Codecx 20 users manual - NEW GENERATION OF uP TO
Contents
1. CONTROLLER Remote controlled motion driven by isolated on off lines HF or HR enable the speed forward or reverse selected by the COARSE pot LF or LR enable the speed forward or reverse selected by the FINE pot 9 RUNNING CODE 3 ov 0 10V READER wa CONTROLLER Remote controlled motion driven by 0 10V The polarity establishes the direction and the voltage the speed Codecx 20 user s manual APPLICATIONS E J es desantiQ gmail com Page 27 GENERATOR MODE ENCODER AND MOTION SIMULATOR 0 4 RUNNING CODE 4 OV GNDA 0 10V gt ANV READER CONTROLLER Remote controlled motion driven by 0 10V and non isolated on off lines HF or HR give the direction and the voltage the speed The Codecx is powered through the Jack 0 CHI HLS EXAMPLE 5 READER RUNNING CODE 5 amp 6 CONTROLLER Remote controlled motion driven by 0 20mA or 4 20mA and on off lines HF or HR give the direction and the current the the speed Both HF and HR active clear the Codecx position accumulator The Codecx is powered through CN3 Codecx 20 user s manual APPLICATIONS E J es desantiQ gmail com Page 28 RECEIVING MODE CN6 ADAPTER ES911B A A EXAMPLE 5 4 5 ENCODER Reading a 5V differential encoder The power available is 5V 350mA CHI a2. 1 e N 7 COARSE FINE HR LR v For the slope down to zero set the FINE pot at 0 A WAVEFORM DIAGRAM LF HF 4 gt CCW HR COARSE FINE fe Using the pot FINE only for abrupt stop DETAILS OF RUNNING CODE 2 Page 7 REMOTE CONTROL CODE 3 THE CODECX GENERATES THE QUADRATURE SIGNALS DRIVEN BY THE 0x10 ANALOG SIGNAL mm 0 ANALOG GND TRUTH TABLE WAVEFORM DIAGRAM 24Vcc 0 10V 0 10V Functions A 55 lt 85mV No Drive zi E gt 110mV Forward 0 10V gt 2 gt 110mV Reverse ga 10V 7 110mV Cw 85mV REVERSE FORWARD CCW CONNECTIONS AT CN2 v 10V The typical drive level is 110mV and the hysteresis loop is 195mV The input impedance is 10K The incoming analog signal is conditioned by an 1V msec integrator The suggested worst case input is 15Hz square wave 10 HF and HR both high clear the counter REMOTE CONTROL CODE 4 THE CODECX GENERATES THE QUADRATURE SIGNALS DRIVEN BY THE 0 10V ANALOG SIGNAL THE DIRECTION IS DONE BY HF AND HR ON OFF LINES c1 Oo 0 ANALOG GND A WAVEFORM DIAGRAM 24Vcc 0 10V TRUTH TABLE HF HR A 0 10V Functions c zz X o 0 No Drive 0 10V P di E WE o lt lt 85mA X No Drive gt Forward 1 1 X al 5 14 gt 110 1 o o o 6 o gt 110mV
3. 11 Homing a 12 Warnings ee 13 Training on Codecx 14 User s Connectors Generator Pin o t diagrams 2 Exe id 15 Power map esssssse mnm 16 Receiver Pin out diagrams m enne 17 fni 18 Reading an encoder e nnns 19 PIGEUIES EE EE E aaa cane 20 Interface Adapters s sess 21 ES911A Quad 5V Differential RS 422 driver 22 ES911B Quad 5V Differential RS 422 receiver 23 ES911C Quad 5 28V Single ended NPN PNP P P receiver 24 ES911D Quad 8 28V Single ended Push Pull driver 25 Applications oeste dte temere edat eae Sea Deuda Dae DAR 26 Default oos eee opes ca ornate tea dorm Seana Dein Ries eis 30 Layouts oo 31 Item list cc 32 w Codecx 20 user s manual TABLE OF CONTENTS E J es desanti gmail com Page 2 By inserting interfaces GENERATOR MODE ES911A and ES911D KEYS FUNCTION MAP Ln A B I HLS The Codecx Counter s lower digits F P 5 Ei generates _ rem LED RUN switched off Clear counter Homing Counter s higher digits 2 sec delay Counter s lower digits 6 switched FREQ on m counter Homing Stop Counter s higher digits The assigned functions of the keys are From BASELINE STOP MODE RUN enabling th
4. HOME THE INDEX MARK IS ISSUED AT EVERY PPR PERIOD Codecx 20 user s manual HOMING E J es desantiQ gmail com Page 12 HOME 0 CHI CHI CHI CHI CHI CHI CHI 2 000 000 000 HLS 2 000 000 000 LINEAR PSEUDO ABSOLUTE AXIS LSH is issued once in the middle of the axis CHI Q 5 ae 8 2 9 m IN U N HOME 5 TWO SECTOR Gane SIX SECTOR ROTATORY ROTATORY ROTATORY NO HLS IS ISSUED ROTATORY PSEUDO ABSOLUTE AXIS HLS is issued at every revolution WARNINGS The Codecx issues letters and numbers some dotted to indicate errors flaws or status as listed below C t Common transition has occurred Harmful fully managed by the digital filter The occurrence is reported if enabled on setup line 3 See Common mode on MyQuadratureWorld pdf E 1 The CHI frequency is too high Pseudo absolute mode only To overcome this problem read the Note on quadrature frequency page 11 E 4 Overstepped the limits either positive or negative of the linear pseudo absolute mode E E Error in communicating with the eeprom Hardware fault E H Error of quadrature high frequency See High frequency on MyQuadratureWorld pdf E O Error of counter overflow The counter is read full 3FFF FP The gear box for selecting Qf the quadrature frequency range is open Fr The current quadrature frequen
5. In other words if the PPR where set to 1000 the frequency should run below 100Khz E I sign is issued if the CHI s strobe are too close each other Qfmax The equation Qfmax Qclk 16 states that the maximum quadrature frequency allowed is 1 16 the clock frequency on the CPLD in our case 10000 16 625KHz This apply for quadrature signals exactly 90 out of phase The real Qfmax on Codecx 2 0 is 622KHz tested in generator run mode 3 10V Since other factors may lower the limit such as unbalance delays on transmission chain the value of 610KHz is considered the Qfmax forthis unit READY Sinks 30mA at 24VDC CHA 100R m st RDY L 1 m Lo CHB a ME OV SCHEMATIC OF THE QUADRATURE GENERATOR SCHEMATIC OF READY OUTPUT SIGNAL MISCELLANEOUS The code of the unit appears for 2 sec at power up In our case Cod 2 0 Default data are loaded holding down T2 at power up until the end of the count down when the display blanks for a while See page 29 for default values chart Codecx 20 user s manual GEAR BOX E J es desantiQ gmail com Page 11 HOMING Generator CHA CHB and CHI are issued by the PLD HLS is generated by the uP only at pseudo absolute mode either rotatory or linear At reset key T2 CHA and CHB go high positive logic CHI is an AND between CHA and CHB when the PPR counter acknowledges HLS is one PPR wide positioned across the Home section Generate by the
6. O O O O O O O O O O 2 5mm dia 33mm Max k t 2 9mm 8 5mm 33mm 82mm Max INTERFACE ADAPTER BOARD LAYOUT INTERFACE ADAPTERS Page 21 10 MHz 4 CHANNEL 5V DIFFERENTIAL LINE DRIVER RS 422 The board is equipped with a quad 5V differential RS 422 driver AM26LS31CN type RDY at power on and off forces the outputs to high impedance inhibiting false signals going out The card is powered by the remote reader through VE and OV lines VE is sensed by IC2 which stops the generator when the voltage drops below 4 61V typ HLS is single ended and its polarity must be selected with JPH CONNECTOR CN1 PSEUDO ABSOLUTE SINGLE ENDED CONNECTION AM26LS31CN READER ww Codecx 20 user s manual E J es desanti gmail com CONNECTOR CN6 A B I HLS N em st c c c c 1200 1200 1200 1200 A B I Optional terminating resistors C1 22uF 16V Z1 P6KE6V8A IC2 MC34064P 5 Under voltage sensing THE CODECX DOESN T FUNCTION PROPERLY IF THIS BOARD IS NOT POWERED THROUGH THE CONNECTOR CN1 READER Rear view of connector mating CN1 BASIC SINGLE ENDED CONNECTION READER PSEUDO ABSOLUTE RS 422 CONNECTION INTERFACE ADAPTERS Page 22 ES911B 4 CHANNEL RS 422 RECEIVER 10 MHz The board receives the quadrature signals from an external generator such an encoder and feeds the Codecx The encoder may be powered by the Co
7. 0 Reverse CW 9 8 7 6 X 1 Clear Counter CCW CONNECTIONS AT CN2 v Impedance integrator and drive level positive side only are those described above for code 3 To reverse the motion switch off HF or HR lines first and wait at least 20msec before enabling the inversion REMOTE CONTROL CODE 5 amp 6 THE CODECX GENERATES THE QUADRATURE SIGNALS DRIVEN BY 4 20mA CODE 5 OR BY 0 20mA CODE 6 ANALOG SIGNAL THE DIRECTION IS DONE BY HF AND HR ON OFF LINES 0 ANALOG GND TRUTH TABLE WAVEFORM DIAGRAM 24Vcc 0 4 20mA HF 0 4 20mA HF HR Functions HR 4 a X 0 O No Drive Se lt 0 19 3 98 X No Drive 0 4 50 gt 0 2 3 99 1 O Forward 20mA gt gt 0 2 3 99 0 1 Reverse Lx 4 1 Clear Counter cw P am ccw Y CONNECTIONS AT CN2 The impedance is 100 Ohm The incoming analog signal is conditioned by an 1V msec integrator To reverse the motion switch off the direction line first and wait at least 20msec before enabling the inversion Codecx 20 user s manual DETAILS OF REMOTE CONTROL E J es desantiQ gmail com Page 8 QUADRATURE COUNTER RECEIVER MODE By inserting interfaces PPR READER ES911B and ES911C KEYS FUNCTION MAP d A B I HLS The Codecx Counter s lower digits reads mw 561890 ud e off Clear counter Homing Counter s higher digits 2 sec delay Counter s
8. 123KHz no interface adapter inserted 2 Simulate an alternate motion swing Change only the setup line 2 to 1 Return to baseline and run Adjust the speed with the COARSE potentiometers only on the positive half Stop running Go to setup line 3 change the the swinging time digit B and try again 3 Run on remote control through the 4 On Off lines HF HR LF LR Set the running mode 2 Check the On Off lines on line 4 Return to baseline and run using the rules of page 7 4 Run on remote control through the 0 10V signal Set the running mode 3 Return to baseline and run With positive signal the Codecx runs forward with negative voltage runs reverse 5 Run on remote control through the 4 20mA signal plus HF and RF Set the running mode 5 Return to baseline and run Apply 4 20mA for the speed and HF or RF for the direction 6 PPR counting Change setup line 7 to 1 and run Data is the first time displayed at the 3th CHI cross and then refreshed every 3 crossings T2 clear the data and starts a new reading Removing any interface adapter for counting the Codecx its own PPR programmed on line 5 Insert a receiving interface adapter for counting the PPR of an external encoder If the display remains steadily lighted the reading is good while flickering display means frequency too high or bad reading CHI has to be met 3 times before displaying the rate then it is refreshed every 3 CHI crosses T2 will clear the data and
9. 5 CHA CHB and CHI Light up when the lines are high at connector CN6 Codecx 20 user s manual GENERATOR MODE E J es desanti gmail com Page 3 SETUPS T1 key enters setups with a waiting of 2 sec and increases the lines RUN key skips to baseline The line code is on the left T2 key decreases and T3 key increases the data if not otherwise specified Please see also the Training on Codecx chapter for further instructions LINE CODE DATA Line Sets Allows to store up to 9 configurations From 01 to 09 Every set includes the setup lines from 1 to 7 plus the speed Line 2 Running Code Active as generator only Ignored when receiving T2 T3 O Local control with the two potentiometers on the front panel Turn right for p ESC forward motion and left for reverse The COARSE one weights 8296 and the FINE 18 ofthe total The ramp of 1 sec minimum is inherent to this code 1 Swing local control The bit F on line 3 should be i Swinging on linear mode line 720 or 3 The Codecx simulates a back and forth ts 0 motion centered at position zero Starts and inversions are smoothed by a 320ms ramp The inverting positions are not sharp since they are reached by a timer with an inaccuracy of 10msec The speed is given by the potentiometer Coarse only on the positive half The minimum speed is 3 4 of the maximum even if the pot is at 0 The first motion is always positive There is a stop of a
10. In receiving mode however the Codecx must also supply the external encoder being read So an adaptor of 0 8A output is shipped as standard 424 Di 130mA Codecx core RS 422 driver ov AM26LS31CN 24 usi ss Reader AM26LS32CN 4 terminated receiver twisted pair Pt 5V 175mA F power supply The F power supply has no load The interface is supplied by the remote reader 24 I30mA Codecx core ov o 4 n Reader CN6 CN1 single ended lines ov VE 8 28V 25mA F power supply The F power supply has no load The interface is supplied by the remote reader 24 130mA Codecx core ov 24A 350mA CN1 12F 225mA 5F 400mA F power supply Short circuit proof For custom application the total current drawn switching power from the 3 power lines should not exceed 400mA supply board The line VE can also be used as power carrier uP HLS Interface Adapter CHI CHB CHA Channels A B Index Home Limit Switch 100R Path of the quadrature signals Codecx 20 user s manual GENERATOR POWER MAPS E J es desanti gmail com Page 16 RECEIVER USER S CONNECTORS N gt gt These trimmers are accessible removing O O O O O O O O 0
11. T3 LED in the front panel blinks every 1000 counts if PPR where set to 1000 at Tresc QD 2 every 2000 counts at QD 4 every 4000 counts This may be confusing at the first sight Suggestion is to set QD 1 when using CHI See also note on quadrature frequency page 11 Line 6 Number of sectors Are the encoder tours or index marks per one full b 0 30 rotation Applies to the rotatory pseudo absolute axis only Value range from 1 to 100 This parameter tells the uP when to produce the HLS signal If only a single T2 T3 sector is programmed the HLS signal is not released See page 13 ri esc wm Codecx 20 user s manual SETUP LINES E J es desanti gmail com Page 5 Tresc BASELINE GENERATOR MODE 0 Line 7 Operating Mode 0 CHA CHB CHI encoder simulator Basic quadrature counting mode CHI is ignored by the system The endless counter reaches x2 billion counts and circles again The position is not saved Relative positioning allowed On receiving behaves as basic quadrature readout 1 PPR Counting The Codecx counts the PPR generated by its own or those received by an external encoder Up to 2 billion pulse capacity See also page 14 point 6 Frequency reading and the gear box are inhibited 2 Rotatory pseudo absolute encoder simulator Homing Generator and receiver CHA CHB CHI and HLS Home Limit Switch signals are involved See notes 3 Linear pseudo absolute encoder simulator Homing Generator
12. and receiver CHA CHB CHI and HLS signals are involved The axis is 2 billion count wide As the limits are reached the counting stops and the sign E 4 is issued See notes Notes The position counter the index position the HLS status and channels levels are saved at power off and retrieved at power on simulating a real absolute positioning encoder See page 12 for waveform and speed Read also note on quadrature frequency page 11 QD RUN mode B D E E TEST PPR SECTORS SETUP LINES 37 1 99 1 9 1 0 20 410 17 4 DP inputs S34 16384 16 7 REMARKS The Codecx issues CHA CHB CHI although CHI is ignored by the internal counter MODE 1 digit B D E E SENUP EINES 1 1 2 0 6 3 1 9 1 9 0 0 1 0 7 4 X Inputs S 4 16384 6 X MTE REMARKS The Codecx issues CHA CHB CHI and counts its own PPR MODE 2 digit e eNO ENTE SETUP LINES 230 6735 19 0 1 0 ADP Inputs 25 4 16384 G6 1 100 7 REMARKS The Codecx issues CHA CHB CHI HLS When line 6 1 HLS isn t issued MODE 3 digit B C D E E SETUP LINES 2 06 3 1919 010 4 DP Inp ts 5 4216384 6 REMARKS The Codecx issues CHA CHB CHI HLS RECEIVER MODE 0 SETURILINES Ss ileal 2A 2X eR oS Of Oe 010 4 6 FIRS 6 X 7 30 REMARKS The Codecx uses CHA CHB only CHI is ignored if present MODE 1 digit B C D E F ie 8 Bb EE F SERURIMINES T X 12X X X 0r 0 1 capp 6 X Hay pr
13. e Oo Oo a Oo c e e e nhe z Io e Q3 Q6 Q9 20119 012 2 g I gs z IS Jou S e DH 2022228 VE OV A B 8 28Vdc FIELD SUPPLY CONNECTOR CN1 123456 Rear view of READER connector mating CN1 SINGLE ENDED BASIC SINGLE ENDED QUADRATURE CONNECTION PSEUDO ABSOLUTE CONNECTION Codecx 20 user s manual INTERFACE ADAPTERS E J es desantiQ gmail com Page 25 GENERATOR MODE ENCODER AND MOTION SIMULATOR THE BEHAVIOR IS LIKE AN ENCODER DRIVEN BY AN SPEED CONTROLLED MOTOR Leo fase ae 9 EXAMPLE 1 RUNNING CODE 0 amp 1 READER Locally controlled motion with COARSE and FINE Pots The transmission shown is RS 422 1 CN6 ADAPTER ES911A cne ADAPTER ES911D cu f i f 26 39 4 26 a 4 co o o Lo 90 TE o 124 2s Ai isl ity t dud 5 B 5 5 x READER READER Examples of single ended wiring IN GENERATOR MODE THE READER MUST SUPPLY THE DRIVING ADAPTER ON THE CODECX WITH THE PROPER VOLTAGE 5Vcc FOR ES911A AND 8 28Vcc FOR ES911D wm Codecx 20 user s manual APPLICATIONS E J es desantiQ gmail com Page 26 GENERATOR MODE ENCODER AND MOTION SIMULATOR 6 EXAMPLE 2 LIU RUNNING CODE 2 CHI HLS CHA CHB POWER COMI LF HF LR HR READY READER cad
14. lower digits LED switched on m counter Homing Stop Counter s higher digits The assigned functions of the keys are From BASELINE STOP MODE RUN enabling receiving While pressing the key the word InPut is displayed T1 entering the setup lines by holding it pressed for 2 sec T2 clearing the counter From BASELINE RUN MODE RUN stopping receiving T1 temporarily display the higher 4 digits of the position counter T2 clearing the counter T3 Displaying the incoming quadrature frequency in KHz while the counter is still tracking the position LEDS FUNCTION RUN When offthe unitis in STOP mode the receiver is inhibited When on the receiver is enabled DRIVE Has no function It is always off When receiving there are no driving commands CHA CHB CHI and HLS Light up when the lines at connector CN6 are high Codecx 20 user s manual RECEIVING MODE E J es desanti gmail com Page 9 BLOCK DIAGRAM INTERFACE ADAPTER lt m gt 1 uP Q LOGIC PETLER 3 Cd2 0 CPLD 24V OV d EARTH 1 gt ox 12 Supply 9 z a 12 axe FRONT PANEL 24Vcc 9 a3 5F Feeding 12F External 5 5 2 5mm Encoder GNDA Analogic Ground
15. uP and updated every 5msec it may fall 5msec out of synchronism For this reason Qf must be kept lower than PPR 10 to guarantee that HLS will overlap the Home section Example For PPR 1000 the Quadrature frequency should stay lower than 100KHz In any case E I sign is issued when Qf is too high For complete understanding of the matter please download the pdf on Pseudo Absolute encoder chapter HOME 44 CHA 1 CHI His L PPR WIDE ae E T2 Clears the counter and DRIVING WAVEFORM AT CONNECTOR CN6 Home the axis Receiver To detect the homing point the four signals have to stay all stable high for at least 3 Qclk cycles In our case 300ns The quadrature channels CHA and CHB may reach 610KHz as long as the period between Indexes stays over 5ms One index strobe per 5msec max For rotatory encoder that means12000RPM max The minimum width of CHI is 3Qclk cycles dark grey section below while the maximum is 3 4 of a pulse each side light grey section As far as HLS is concerned it must stay high from just to cover the Home section to 1 2PPR less 1 pulse before and after across the home point CHB rd m cu L l HLS Ls y PPR 1PULSE y PPR 1PULSE lt gt gt X RECEIVING WAVEFORM AT CONNECTOR CN6 PPR WIDE ca L J L 1 CHB CHI HLS
16. www encodersystem com t1 AT JACK REAR VIEW WITH THE COVER a Codecx 20 user s manual USERS CONNECTORS E J es desantiQ gmail com Page 20 INTERFACE ADAPTERS Plugged on connector CN6 at the rear are protective buffers and level translators between field and Codecx logic The Generator adapters drive the signals outside the Codecx simulating an incremental quadrature encoder or axis system The Receiver ones receive the signals from the field and the Codecx becomes a reader unit These boards mount standard discrete components for easy customizing and repair A series of switches allow to invert the signals to adapt the logic levels to the specific requirement particularly when CHI is involved Just to recall the Codecx works on positive logic so the signals are true when high at connector CN6 LIST OF ADAPTERS ES911A ES911B ES911C ES911D 59112 Quad 5V differential line driver RS 422 10MHz Quad 5V differential line receiver RS 422 10MHz and single ended mode Quad 5 28V single ended PNP NPN or Push Pull receiver 200KHz Quad 8 28V single ended Push Pull driver 200KHz Empty drilled Card 1 10 pitch for custom purpose wem Codecx 20 user s manual E J es desanti gmail com CN6 A CN6 A Front view Rear view 3M Polarized Boardmount Socket Part Number 5120 B7A2JL CN6 A DRILLING dia ire 9mm dia 1 10 pitch centered on fixing holes 000000000
17. 20 the front panel To do this force a sharp 1e 000000000 screwdriver between the panel itself and amp ie abdatuhbi the frame and lever hs leoooo ooooe OOOO 5 5 2 5mm 5 M SACK 24Vcc 0 75A POWER MAY BE SUPPLIED THROUGH THE JACK OR THE CN3 CONNECTOR gt lt CN1 QUADRATURE SIGNALS CN2 REMOTE CONTROL SIGNALS A Input True signal of channel A Output Sinks to OV a 24Vdc 30mA load A Input Inverted signal of channel A after status and position are restored at B Input True signal of channel B power on the Codecx is ready to receive B Input Inverted signal of channel B Inputs For remote clearing purpose only I Input True signal of the Index channel Both high clear the Codecx display I Input Inverted signal of the Index channel Common to the two clearing lines HLS Input Home Limit Switch VE Output Encoder power supply OV Common ground Note The isolated On Off clearing lines become active when brought to 24Vcc with respect to COMI Each line draws 7 5mA CN6 SIGNALS TO FROM THE INTERFACE ADAPTER CA CB CI CHLS G R RDY VEK 5F 12F 24A VE ov From Receiving channel A From Receiving channel B From Receiving the Index channel From Receiving the Home Limit Switch From Pulled up Generator Receiver mode on the main board Grounded by the adapters To Disables the receivers during power on a
18. 95 26 144 8 43 PANEL MOUNT Aluminum Body 138 5 x 137 x 66 Frame 144 x 72 Panel cutout 138 1 x 68 0 7 Panel thickness 1 10 Dimensions are in millimeters wm Codecx 20 user s manual LAYOUTS E J es desanti gmail com Page 31 FAMILY OF ENCODER SIMULATORS FOR LAB PRODUCTION AND FIELD ITEM LIST One of each 1 Codecx 2 0 2 Main Adaptor 50 60Hz 90 240Vac 24Vdc 0 8A 3 Adapter ES911A Quad Driver 5V RS 422 10MHz 4 Adapter ES911B Quad Receiver 5V RS 422 10MHz 5 Adapter ES911C Quad Receiver 5 28V single ended PNP NPN or Push Pull 200KHz 6 Adapter ES911D Quad Driver 5 28V Push Pull 200KHz 7 Adapter ES911Z Empty drilled 0 1 for customer purpose 8 Hooded 9DB Male 9 Hooded 9DB Socket 10 User s Manual wm Codecx 20 user s manual E J es desanti gmail com Page 32
19. CODECX 20 USER S MANUAL VER MAR 2012 QUADRATURE ENCODER AXIS SIMULATOR SIMULATOR PPR COUNT CODECX 2 0 GENERATOR AND UP TO 610KHz FOR LAB PRODUCTION AND FIELD READER 0 10 or 0 10V 0 20 or 4 20mA PLUG IN SV RS422 In Out INTERFACE h REMOTE HF ADAPTERS B 5 28V single eae feet ne A CONTROL HR 5 ended In Out r LINES LF a CHI PRE a a NS MAAS SCALE 2 3 The basic function is to manage the quadrature signals CHA CHB along with the index mark CHI Enhanced operations in Absolute Positioning mode include the signal HLS Home Limit Switch in order to determine the exact position of the home point Featuring 10 decade long position counter 6 digit LED display plus sign Position or Frequency readout 340 step gear box covering the ranges 0 80Hz the slowest to SHz 622Khz the fastest 7 running mode 2 Local Control modes with the two knobs for coarse and fine regulation and 5 Remote Control modes through 0 10 10V 0 20 or 4 20mA analogic lines and four 24Vdc On Off optoisolated lines HF LF HR LR High Low speed Forward Reverse Soft start and stop on running code 2 9 configuration sets stored in eeprom 4 16384 PPR rate Basic quadrature Pseudo absolute position linear and rotatory Relative positioning PPR count Selectable Decimal Point Blanking capability Full digital Quadrature Active Filter Other than tracking the motion the unit
20. EARTHS THE D CONNECTORS AND THE ALUMINUM CASE SHORT DESCRIPTION The VCO Voltage Controlled Oscillator feeds the Quadrature Generator through the Gear Box The VCO is enabled when the LED RUN is on The LED DRIVE lights motion enabled when LED RUN is on and the VCO input is higher than 110mV The QAF Quadrature Active Filter receives CHA and CHB from the Quadrature Generator if the device operates a generator signal G R left open or from the field if operates as receiver signal G R grounded QAF produces the Count Enable and U D signals to the DCI which transfers the counting to the uP QAF takes care of the Quadrature Decoding x1 x2 x4 and produces warnings such as E H High frequency error C t Common Mode Transition and O L Oscillation When operating in generator mode the motion can be activated locally by the two potentiometers simulation of an encoder or remotely by the control lines HF HR LF LR and or the analog voltage and current lines simulation of an axis The generator receiver mode is determined by the interface adapter inserted on CN6 ES911A D and E live G R open thus the Codecx behaves as a generator ES911B and C ground G R so the Codecx becomes a receiver With no card inserted the Codecx is a generator for itself The management of the quadrature frequency of 610KHz is easy achieved with the slowest components available the CPLD is an Altera EPM7128C84 15 compiled in Slow Slew Rate mode and the uP i
21. couple of seconds at every inversion just enough to compare the position with the reader being fed The time t of the swing is set on line 3 digit C It starts elapsing at zero crossing of the axis The 360 720 swinging frequency ranges from 1Hz the minimum of the lowest gear to 610KHz the top gear The routine is being repeated indefinitely Linear swinging diagram Rotatory swinging Swinging on rotatory mode line 7 2 The Codecx starts cycling from 0 After two di waren revolutions applies the time and stops Then reverses the motion until 0 and again applies the time before stopping The routine is being repeated indefinitely 2 Remote control through the four on off lines enabling local Coarse and Fine pots The activation voltage is 24Vdc 7 5mA with respect COMI On this particular mode a programmable up down ramp is applied to he motion See page 7 for details Remote control through 010V Both speed and direction are given by the voltage signal positive is forward negative reverse See page 8 for details 4 Remote control through 0 10V and HF or HR The speed is given by the voltage signal and the direction by HF or HR See page 8 for details 5 Remote control through 4 20mA and HF or HR The speed is given by the current signal and the direction by HF or HR See page 8 for details 6 Remote control through 0 20mA and HF or HR The speed is given by the current signal and the direction by HF or HR See
22. cy is being displayed InPut Appears when pressing RUN on receiving mode L u Means that the external 5V power supply feeding the interface adapter ES911A is too low The threshold is typically 4 61V O L Oscillation has occurred Harmful fully managed by the digital filter The occurrence is reported if enabled on setup line 3 See Channel oscillation on MyQuadratureWorld pdf Appears every 2 sec for a short while Many signs may appear in sequence Key T2 RES clears all Fatal error the axis position is lost A reset is necessary wm Codecx 20 user s manual WARNINGS E J es desantiQ gmail com Page 13 TRAINING ON CODECX 1 The Codecx is shipped ready to go just plug the power switch the LED RUN on toggled with key RUN and turn the knobs Then Press T1 to see the higher digits of the counter Press T3 to see the frequency Press RUN to return to baseline Dim the LED RUN and enter the setup lines press and hold T1 key for 2 sec to enter line 0 Release it and press it again to enter line 1 Change the Quadrature Decoding to 2 or 4 with the buttons T2 and T3 Skip to baseline with RUN button and run Dim the LED RUN and press T3 to enter the gear box The left displays show FP Change the frequency with T2 and T3 Press RUN again to return to baseline The shipping setup is the follow Line 0 01 line 1 01 line 2 0 line 3 1 3000 line 4 00000 line 5 1000 line 6 002 line 7 0 speed
23. decx up to 355mA or by an external source The connection of the pair can be direct or inverting see chart below This help to match the logic levels of the system with the Codecx s requirements In fact it detects the Home Point when CA CB CI and CHLS are all high positive logic The LEDs on front panel should all light Fix CHA and CHB first otherwise CHI and HLS will never light If running on basic quadrature mode only Channels A and B live LEDs CHI and HLS switched off The inverters have been added to have low outputs when the encoder is disconnected RL 1200 R2 1200 CONNECTOR CN1 AM26LS32CN 74HC14 SCALE 1 1 Rear view of connector mating CN1 5V DIFFERENTIAL RECEIVER BASIC QUADRATURE CONNECTION Codecx 20 user s manual INTERFACE ADAPTERS E J es desanti gmail com CONNECTOR CN6 DIFFERENTIAL LINE DRIVE OUTPUT CONNECTION CHART i P CB CB CI I A INVERTING LEVELS Ht CHLSM SINGLE ENDED DIRECT H E u 9 CHES 1 H HLS SINGLE ENDED INVERTING For load exceeding 355mA use an external power supply Only the encoder has to be powered 5V DIFFERENTIAL RECEIVER PSEUDO ABSOLUTE CONNECTION Page 23 ES911C 200KHz 4 CHANNEL RECEIVER 5 28V SINGLE ENDED NPN PNP AND PUSH PULL The board receives the signals from an external generator such an encoder and feeds t
24. e generator While pressing the key the running code being started is displayed T1 entering the setup lines by holding it pressed for 2 sec During the waiting time the 4 higher digits of the position counter are displayed T2 clearing the counter homing the axis and cancel the warning flags CHA CHB and CHI are set high HLS goes also high when in pseudo absolute mode T3 selecting the frequency range The generator run attop speed while T2 and T3 select the gear No receiving interface card must be inserted From BASELINE RUN MODE RUN stopping running T1 temporarily display the 4 higher digits of the position counter T2 clearing the counter homing the axis and cancel the warning flags CHA CHB and CHI are set high HLS goes also high when in pseudo absolute mode T3 Displaying the current quadrature frequency in KHz while the counter is still tracking the position LEDS FUNCTION RUN When switched off the unit is in STOP mode the generator is inhibited When lights the unit is ready to receive the driving commands DRIVE When switched off there are no signals for running Either the unit is in the Stop mode or there are no driving commands Refer to RUN Commands on the following pages HLS Simulates the Home Limit Switch Active in pseudo absolute mode only Lights when the line is high at connector CN6 It lasts one complete encoder tour centered on CHI mark The PPR rate is programmed on line
25. he Codecx The encoder may be powered by the Codecx with 5 12 or 24V selectable through JP1 If an external source is used on the range 5 28V make sure that JP1 is completely disconnected Select SW1 ON for PNP OFF for NPN open collector or pulled Push Pull or singled line drive Inverting switches SW AB SW I and SW help to match the system logic level with the Codecx requirements In fact when running in pseudo absolute mode it detects the Home Point when CA CB CI and CHLS are all high positive logic The LEDs on front panel should all light Fix CHA and CHB first otherwise CHI and HLS will never light If running on basic quadrature mode only Channels A and B make sure that CHI and HLS LEDs remain switched off PNP ON VOLTAGE SELECT NPN PUSH PULL OFF S 22uF aay CONNECTOR CN1 CONNECTOR CN6 X 1K Pull up to 5F ON DIRECT O 4 7K Pull up to 5F OFF INVERT 1 1 5F VE 5V OL 12 mike lop 24 1 5F VE 12V mm 12F encoder 424A supplied by oV lt the Codecx P1 01 5F J VE 24V gt 12 24A oV 4 Adapter and SCALE 1 1 Field supply VE 5 28V o ol 12F By 24 BY FIELD SUPPLY REMOVE JUMPER FROM JP1 o VE NPN PNP PUSH PULL NPN PNP PUSH PULL For l
26. ment of the encoder exceeds the Codecx limit provide a suitable power supply and connect it as shown 130mA r jpi Voltage 24 p Codecx core 50 selection ov 24A 350mA Encoder single ended lines 12F 225mA 0 17A 5F 400mA F power supply The current drawn by of the interface ES911C itself is negligible around 15mA 24 Codecx JPi No voltage odecx core selection ov 24A 350mA ncoder pi 24A 350 E d CN6 CN1 single ended lines 12F 225mA 0 17A ov 5F 400mA VE 5 28V F power supply By external supply remove the jumper on JP1 Codecx 20 user s manual RECEIVER POWER MAPS E J es desanti gmail com Page 18 READING AN ENCODER Insert a receiving interface adapter prior to powering on First of all turn the encoder slowly and check the LEDs on the front panel Make sure that CHA and CHB switch on and off following the quadrature diagram see below If even CHI is concerned check that it lights at home point only Even CHA and CHB must be lighting at home If not manage the connections or the switches on the interface adapter to invert the wrong levels Even HLS must light at home point if operating in pseudo absolute mode See also page 12 Basic quadrature reading CHA and CHB only are involved Program setup line 1 to 1 and setup line 7 to 0 Run the encoder at different speeds check if any warning shows up Clear the display and revolve the encoder for one tour The counts roughly represe
27. nd HLS are optional READER ADAPTER ve SU 5911 6 24 CN3 JACK gt gt lo 5 5 o1 02 03 A 6 Lj SELECT THE ENCODER s VOLTAGE ONBOARD ES911C 5 28V ENCODER Reading a 5 28V single ended transmission encoder Encoder s voltage is selectable on ADAPTER board CHI and HLS are optional A 4 ENCODER SIMULATOR BOX USED TO TEST THE BOARD PC864 Codecx 20 user s manual APPLICATIONS E J es desantiQ gmail com Page 29 DEFAULT DATA CHART Default data are loaded holding T2 pressed at power up until the end of the count down when the display blanks for a while Qf value in KHz is withing 2 5 01 1 1 1 4 03 1 1 2 0 2 2 2 3 3 1 3000 31 3101 31 3001 4 00000 4 00000 4 00000 5 1000 5 0100 5 2500 6 002 6 010 6 025 7 0 7 0 7 0 Qf 123 0 Qf 490 0 Qf 490 0 04 1 2 1 2 06 1 4 2 0 2 5 2 2 3 1 3000 31 3100 3 1 7000 4 00000 4 00000 4 00000 5 1000 5 1000 5 4000 6 050 6 100 6 100 7 1 7 2 7 2 Of Qf 61 5 Qf 246 0 07 1 2 1 4 09 1 4 2 6 2 0 2 1 3 1 4000 31 3100 31 3000 4 00000 4 00000 4 00000 5 16000 5 0004 5 9000 6 100 6 100 6 100 7 3 7 3 7 3 Qf 490 0 Qf 0 24 Qf 490 0 wem odecx 20 user s manual E J es desanti gmail com DEFAULT DATA LAYOUTS 275 170 70 154 8 43 13 144 es TABLE TOP 1
28. nd off Drives also the output READY Not connected Not used by the receiving adapters To 5V 400mA switched to VE To 12V 225mA switched to VE To 24V 350mA switched to VE Bears the power supply for the external encoder being read either 5F 12F or 24A Digital Common Ground a Codecx 20 user s manual RECEIVER USER s CONNECTORS E J es desanti gmail com Page 17 RECEIVER POWER MAP 24 5 130MA _ Codecx core RS 422 receiver ov 1 AM26LS32CN 9 SPESE 4 m ncoder o o gt t 0 4 CN6 AM26LS31CN f CN1 4 channel terminated Driver F2 lt twisted pair qT o 12F 225MA E E 7 OV 0 17 E 5 400 4 VE 355mA 180mA F power supply TM Only 5F is loaded Most of the current Short circuit proof switchin Bune around 220 is needed by the supply board 4 channels RS 422 connection 24 5 130MA _ Codecx core RS 422 receiver ov 1 AM26LS32CN 9 ERES ncoder o 0 1 0 4A CN6 AM26LS31CN f CN1 4 channel terminated Driver F2 lt twisted pair _0 gt 12F 225mA 0 17A OY 5F 400mA VE 5V e gt gt F power supply If the power require
29. nt the PPR of the encoder Check both directions PPR count CHA CHB and CHI are involved Program setup line 7 to 1 Turn the encoder for at least 3 turns to see the PPR After this the data is refreshed every 3 turns Watch for the flickering of the display It means that the Index strobe shows up too rapidly Reduce the speed clear with T2 and wait for the new data As general rule the Index period must be over 5ms corresponding to 12000 RPM for rotatory encoders If the warning E H appears reduce the speed and try again If after 3 turns no data appears probably the Codecx doesn t see the Index mark Check the LEDs as described above When finished restore the previous operating mode on line 7 Pseudo absolute mode CHA CHB CHI and HLS Home Limit Switch are involved Program setup line 7 to 2 or 3 and run the system Checking the encoder The quadrature digital filter is a sophisticate digital block capable to spot some flaws in the middle of the regular motion Those flaws are signaled as E H Means that two quadrature transitions have fallen too close each other less than 400ns apart not enough for the filter to screen both properly The position is lost E H may also be a way to measure the worst quadrature shift among channels For the Codecx 2 0 the equation is Shift 90 Qfe H 625 where 90 are the out of phase degrees for the perfect quadrature Qfe H is the frequency at which E H appears and 625KHz is the theore
30. oad exceeding the Codecx power rating use an external power supply Both interface and encoder have to be Rear view of connector mating CN1 supplied THE ENCODER IS POWERED THE ENCODER AND THE ADAPTER ARE BY THE CODEX POWERED BY AN EXTERNAL SUPPLY Codecx 20 user s manual INTERFACE ADAPTERS E J es desantiQ gmail com Page 24 ES911D 200KHz 4 CHANNEL DRIVER 8 28 PUSH PULL The board sends out the signals produced by the Codecx The outputs are inhibited by RDY at power on and off The driver section is powered by the remote reader through VE The outputs can be selected direct or inverted The switches SW AB SW SW H live the signals direct when on and invert them when off CONNECTOR CN6 T CD4011BP OD L uid 4 7uF 14 7K Pull up to 5V 16V 3 4 SW AB 10 SWI 11 SW H SW AB I H ovo ovo ovo ON DIRECT 2 1 5 6 H gt 9 8 gt 13427 D OFF INVERT 1 2 14 CD4070BP F1 D1 3 4 10 11 C L Ir e o o 2 144002 m eor N 01 wt Q4 wt Q10 at amp x amp x amp x T 22uF z A E g g A K g M g N N 25V c o c o o co 3 m 9 T 4 C
31. ower on I Output Inverted signal of the Index channel the Codecx is ready to generate HLS Output Home Limit Switch HF LF Inputs Forward motion control lines VE Input Interface adapter power supply HR LR Inputs Reverse motion control lines OV Common ground COMI Common of the four motion control lines Note The isolated On Off motion control lines become active when brought to 24Vcc with respect to COMI Each line draws 7 5mA CN6 SIGNALS TO FROM THE INTERFACE ADAPTER CA To Driving channel A CB To Driving channel B CI To Driving the Index channel CHLS To Driving the Home Limit Switch G R From Pulled up Generator Receiver mode on the main board Left open by the adapters RDY To Disables the drivers during power on and off Drives also the output READY VEK From Pulled up input on the main board Brought low by the ES911A adapter if the external 5V falls below 4 61V typically At this occurrence the generator is stopped and L u sign appears Leave it open if not used VE To Carries the external supply powering the driver interface adapters OV Power supply common ground wmm Codecx 20 user s manual GENERATOR USER s CONNECTORS E J es desanti gmail com Page 15 GENERATOR POWER MAP In generator mode the Codecx draws only150mA for itself But a little boost is needed at power on to charge the capacitors So a 90 240V 0 5A AC DC Adaptor is suitable
32. page 8 for details Codecx 20 user s manual SETUP LINES E J es desanti gmail com Page 4 je 4 100 Line 3 Status 2 is the cursor toggles data DP indicates the selected bit B CD E F B Up down slew rate ramp of running code 2 1 9 seconds to full speed ri esc T2 T3 C Swinging time of running code 1 1 9 seconds D Warnings C t and O L COMmon mode transition and OSCillation O The events are managed by the quadrature filter but not signaled 1 The events are managed and signaled E Blanking O The display is always lighted 1 The display is blanked when running F Clearing 0 The position is cleared with T2 key and with remote lines HF HR 1 The position is also cleared at every start from remote control mode running codes 2 to 6 implementing the Relative positioning Applies to basic quadrature generator only line 7 mode 0 BCG Line 4 D P and On Off inputs test QO b D P position is set with keys T2 and T3 C D E F B Inputs test the digits turn to 1 when the corresponding input goes to 24V HF LF HR LR HF High speed forward Tresc T2 T3 LF Low speed forward HR High speed reverse LR Low speed reverse 5 10 Line 5 PPR setting Pulse Per Revolution Value ranges from 4 to 16384 The 5 number of the line switches to tree lines when the the PPR value grows to five digits BEOR Note Just keep in mind that one pulse includes 4 transitions So at QD 1 line 1 the CHI T2
33. s al REMARKS The Codecx uses CHA CHB CHI MODE 2 SJSMUIP MINES gt ath lke fe fiche OK OX eal al die D E e cun 4 D P X 5 4 16384 6 1 100 7 2 REMARKS The Codecx uses CHA CHB CHI HLS MODE 3 digit B D E SERUPEINES DTT XT 5742168847767 7 REMARKS The Codecx uses CHA CHB CHI HLS X don t care See note at PPR setting line page 5 CHART OF SETTINGS FOLLOWING THE OPERATING MODE Codecx 20 user s manual SETUP LINES E J es desanti gmail com Page 6 REMOTE CONTROL CODE 2 THE CODECX GENERATES THE QUADRATURE SIGNALS DRIVEN BY THE ON OFF LINES FOR THE DIRECTION AND THE POTENTIOMETERS ON FRONT PANEL FOR THE SPEED TRUTH TABLE LR Functions Stop CW Coarse Fine Pots CCW Coarse Fine Pots CCW Fine Pot 1 0 O CW Fine Pot 1 1 0 1 1 0 Clear Counter WAVEFORM DIAGRAM HF and HR enable the Coarse Pot A LF and LR enable the Fine Pot LF HF cw ze NN N is The generator applies the slope programmed line 3 digit but stops abruptly when the low speed command switches off Use the right half of the pots only HF High speed Forward LF Low speed Forward HR High speed Reverse LR Low speed Reverse 0 CONNECTIONS AT CN2 wem Codecx 20 user s manual E J es desanti gmail com A WAVEFORM DIAGRAM LF E 0 c E
34. s an 8 bit general purpose application both clocked at 10MHz wem Codecx 20 user s manual DIAGRAMS E J es desanti gmail com Page 10 GEAR BOX MISCELLANEOUS The gear box is a 340 step mixed logic analogic divider between the VCO and the quadrature generator The speeds are spaced of 2 3 approximately The slowest reaches 80Hz the fastest 628KHz In the latter case the counting quadrature filter issues an E H error at 622KHz meaning that it is unable to manage frequencies beyond that limit It is somehow a condition for testing the E H error ACCESS Remove any receiving interface adapter ES911B C switch LED RUN off if necessary with key RUN and press T3 The sign FP appears meaning that the gear box is open Use T2 and T3 to select the frequency range LEAVE with key RUN Max theoretical limit Counting loss occurs at 622KHz 100 90 562 5 71 is issued 80 500 70 437 5 60 N 375 x g uw 50 1 312 5 io 40 250 30 187 5 20 125 10 62 5 slowest gear 0 Drive 0 ttt Drive O 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100 DRIVE AND Qf RELATIONSHIP COUNTING BEHAVIOR Note on Quadrature Frequency When operating in pseudo absolute mode run mode 2 and 3 of setup line 7 the uP needs an extra time and space to map and synchronize the absolute position For this reason the quadrature frequency generated or received must not exceed 1 10th of the setting of line 5
35. start a new cycle Repeat the test at different speed back and forth 7 Receiving on basic counting mode Insert a receiver interface adapter before plugging the power Basic counting mode requires no particular attention But when also CHI is involved adjust the switches on the receiver interface ES911C or invert the differential lines on ES911B in such a way that LEDs CHA CHB and CHI are all lighted at the home point Even the LED LHS if present must light across the home point Codecx 20 user s manual TRAINING E J es desantiQ gmail com Page 14 GENERATOR USER S CONNECTORS 016 SA Uu a gt IAN gt oOoooco0oco These trimmers are accessible removing 000000000 020 the front panel To do this force a sharp 1e 000000000 screwdriver between the panel itself and 4 the frame and lever 5 5 2 5mm 7 JACK 24Vcc 0 75A POWER MAY BE SUPPLIED THROUGH THE JACK OR THE CN3 CONNECTOR 2 A 2 O CN1 QUADRATURE SIGNALS CN2 REMOTE CONTROL SIGNALS A Output True signal of channel A ANV Input Analog voltage A Output Inverted signal of channel A ANC Input Analog current B Output True signal of channel B GNDA Analog Common Ground B Output Inverted signal of channel B READY Output Sinks a 24Vdc 30mA after status I Output True signal of the Index channel and position are restored at p
36. tical upper limit for 90 quadrature When generating for itself with no interface adapters inserted the Codecx issues E H at 622KHz using finely tuned 0 10V remote control So the resulting shift at the input of the filter is 90 622 625 89 568 O L Means that oscillation occurred One channel switched back and forth Harmless to the position because 100 managed by the filter Its report must be enabled in the setup line 3 bit D Oscillation probably means roughness in the mechanic gear In pseudo absolute mode it would be easy even to know where it happened C t Means that common mode transition occurred The two quadrature channels switched at the same time Harmless to the position because 100 managed by the filter Its report must be enabled in the setup line 3 bit D Common mode is due to crosstalk in long single ended transmission or induced electromagnetic noise gt 5ms 1622 e CHB e HLS e HOME In pseudo absolute mode all LEDs must light at HOME point Manage the connections or the switches 0 9 18 27 36 45 54 63 72 81 90 on interface board to obtain this Receiving Quadrature Shift Degrees QUADRATURE AND HOMING LINES RELATIONSHIP E H AND QUADRATURE SHIFT RELATIONSHIP Codecx 20 user s manual READING AN ENCODER E J es desanti gmail com Page 19 5F ADJUST CN1 CN6 CN2 CN3 JACK REAR VIEW WITH NO INTERFACE ADAPTER CODECX 2
37. warns for High Frequencies Common Mode transitions and Oscillations Performs also the Quadrature Decoding x1 x2 x4 Set of plug in Interface Adapter cards to be inserted on a back socket in order to determine the generator receiver mode and the operating voltage Powered with 24Vcc 0 8A through a 5 5 2 5mm pin Jack or screw terminals Table top or Panel mount Please read MyQuadratureWorld pdf for glossary and how it works wm Codecx 20 user s manual FRONT PAGE E J es desanti gmail com Page 1 TABLE OF CONTENTS Page Generator mode keys and LEDs functions 3 SELUPS ME 4 0 Sets 01 09 9 different setups ready to use 1 Quadrature decoding x1 x2 x4 2 Running Code 0 Local manual by potentiometers 1 Local self swinging 2 Remote On Off lines and local potentiometers 3 Remote 0x 10V 4 Remote 0 10V 5 Remote 4 20mA 6 Remote 0 20mA 3 Status ramp slope swing time oscillation blank relative 4 D P On Off Lines test 5 4 16384 PPR setting 6 Sectors rotatory pseudo absolute axis 7 Operating Mode 0 Basic quadrature CHA CHB 1 PPR reading CHA CHB CHI 2 Rotatory pseudo absolute axis CHA CHB CHI HLS 3 Linear pseudo absolute axis CHA CHB CHI HLS Receiver mode keys and LEDs functions 9 Block Diagram Short Description 10 Gear box Miscellaneous
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