Fanuc s Industrialized VMEbus VME D Compatible Transducers Any transducer that outputs data in single word SSI format Number of bits trans ferred is programmable from 1 to 32 Multi word transfers are not supported Transducer Input Isolation Optically Isolated 1500 Vac Programmable Parameters SSI Setup Parameters SSI Clock Frequency Number of SSI Bits Number of Data Bits MSB Number Data Type Data Logic Data Setup Parameters Scalar Multiplier Scalar Divisor Preset Value Count Direction Rate Update Time Data Value position Range 268 435 455 counts max Data Value position Preset Data Value can be preset to any value within the range of 268 435 455 Rate of Change
8. of 100 mS Decrease the time between updates for fast response to changes in this value Increase the time between updates for better averaging of this value 20 Gear Drive Plymouth Ind Park Terryville CT 06786 9 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com q INTRODUCTION Notes 10 ADVANCED MICRO CONTROLS INC INSTALLATION Power Requirements The 7961 draws its power from the I O rack 5Vdc supply The maximum current draw is 0 550 amps Therefore the maximum power draw is 2 75 watts Add this to the power require ments of all the other modules in the chassis when sizing the power supply AM Code Configuration Every 7961 is factory configured to respond to the address modifier AM code of 29h This AM code stands for Short 16 bit address Non Privileged VME access and is the default used by GE Fanuc Series 90 70 systems For GE Fanuc installations you need only set the slot number address range with DIP switches located on the back of the module Memory Address Allocation The DIP switch block on the back of the module see figure 2 1 sets the memory addresses that the 7961 responds to GE Fanuc assigns default memory locations for each slot in an I O rack that should be used in most applications However GE Fanuc has also set aside a User Defined Memory Area from address 5000h to FFFFh in each rack This memory area can be used by the 7961 if another module in the rack is using the
9. values only It does not include the Command Bits 2 Write the new Command Bits to the 7961 with a two byte VME RD BYTE function This two word block contains the flags that tell the 7961 what Parameter Data it should act upon and sets the Transmit Bit 3 When the VME RD BYTE data from the 7961 shows that the Acknowledge Bit is set check for any errors and write 0000h to the 7961 Command Bits with a VME WRT BYTE This resets the Transmit Bit 4 The module will respond by resetting the Acknowledge Bit The Programming Cycle is now complete The 7961 checks the parameter data for errors in the following order 1 Clear nvRAM Error This command is ignored if there is no error 2 Number of SSI Bits Number of Data Bits and MSB Number 3 Scalar Multiplier and Scalar Divisor 4 Preset Value 5 Rate Update The SSI Clock Freguency Data Logic Data Type and Count Direction parameters are bit values that cannot be checked for errors All possible combinations for these bits are valid If the module encounters an invalid data value it sets the appropriate error bit in word 1 of the VME RD data and stops processing the Parameter Data All of your data must be correct before the 7961 accepts any changes If you program the module and preset the Data Value with one Programming Cycle all data must be correct before the 7961 will preset the position 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 5
10. 1 2 shows how a 7961 module reads data from a SSI transducer Note that the formal SSI definition allows for twenty four bits of data and a twenty fifth stop bit However AMCI is aware of some transducers that transmit more or less than twenty five bits To accommodate these transducers the 7961 can be programmed to accept up to thirty two bits in the SSI bit stream pe TINT Tipp TM O 1 2 3 n 1 n A 2 3 CLOCK E ye ai i iy DATA Bit 1 lt Bit 2 x Bit 3 Bit n 1 x Bitn X Stop Bit 1 lt Bit 2 X Bit 3 n Number of bits in SSI data Range of 1 to 32 Default of 24 O The first falling edge of the clock signal latches the SSI data Note Some transducers latch the data at the end of the previous interrogation Q The next n rising edges of the clock shift out the n data bits G Tint is the time between interrogations and is fixed by the module at 500uS Tm is the time that the Stop bit is valid which is typically 12 to 20 uS Tipu is the time between the end of the last interrogation and the start of the next The transducer must have new data available within the TibL Time period if the system is to work properly The table below gives the values of Tip for twenty four and thirty two bit SSI data trans fers at the four different clock frequencies available with the module ClockFra TibL e 24 bits TiDL 32 bits 125 KHz 308uS 244uS 250 KHz 404uS 37248 500
11. 84 1973 http www amcicontrols com E pa H DATA FORMAT VME WRT BYTE Data Format The Programming Data written to the module with two VME WRT BYTE functions is eight words long and is used to program the 7961 and or preset the Data Value Its format is shown in figure 4 1 Word 1 of the Programming Data contains the Command Bits Setting these bits tells the 7961 which data in the rest of the block to act upon The remaining seven words contain the Parameter Data These seven words fourteen bytes must be written to the 7961 before the Com mand Bits If the Command Bits are written at the same time as the Parameter Data the 7961 may start acting on the Command Bits before the transfer of the Parameter data is complete VME WRT BYTE Data Format 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 Elo 2 3 2 5 gt O A gt A word 1 E E 0 0 0 0 0 0 0 S E 215 18 elg Fle olecljalnljniyo Word 2 Number of SSI Bits 1 to 32 ojo SSI MSB Number gt O Num of Data Bits Word 3 clock 1 to 32 AIE 11028 Word 4 Scalar Multiplier 1 to 32 767 Word 5 Scalar Divisor 1 to 32 767 Word 6 Preset Value Signed Double Precision Format Word 7 268 435 455 Word 8 Rate Update Time in mS 1 to 1 000 Figure 4 1 VME_WRT Data Format Command Bits PrstDV SSISet Scalars PrstVal Preset Data Value Bit 01 Set this bit to preset the Data Value to the programmed Preset Value The PrstVal b
12. Def 1000h 17FFh Mmmm 9000h 97FFh Used Def 1800h 1FFFh 9800h 9FFFh User Def 2000h 27FFh BmMM A000h A7FFh User Def 2800h 2FFFh Mmm Agooh AFFFh User Def 3000h 37FFh B000h B7FFh User Def 3800h 3FFFh Mmmm Bs00h BFFFh User Def 4000h 47FFh 8 Mam coooh C7FFh User Def 4800h 4FFFh 9 NM Csooh CFFFh User Def 5000h 57FFh User Def mii Doooh D7FFh User Def 5800h 5FFFh User Def D800h DFFFh User Def 6000h 67FFh User Def E000h E7FFh User Def 6800h 6FFFh User Def m m Mi EsQ0h EFFFh User Def 7000h 77FFh User Def Foooh F7FFh User Def 7800h 7FFFh User Def LR ff fe F800h FFFFh User Def Table 2 1 DIP Switch Settings Installing the Module Remove system power before removing or installing any module in an I O chassis Failure to observe this warning may result in damage to the module s circuitry and or undesired operation with possible injury to personnel After selecting the proper addresses with the DIP switches the module is ready to be installed in the I O rack Insert the P C board into the card guides and gently seat the P1 connector
13. ION Transducer Cable Installation Follow the transducer manufacturers suggestions when specifying the transducer cable Pre assembled and tested cables are usually offered by the transducer manufacturer When installing the transducer cable follow these general guidelines SSI signals are low voltage low power signals Cabling from the SSI transducer to the 7961 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 The shields of the transducer cable must be grounded at the 7961 module only When installing the cable treat the shield as a signal carrying conductor Do not connect the shield to ground at any junction box or the transducer This will eliminate ground loops that could damage the module or PLC Figure 2 2 shows the wiring of the 7961 Transducer Input Connector The diagram shows pin assignments and how to connect the external 24 Vdc supply to the module The color codes for transducer cables specified by Balluff and MTS are also shown NOTE gt The two mounting screws that secure the 7961 to the rack are also the grounding points for the module These two screws must be tightly screwed into the rack to guarantees a low impedance path to ground for any EMI radiation that may be induced into the cable Power Supply a Vdc com 24Vdc GND BALLUFF BTL 5 BROWN
14. ME WRT BYTE LEN N 00014 AM ADR Y R00001 IN CONST 0029 CONST If the PLC has authorized a Program Cycle M20 set and the Acknowledge Bit M16 is reset write the Parameter Data to the 7961 If the write completes write the Command Bits to the 7961 If that write completes set bit M21 to signal that the writes completed sucessfully M00021 LEN 0002 AM ADR 00002080 Once the Acknowledge Bit M16 is set write 0000h to the 7961 as the Command Bits to reset the Transmit Bit If the write completes reset bit M20 which is the bit that initiated the Program ming Cycle The Programming Cycle is complete Do not attempt another Programming Cycle until the Acknowledge Bit M16 is reset VME WRT M00020 _BYTE R CONST IN 0000 LEN CONST 0029 AM CONST 00002080 ADR Figure 4 4 Sample Program 24 ADVANCED MICRO CONTROLS INC ADVANCED MICRO CONTROLS INC 20 GEAR DRIVE TERRYVILLE CT 06786 T 860 585 1254 F 860 584 1973 a WWW amcicontrols com LEADERS IN ADVANCED CONTROL PRODUCTS
15. MICRO CONTROLS INC VME READ WRITE k VME WRITE BYTE Function The VME WRITE BYTE VME_WRT_BYTE function is used to write programming data from the 90 70 processor to the 7961 Figure 3 2 shows an example of the VME_WRT_BYTE function The highlighted sections contain information that you must supply when entering the function 100001 VME_WRT Q00001 _BYTE R00030 IN LEN 00016 CONST AM 0029 CONST ADR 00003800 Figure 3 2 GE Fanuc s VME_WRT_BYTE Function NOTE gt There are two VME WRITE functions one for transferring bytes of data and one for transferring words The VME WRT WORD function will not work with the 7961 You must use the VME_WRT_BYTE function NOTE You will use two VME_WRT_BYTE functions to write programming data to the 7961 The first writes fourteen bytes of Parameter Data and the second writes two bytes of Command Bits The Parameter Data must be written to the 7961 first Parts of the VME_WRT_BYTE Function Contact Input 100002 Any type of contact can be used to enable the VME_WRT_BYTE function In this example the programming data is sent to the 7961 whenever contact 10002 is a logic one while the rung is scanned Coil Output 000002 The coil output becomes true when the VME WRT_BYTE completes successfully Any type of coil can be used NOTE You should use a coil output with any VME_WRT function This will allow you to test the coil a
16. NCED MICRO CONTROLS INC warrants that all eguipment 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 AMCI shall at its option repair or replace free of charge any eguip ment covered by this warranty which is returned shipping charges prepaid within one year from date of invoice and which upon examination 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 AMCI be liable for incidental or conseguential damages or for delay in performance of this warranty Returns Policy All equipment being returned to AMCI 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 Eguipment must be shipped to AMCI 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 technical support is available on this product For technical support call 860 583 7271 Your call will be answered by t
17. ange in value from 1 to 32 767 The Scalar Multiplier must be less than or equal to the Scalar Divisor In other words the ratio of Multiplier to Divisor cannot be greater than one Linear displacement transducers from Balluff and MTS have resolutions measured in um count The 7961 can easily convert to a more familiar inch measurement system The figure below shows the Multiplier and Divisor values needed to convert from various metric resolutions to inch resolu tions For example to convert data from a LDT with 5um count resolution to 0 0005 count reso lution use a Multiplier of 50 and a Divisor of 127 Desired Resolution Desired resolution exceeds resolution of LDT E 5 e A O v te a Figure 1 4 Scalar Values for Linear Measurement Conversion Preset Value The Preset Value parameter gives you the ability to offset the Data Value When you preset the Data Value the 7961 calculates an internal parameter called the Linear Offset The Linear Offset is the value needed to make the Data Value equal to the Preset Value The default Preset Value is zero Its range is 268 435 455 NOTE gt 1 Programming this parameter does not change the Data Value There is a separate command for presetting the Data Value to the Preset Value 2 The 7961 will issue a Preset Error message if you attempt to program a Preset Value that is outside its range of 268 435 455 3 P
18. ansducer may not be able to operate at 1 MHz Consult your transducer documentation to determine its maximum operating freguency Remember that the maximum SSI clock freguency is also dependent on the length of the trans ducer cable Number of SSI Bits This value sets the number of bits that the 7961 will read from the SSI transducer per interoga tion The parameters default value of twenty four will work in most cases You can set this param eter to any value between 1 and 32 Number of Data Bits amp MSB Number Parameters As the examples show in figure 1 3 these two parameters tell the 7961 where the SSI data is embedded in the SSI data stream The Number of Data Bits parameter specifies the length of the data and the MSB Number parameter specifies the bit that starts the SSI data The default value for the Number of Data Bits parameter is twenty four The default value of the MSB Number parameter is one SSI DATA BITS 1234567 8 9 101112 13 14 15 16 17 18 192021222324 nin a Number of Data Bits 16 16 Bit Data Value MSB Number 9 20 Bit Data Value o atts a zi Maximum Value of n is 32 Figure 1 3 Embedded Data Value Refer to the documentation that came with your transducer to determine where the SSI data is located in the SSI data stream If you are using a Balluff LDT the default values should work cor rect
19. ary value When set the Data Logic parameter is set to its gray code value This bit is not acted upon if the SSISet bit bit 02 in word 1 is not set DLogic Data Logic Parameter Bit 08 When reset the Data Logic parameter is set to its positive value When set the Data Logic parameter is set to its negative value This bit is not acted upon if the SSISet bit bit 02 in word 1 is not set SSI Clock SSI Clock Frequency Parameter Bits 15 16 As figure 4 2 shows below these two bit set the value of the SSI Clock Freguency parameter when the SSISet bit bit 02 in word 1 is set Bit 15 Bit 14 SSI Clock Freguency 0 0 125kH2 0 250 KHz 500 KHz 1 MHz Figure 4 2 SSI Clock Frequency Table 20 Gear Drive Plymouth Ind Park Terryville CT 06736 21 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com pa H DATA FORMAT VME RD BYTE Data Format The VME RD BYTE data is eight words that give fault and programming error bits as well as the Data Value Rate of Change and raw SSI data to the processor Figure 4 3 shows the format of the BTR data VME RD BYTE Data Format 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 E E w ae ren ren a x uu au gt 1015505 Word 1 0000075253238 Word 2 Data Value Position Signed Double Precision Format Word 3 268 435 455 Word 4 Rate of Change Value Velocity Signed Double Precision Format Word
20. continued Rack VME RD 7961 Number AM Code AM Code o m 2 Dh 2 Bh 2 6 im 2 AM Code 1Fh is reserved Table 3 1 Address Modifier AM Codes Length Parameter The Length parameter tells the CPU how many bytes to transfer from the module that the VME RD targets For the 7961 this parameter must always be set to sixteen Memory Address This parameter is the starting memory address of the module For the 7961 this parameter must be set to the address specified by the DIP switches on the back of the module See Memory Address Allocation starting on page 11 for information on setting the DIP Switches Table 3 2 below lists the starting address of the 7961 if you use GE Fanuc s default memory locations for the slot Refer to Table 2 1 DIP Switch Settings on page 12 for the possible starting addresses of the module if you use the User Defined memory addresses available in the rack Starting Starting Slot Address Slot Address 4 9 am User Defined See Table 2 1 page 12 Table 3 2 VME RD BYTE Memory Address Allocations O Transfer Destination Address Q specifies the first location in the CPU user reference into which data read from the 7961 is to be stored In this example the 7961 data will be stored starting at the first Register Memory address Note that eight Register Memory words 1 through 8 in this example will be used because the transfer is sixteen bytes long 16 ADVANCED
21. e 20 ADVANCED MICRO CONTROLS INC DATA FORMAT I VME WRT BYTE Data Format continued Command Bits continued RateUp Program Rate Update Time Bit 05 Set this bit to program the Rate Update Time to the value in word 8 If this bit is reset the Rate Update Time will not be pro grammed during the Programming Cycle PgmDir Program Count Direction Bit 06 Set this bit to program the Count Direction to the value specified by the DIR bit 07 in word 1 If this bit is reset the Count Direction will not be programmed during the Programming Cycle DIR Count Direction Parameter Bit 07 When the PgmDir bit 06 is set and this bit reset the Count Direction parameter will be set to its Positive value When the PgmDir bit 06 is set and this bit set the Count Direction parameter will be set to its Negative value If this bit is set without setting the PgmDir bit a command error is generated by the module nvRClr Clear nvRAM Error Bit 15 Setting this bit will clear a nvRAM error during the Programming Cycle if one exists Setting this bit if an error does not exist will do nothing TRMT Transmit Bit Bit 16 Setting this bit will start a Programming Cycle when the VME WRT BYTE sends the Command Bits to the module All of the Parameter Data and Command Bits written to the module are ignored if this bit is reset Format Bits Word 3 DType Data Type Parameter Bit 07 When reset the Data Type parameter is set to its bin
22. f 1 to 1 000 22 ADVANCED MICRO CONTROLS INC DATA FORMAT I BTR Data Format continued Word O Bits continued DVOvF Data Value Overflow Bit 05 Set when the count in the Data Value is outside the bounds of 268 435 455 When this bit is set the reported Data Value is set to zero but the Rate of Change data will continue to be correct ROvF Rate of Change Overflow Bit 06 Set when the Rate of Change value is outside the bounds of 268 435 455 counts per second When this occurs the last valid Rate of Change value is sent to the processor CmdErr Command Error Bit 07 Set under the following conditions 1 Any of the eight bits in the VME_WRT data that are defined as zero are set when the Transmit bit is set 2 The Count Direction Parameter bit DIR Word 1 bit 7 is set and the Program Count Direction bit PgmDir Word 1 bit 6 is not set when the Transmiit bit is set Msglgn Message Ignored Bit 08 If a programming error bit is set the error must be cleared by reprogramming the incorrect parameter This bit is set if you attempt to program a parameter with an incorrect value a second time nvRErr nvRAM Error Bit 13 This bit is set when one or more of the parameter values stored by the non volatile RAM memory are corrupted If this bit is set start a Pro gramming Cycle to the module with the nvRClr bit word 1 bit 15 set If the error remains when the Programming Cycle is complete the nvRAM is damaged
23. he factory during regular business hours Monday through Friday SAM SPM 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 sys tem will page one of two engineers on call Please have your product model number and a descrip tion of the problem ready before you call ADVANCED MICRO CONTROLS INC ABOUT THIS MANUAL Introduction This manual explains the operation installation and programming of the 7961 SSI Interface Module for the GE Fanuc Series 907M 70 programmable controller systems Designed specifically for transducers that use the SSI protocol the programmable features of the 7961 make it an effi cient interface between any SSI transducer and the 90 70 processors It is strongly recommended that you read the following instructions If there are any unan swered questions after reading this manual call the factory An applications engineer will be available to assist you AMCP is a registered trademark of Advanced Micro Controls Inc The AMCI logo is a trademark of Advanced Micro Controls Inc Series 90 is a trademark of GE Fanuc Automation North America Temposonics is a registered trademark of MTS Systems Corporation Manuals at AMCI are constantly evolving entities Your questions and comments on this man ual and the information it contains are both welcomed and necessary if this manual is to be
24. he pressure change per second A SSI position sensor reports a position value and the 7961 calculates the position change per second which is the velocity of the moving part RUN FAULT Communicating with eight word sixteen byte VME READ BYTE and VME WRITE BYTE instructions the 7961 reports the Data Value Rate Of Change and actual SSI data to the 90 70 CPU The Data Value has a range of 268 435 455 counts which is twenty eight bits plus sign The Rate of Change has a range of 268 435 455 counts per second with the value nega tive when the Data Value is decreasing One type of SSI transducer the 7961 can interface with is the linear displacement transducer LDT LDTs are non contact absolute linear measurement devices that offer high resolution and accuracy The transducer tracks the absolute position of a magnet along its waveguide LDTs can be manufactured with a waveguide length from 2 to 300 inches There are two major manufacturers of SSI linear displacement transducers Balluff and MTS Presently Balluff BTL 5 transducers offer a resolution and repeatability of up to 5 um 0 0002 and an accuracy of up to 30 um 0 0012 MTS Temposonics III transducers offer a resolution and repeatability of up to 5 um 0 0002 and an accu racy of up to 50 um 0 002 The formal SSI protocol defines a twenty five bit serial data stream from the transducer that is synchronized to clock pulses Figure 1 1 7961 Module generated b
25. into the backplane Seating the connector does not require a great amount of force Applying to much pressure on a mis aligned connector may damage the module or backplane After seating the module in the backplane secure the module to the rack with the two mounting screws NOTE gt The two mounting screws that secure the module are also the grounding points for the 7961 These two screws must be tightly screwed into the rack for proper opera tion 12 ADVANCED MICRO CONTROLS INC INSTALLATION PA Front Panel Description The front panel of the 7961 has the eight pin Transducer Input Connector and the two status LED s The mate to the Transducer Input Connector is a Phoenix Contact MSTB2 5 8 ST 5 08 AMCI part number MS 8 which is included with the module Status LED s The green and red LED s show the modules operating status gt RUN This green LED is on when the module is operational gt FAULT This red LED is on if the module fails its initialization routines If this occurs remove the transducer connector and cycle power to the module If the fault remains check the VME READ BYTE data to see if there is a nvRAM error If there is clear the error with a VME WRITE BYTE instruction If the error remains the module needs to be repaired See the inside front cover for information on contacting AMCI NOTE gt The 7961 considers all of the SSI bits as potential data Therefore the 7961 can not determine if there i
26. it 04 is used to change the Preset Value Note that you can program the Preset Value and preset the Data Value to the new Preset Value with a single Programming Cycle Program SSI Setup Parameters Bit 02 Set this bit to program the Number of SSI bits parameter in word 2 and the SSI Clock Frequency MSB Number Number of Data Bits Data Type and Data Logic parameters in word 3 When you program these parameters the two Scalars are reset to their default values of 1 and the Pre set Value is reset to zero When the SSISet bit is reset the SSI Setup Parameters will not be programmed during the Programming Cycle Program Scalars Bit 03 Set this bit to program the Scalar Multiplier parameter in word 4 and the Scalar Divisor in word 5 Note that the Scalar Divisor must be greater than or equal to the Scalar Multiplier When you program the Scalars the Preset Value is reset to its default of zero When this bit is reset the two Scalars will not be programmed during the Programming Cycle Program Preset Value Bit 04 Set this bit to program the Preset Value to the signed double precision value stored in words 5 and 6 The maximum minimum value of the Preset Value is 268 435 455 Note that programming the Preset Value has no effect on the Data Value To preset the Data Value you must set the PrstDV bit bit 01 in word one during a Programming Cycle If this bit 1s reset the Preset Value will not be programmed during the Programming Cycl
27. ly If you are using a MTS LDT Set the Number of Data Bits equal to the LDT s number of bits and the MSB Number to one Data Type This parameter tells the 7961 to interpret the SSI data as a binary number or a gray code num ber The default value is Binary Data Logic This parameter is included to handle situations where the SSI data is reported with negative logic If this parameter is set the 7961 will assume the SSI data is reported with negative logic and will invert the data bits before performing any scaling The default value is positive logic When this parameter is left at its default value the 7961 will use the SSI data as it is from the transducer 20 Gear Drive Plymouth Ind Park Terryville CT 06786 7 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com E INTRODUCTION Data Setup Parameters Once the 7961 has extracted the SSI data from the SSI data stream it uses the Data Setup Parameters to convert the raw SSI data into the Data Value reported to the processor The formula for determining the Data Value is Data Value SSI Data MUL DIV LO where MUL Scalar Multiplier DIV Scalar Divisor LO Linear Offset The Linear Offset is an internal parameter that normally equals zero The Linear Offset is changed when you preset the Data Value Scalar Multiplier amp Scalar Divisor These two parameters are use to scale the SSI data Both parameters have a default value of one and can r
28. m eE ADVANCED Wi micro CONTROLS INC Manual 940 59010 7961 SSI Interface Module GENERAL INFORMATION Important User Information The products and application data described in this manual are useful in a wide variety of differ ent applications 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 DAMAGES 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 O WARNING WARNINGS tell you when people may be hurt or equipment may be dam aged if the procedure is not followed properly CAUTIONS tell you when equipment may be damaged if the procedure is O CAUTION not followed properly No patent liability is assumed by AMCI with respect to use of information circuits eguipment or software described in this manual The information contained within this manual is subject to change without notice Standard Warranty ADVA
29. memory addresses that are normally assigned to the 7961 s slot All 7961 module ship from the factory configured for use in slot 2 of the I O rack 3 5 Amp Fuse DIP Switches a 12345 N Figure 2 1 DIP Switch and Fuse Location The five DIP switches correspond to address lines A15 through A11 on the backplane If you are configuring the module to respond to the default memory locations the DIP switches also rep resent the slot number of the module in binary The starting memory location of the 7961 in binary is XXXX X000 0000 0000b where XXXX X are the values specified by the DIP switches Table 2 1 on the following page gives the DIP switch setting for all of the memory locations that the 7961 can be configured for The GE Fanuc slot numbers associated with the memory locations are also listed 20 Gear Drive Plymouth Ind Park Terryville CT 06786 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com E PA INSTALLATION Memory Address Allocation continued Setting the switch lever towards the PC board sets the address bit to a 0 Setting the switch lever toward the metal case sets the address bit to a 1 Slot 5 Default Address si omin 2800h 2FFFh Memory Locations GE Slot Memory Locations GE Slot DIP Switch 0000h 07FFh 8000h 87FFh User Def 0800h OFFFh Mr 8800h 8FFFh User
30. nding on the data that you are sending to the module Memory Address The starting address for the programming data is 80h above the address that the 7961 is config ured for The two bytes of Command Bits start at this address The fourteen bytes of Parameter Data starts at 82h above the configured address Table below gives the starting addresses for the Parameter Data and Command Bits if you configure the module to use the default addresses assigned to the slot If you use a 2K region of the User Defined Memory Addresses refer to table 2 1 on page 12 for a listing of the available base addresses Slot Parameter Data Command Bits 1082h 1080h 2082h 2080h 6 3082h 3080h 8 4082h 4080h User Defined Base Address 82h Base Address 80h Table 3 4 VME WRT BYTE Memory Address Allocations 18 ADVANCED MICRO CONTROLS INC CHAPTER 4 DATA FORMAT AND PROGRAMMING Programming Cycle Programming changes are written to the 7961 with a Programming Cycle All programmable parameters can be changed and the Data Value preset with one cycle Programming Cycles are controlled with the Transmit Bit in the Command Bits of the VME WRT data and the Acknowl edge Bit in the VME RD data Assuming that you have a VME RD BYTE that reads the module constantly a Programming Cycle consists of four steps 1 Write the new Parameter Data to the 7961 with a fourteen byte VME WRT BYTE function This block of seven words contains the new parameter
31. resetting the Data Value generates a linear offset If you are using a rotary encoder and wish to preset the position contact AMCI for assistance in developing the ladder logic needed to offset the Data Value in the PLC 8 ADVANCED MICRO CONTROLS INC INTRODUCTION y E Data Setup Parameters continued Count Direction This parameter is useful if your Data Value represents a linear position It gives you the ability to reverse the direction of motion needed to increase the position count For simplicity s sake the two values for this parameter are called Positive Direction and Negative Direction When this parameter is set to its default of Positive the Data Value is not changed When this parameter is set to Negative the Data Value is changed to 2 Data Value where n is the programmed value of the Number of Data Bits parameter If your Data Value represents a rotary position you can change the count direction with this parameter only if the number of counts in your Data Value is a power of two If it is not you can easily reverse the count direction with ladder logic 1 Subtract the Data Value from the number of encoder counts and store it in a temporary register 2 If the Data Value equals zero then move zero into your temporary register Rate Update Time The Rate Update time sets the amount of time between Rate of Change information updates to the processor Its range of values is 1 to 1 000 mS with a default
32. s a transducer error If your SSI transducer has error bits embedded in the SSI data your ladder logic should check these bits They are available in the raw SSI data the 7961 transmits to the processor If the trans ducer is not attached to the 7961 the SSI data will be all 1 s If you know that your SSI data can never be all 1 s use this as a check to see if the transducer is attached and working Compatible Transducers The 7961 module is compatible with any transducer that outputs serial data using the SSI proto col The 7961 has been tested with Balluff BTL 3 and MTS Temposonics III linear displacement transducers Stegmann optical encoders and SICK optical distance sensors Note that the 7961 does not support multi word SSI transfers Even though the SSI definition includes the multi word transfer it is rarely used in actual applications Transducer Mounting Follow the mounting instruction you received with your SSI compatible transducer Transducer Power Supply An external isolated 24 Vdc supply is needed to power the SSI interface The supply outputs must be isolate from chassis ground to eliminate the potential of ground loops The 7961 draws a maximum of 0 030 amps to power its opto couplers Add this to the current requirements of the transducer when sizing the 24 Vdc supply 20 Gear Drive Plymouth Ind Park Terryville CT 06786 13 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com PA INSTALLAT
33. t a later point in the scan to see if the function completed successfully Input Registers R00031 The starting address of the registers that contain the data to be sent to the module In the case of the 7961 this will be programming data to configure the module If you are transferring a single word a constant can be entered instead of a register address 20 Gear Drive Plymouth Ind Park Terryville CT 06786 17 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com E VME READ WRITE Parts of the VIME WRT BYTE Function continued AM Address Modifier Code All 7961 s are factory configured to respond to AM Code 29h This corresponds to the Stan dard Short Non Privileged VME access 16 bit address The actual AM Code programmed into the VME_WRT function depends on the rack that the module resides in Table 3 3 on the follow ing page lists the AM Codes for the different racks Note that the module remains configured for the AM Code 29h The GE Fanuc Expansion Module that controls the expansion rack converts the AM Code to 29h before it accesses the modules in its rack Rack VME RD 7961 Number AM Code AM Code o m 2 Dn 2 Bh 2 ps m 2 AM Code 1Fh is reserved Table 3 3 Address Modifier AM Codes Length Parameter The Length parameter tells the CPU how many bytes to transfer to the module that is targeted by the VME WRT For the 7961 this parameter will either be fourteen or two depe
34. y the controller However AMCI is aware of some transducers that do not transmit twenty five bits To accommodate these devices AMCI has made the number of bits that the module accepts programmable from one to thirty two Physically the 7961 module is a single slot module that accepts a single SSI transducer and reguires an external 24 Vdc power supply In addition to the eight pin Transducer Input Connector the front panel has two LED s that show the modules status The 7961 s Programmable Parameters are used to define where the SSI data is embedded in the bit stream and gives you the ability to scale this data For example assume that you are using a Balluff LDT that gives you one count per 20 um You can use the 7961 to scale this value to one count per 0 001 inch The calculated Rate of Change is scaled to the same units as the Data Value To continue the example the Rate of Change velocity is scaled thousandths of an inch per sec ond All parameter values are stored in non volatile nvRAM memory Along with the scaled Data Value and Rate of Change information the 7961 reports the actual SSI data to the 90 70 processor This gives you the ability to use ladder logic to check the SSI data for any additional information that it may contain such as error bits 20 Gear Drive Plymouth Ind Park Terryville CT 06786 5 Tel 860 585 1254 Fax 860 584 1973 http www amcicontrols com q INTRODUCTION SSI Protocol Figure

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