User Manual for ASSIST Evaluation & Programming Tool
Contents
1. CONFIGURATION EVALUATION LINEARIZ4 TION DEBUG Encoder Status 3 a VDD O iia Scale Period 1 28 mm Resolution g0 2 Hm IDD n m i Codewheel si64 periods Resolution 2 360 fincrfrev POSIC Encoder Reference Encoder Read Encoder Configuration Interpolation at NO choice Progam in OTP Default _Progam in OTE Look Up Table C gt File OOTP Name P 5APPLICATIONS Labview 201 O builds ASSISTIAS5157_ 0 0 4 Encoder ID Nrigd65535 Nr 2 465535 Pragam AOTP Nr 3 465535 i Figure 7 Configuration window EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 10 of 52 The top half of the configuration window defines the measurement configuration Section 4 1 1 whereas the lower part defines the POSIC encoder configuration Section 4 1 2 4 1 1 Measurement configuration Select whether the system is linear p AAEE Or rotary CONFIGURATION EVALUATION LINEARIZATION DEBUG 1 Define the target of the POSIC cae ee ng NY EE i g LINEAR Scale Period 91 28 mm Resolution 40 1 yum 1p 10 1961 ma encoder Linear scale period length i M wif 1 2 or 1 28 mm Rotary codewheel number of periods perio standard codewheel 64 Define resolution of the Reference encoder Linear step size e g 0 1 Look up Table ofl um Rotary increments revolution j i Encoder ID Nr 1 465535 e g 16 384 incr rev if the encoder f j Nr 3982. EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 6 of 52 2 Operation without PC For basic evaluation and demonstration purposes the Interface Board can be operated without a PC The operation without PC is described in the sequence below and is illustrated in Figure 5 Encoder signals PWR ENC Start Stop button Figure 5 Operation of the Interface Board without PC Operation without PC 1 Connect the Interface Board to a USB power source not a PC The LED PWR will light up 2 Press the start stop button on the Interface Board The encoder is activated and the LED ENC lights up The encoder is now active and the Signal LEDs show the encoder signals 3 Place the encoder in front of the target and move the target gently The A quad B encoder output signals are displayed by the Signal LEDs and can be measured on the Signal TestPins see also Figure 2 4 Press the start stop button again The encoder is stopped LED ENC turns off and Signal LEDs turn off The encoder and or the USB power supply may now be unplugged EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 7 of 52 3 Software installation The ASSIST software has been developed for operation on a PC with a MicroSoft Windows XP 7 or 8 operating system The ASSIST Software is either provided on a USB key or can be downloaded from the POSIC website Access to the
3. a j ae POSIC encoder sonal A2 ony T30 5 B2 _ POSIC encoder signal B2 only for T3401 6 l2 _ POSIC encoder signal 2 only for IT3401 e 5vusb Notconnected Supply for Ref encoder _ o a Ref encoder diff signal A postive Ref encoder signal A 42 B Ref encoder diff signal B negative Not connected Important 5Vusb terminal block pin 8 is NOT the supply for the POSIC encoder The POSIC encoder supply VDD is not available on the green terminal block itis only available on the POSIC encoder connector pin 1 in Table 9 5Vusb may be used to supply the Reference encoder see Table 12 EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 46 of 52 Reference encoder configurations The DIP switches on the Interface Board allow you to configure the supply of the reference encoder and the type of outputs of the reference encoder according to the table below Table 12 Configuration of the Reference Encoder by means of the DIP switches DiPSwitches Reference encoder Reference encoder 2 3 4 supply outputs External supply RS422 differential External supply 5V TTL single ended 5V USB supply to Ref enc 5V TTL single ended When DIP switch 1 is off the Interface Board does not provide a supply voltage to pin 1 of the Reference Encoder connector When DIP switch 1 is on the Interface Board provides the 5V USB supply voltage to pin 1 of the Reference Encoder connector When DIP
4. in ASSIST_VO 0 4 E LUT_FFFF FFFF FFFF txt Meas_File_ Default LUT txt File name Meas_File_Default_LU T tat Files of type 8 The Default LUT measurement has k been completed when the green CONFIGURATION EVALUATION LINEARIZATION indicator turns on Linearization H Encoder status Manual pienso tai vob 4 991 Vv File IDD 11 18 ma O Automatic Measure RAM LUT F5 9 The position white and non linearity red measured with the Eo Default LUT are displayed SAEST 1 1 1 1 1 1 1 1 t 1 1 1 1 1 NL Default 0 OL G2 O88 04 OS 0E OF s GI 1 it Ta Be fa 228 Measures pa Reference mm 10 Start the measurement with RAM oar LUT Fill in the file generated in ais steps 2 4 and press OK it takes a 12 Encoder satus few seconds to upload the encoder r ti veo EET m a y 10D 10 98 ma gt configuration and the RAM LUT C A a g 11 Move the target over the measurement range 12 Stop the POSIC encoder when the linearity measurement has been completed Convert the measurement results l o ooo A A A A a a A N A a a A Reference mm into a text file as in step 6 13 After step 12 a dialog box appears Sie that asks for the file containing the oT ae measurement data Fill in the file Linearization Method fy hae a na vDD 4 971 Vv generated in steps 10 12 and press a 00 SS tm OK RAM LUT
5. EA ASSIST _V0 0 4 vi File Edit Operate Tools Window Help i gt CONFIGURATION EVALUATION POSIC Encoder 4 Position 0 824375 mm Position mm oN 1 1 1 t i 1 1 1 28615 26640 28660 28680 26700 28720 28740 26760 26760 28 LINEARIZATION DEBUG Reference Encoder ES Position 0 9634 mm 1 1 l l i 1 1 1 S00 26820 26840 26860 266860 26900 28920 28940 26979 EPT002 V2B Page 19 of 52 Encoder Status _ vDD 5 001 v 1DD 11 08 ma After step 4 ou can connect the A B and outputs of the encoder to another system a counter a controller or other equipment using the Signal Test Pins or the Terminal Block see Figure 2 4 9 Measure linearity with Default LUT or LUT from file or OTP This mode of operation is useful if the linearity of the encoder has to be measured repeatedly or if a general purpose LUT has to be tested with several encoders Prior to executing the steps in the table below please make sure that the POSIC encoder and the reference encoder if applicable has been configured correctly in the configuration window Section 4 1 Select the appropriate LookUp Table Default File or OTP If File is selected use the browser to select the LUT file The selected LUT will be uploaded in the RAM LUT EA ASSIST_V0 0 4 vi File Edit Operate Tools Window Help i gt CONFIGURATION EVALUATION LINEAR ROTARY POSIC Encoder Scale Period 9
6. Figure 12 Zoom in of the top right side of all ASSIST windows showing the supply status of the encoder a Encoder has not been activated yet b Encoder has been activated but is not powered at this moment c Encoder is working d OTP Programming ongoing e Short circuit detected encoder has been turned off The typical supply voltage and current levels are listed in Table 5 EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 18 of 52 Table 5 Encoder supply voltage and current levels in different operation modes Current IDD is measured with no load on the encoder outputs wo Comment eoma S 10 15mA 1D1101 ID1301 Measurement 5V 20 30 mA 1T3401 Short circuit Encoder automatically turned off When the current measured during startup of the encoder is well above the typical level it is assumed that a short circuit has occurred between supply and ground or between an output and ground In this case the supply to the encoder is cut off and the IDD indicator turns red The short circuit should be eliminated before turning the encoder on again When the Interface Board is connected to a low power USB connection typically on a USB hub or at the side of a PC screen with current limited to 100 mA the current drawn during the short circuit may exceed the maximum current of the USB connection and supply to the Interface Board may be cut off In that case the ASSIST software may be halted befo
7. Vx x x designates the version of the ASSIST software and may for example be V0 0 4 USB Driver ee File Edit view Favorites Tools Help 1 Connect the Interface Board via the USB s O Osan gt roes FE cable to your PC A USB driver installation s5 ae wizard will appear Folders x Name Type Packe l l l Ge ASSIST_Y0 0 4_Instal zip A A mehosdecat Security Cata 5 KB 2 Use the browser of the installation wizard to 2 5 soos Gree TRAER P select mchpcdc the wizard will carry out the ai installation C supportfiles m driver 4 ASSIST software user guide The ASSIST software consists of four windows that can be selected by means of four tabs as shown in Figure 6 EA ASSIST_V0 0 4 vi SN aim m CEK Eile Edit Operate Tools Window Help a p iT up S a CONFIGURATION EVALUATION LINEARIZATIGMN DEBE Figure 6 Four tabs to select one of the four windows Configuration Evaluation Linearization or Debug 4 1 Configuration ASSIST starts up in the Configuration window Initially an hourglass will be visible during which the USB connection with the Interface Board is established Depending on the number of USB ports and their use it may take several tens of seconds to establish the USB connection As long as the USB connection has not been established the ASSIST software remains inactive fe ASSIST VO 0 4 vi Eile Edit Operate Tools Window Help gt
8. amp Programming Tool Page 13 of 52 Meas data gt ASSIST lt _m Software Movement of scale Config LUT Meas data lt l er x A Config LUT ASSIST Interface Board Figure 8 Linearization method Manual The scale is manually adjusted to different positions e g with a microscrew or a stepper motor with fixed steps Measurement and configuration take place via the ASSIST Interface Board Detailed explanation in Annex 1 Meas data r Reference Data Encoder __ aan Movement Meas data Config LUT Acquisition lt lt DAQ System of scales POSIC Fit Encoder E i 3 Config LUT ASSIST Interface Board ASSIST Software Figure 9 Linearization method File Configuration of the POSIC encoder takes place via the ASSIST Interface Board POSIC and Reference encoders are measured by the customer s DAQ system Measurement data are transferred to ASSIST by means of a measurement file Detailed explanation in Annex 2 Meas data Meas data r ASSIST Software Reference Encoder lt Config LUT Movement of scales Meas data Config LUT ASSIST Interface Board Figure 10 Linearization method Automatic The scales of the POSIC and the reference encoders are moved by means of a drive system Measurement and configuration take place via the ASSIST Interface Board Detailed explanation i
9. 8 pin connector for the POSIC encoder see Figure 28 and schematics in Figure 27 Pinnr Signal Comment GND e m Signal A2 only foriTa0 SSS e e Signal t2 onlyfor T3401 SSS EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 45 of 52 The POSIC Encoder is powered by the Interface Board see Figure 27 via pin 1 of the 8 pin connector according to Table 9 Do not apply an external supply voltage to the POSIC Encoder while it is connected to the Interface Board Permanent damage may occur if the POSIC Encoder or the Interface Board are powered otherwise than via the USB connection Tables 9 11 provide the pinouts of the encoder connectors and the green terminal block The POSIC Encoder connections are in green the Reference Encoder connections in red and the GND in blue common GND between POSIC and Reference Encoders Table 10 Pinout of the 6 pin connector for the Reference encoder see Figure 28 and schematics in Figure 27 Pinnr Signal All DIP switches off default All DIP switches on 4 5Vusb Not connected 5V USB supply voltage GND Ground a A Differential signal A postive Soma A Differential signal A negative Not connected e B Diferential signal B negative Not connected Table 11 Pinout of the 12 pin green terminal block see Figure 28 and schematics in Figure 27 Pinnr Signal _ All DIP switches off default AI DIP switches on o
10. Encoder Figure 24 Linearization method Automatic EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 37 of 52 Table 8 Linearization method Automatic Select linearization method ee ie Automatic gt E i3 CONFIGURATION EVALUATION LINEARIZATION DEBUG Encoder Status Define number of periods copper strips on the target over which the measurement will be carried out Start the measurement with Default LUT it takes a few seconds to upload the encoder configuration and the Default LUT Move the target over the measurement range The measurement data are dynamically shown in the graph while the measurement takes place The green sign indicates that the measurement with Default LUT has been completed The measured position white and non linearity red are displayed Based on the measurement with Default LUT a LUT is calculated that compensates the encoders non linearity This LUT will be uploaded in RAM memory during the next step CO automatic Measures EA ASSIST_V0 0 4 vi Linearization Method lg Default LUT F2 e C re m fl Measu RAM LUT FS Progra LUT in OTP F8 Save F12 aga T 1 1 1 I 1 E 1 1 i 1 0 0 1 0 2 ee Of ae OA ane 0e 09 1 Ld Reference mm File Edit Operate Tools Window Help gt CONFIGURATION EVALUATION ASSIST_V0 0 4 vi Number of rE vob 0 v 10D f ma 2 1
11. FS Choose CONTROL file to read Look in ASSIST_VO0 0 4 NLRSM B ooo i name Meas_File_RAM_LUT txt NL Default a 0 038 etwor Files of type All Files Measures 14 The RAM LUT measurement has u been completed when the green ey a indicator turns on Linearization Metho nren Manual File 1 4 vob 4 971 V IDD 10 98 ma O Automatic 15 The position white and non linearity green measured with the RAM LUT are displayed Progi LUT In OTP F8 Measure RAM LUT F5 DEN 1 1 i j 1 i 1 1 t 1 1 i ie 1 1 zs o Od 02 Ga Mt Ox O88 OF Oe Q9 1 i Te T3 fA TS Measures Reference mm 16 Program the LUT in the encoders oi ei a E OT P m e m O ry O n e Ti m e ae LINEARIZATION Pro ram mable Linearization Method Encoder Status D g ae ete 17 The programming of OTP memory Jeeta Oe a is irreversible therefore a dialog box 16 will appear to confirm the command ramming the encoder s OTP One Time Programable reversible NL RAM ee n r 0 057 1 1 1 1 1 1 NL Default i o o3e of 02 o3 o4 os o I 6 OF 08 0 Measures MgA Reference mm i 1 i a 1 1 Pi 1 Li 1 2 1 3 1 4 1 5 18 Wait until the box to the left of the a command Program LUT in OTP TOO turns green which means that the LE maama OTP programming has been Se N mre completed succesfully 19 Save the measurement data and the ES
12. POSIC encoder positions in mm see Figure 23 Fill in the measurement results filename in the dialog box Linearization procedure File t ASSIST_V0 0 4 vi Eile Edit Operate Tools Window Help i gt CONFIGURATION EVALUATION Linearization Method oS NLRAM galooo NL Default E 0 000 Measures EA ASSIST_V0 0 4 vi LINEARIZATION m Encoder Status fle Default LUT F2 gt Pri vob 0 v 10D f ma asure 2 4 Measure RAM LUT FS ogram LUT in OTP F8 Save F12 Jazi 1 1 1 1 1 i 1 1 1 1 1 1 1 1 0 QO O82 wy OF DS O68 DS NG MY 1 ii We Sa WAY Sb Reference mm File Edit Operate Tools window gt CONFIGURATION EVALUATION Linearization Method O Automatic LINEARIZATION DEBUG p _ gene Measure Stop 4 Default LUT F2 Meas F4 Measure RAM LUT F5 Program LUT in OTP FS Encoder Status S vob 4 991 V IDD 11 18 ma Measures MgA DS 1 1 1 1 1 1 1 1 t 1 1 1 1 1 0 Ot 302 TF O84 OF OS OF Oe QI 1 ii ta Ta ft 48 Reference mm File Edit Operate Tools Window Help BEO CONFIGURATION EVALUATION Linearization Method Manual File O automatic NLRAM Ba o oo NL Default E 0 000 Measures LINEARIZATION DEBUG Measure Default LUT F2 Measure RAM LUT F5 Choose CALIBRATION file to read Encoder Status G vob 4 962 v IDD 10 98 m
13. automatically scaled to the full 32 bit counter range and the curves appear as vertical lines After completion of the measurement the scale is adapted I I I 1 1 1 l 50000 100000 150000 200000 250000 300000 350000 400000 45000 Reference mm Linearization window automatic linearization method number of curves Q A During linearity measurement one more period is measured than indicated The linearity measurement is always carried out over complete scale periods from one index pulse to the next Hence a linearity measurement is started upon the first index pulse that is measured For optimum measurement results sometimes the first index is not taken into account and the measurement is only started upon the second index pulse In that case the correct number of periods is measured and the first complete period is discarded Configuration window modification of parameter Q When change a parameter in the configuration window e g resolution of the reference encoder or number of periods of the codewheel the value is not taken into account during measurement in the Evaluation and Linearization windows The values that are typed into boxes resolution period length number of codewheel periods etc are only taken into account if the value has been completed by an enter or if the cursor has been put into another location Debug window electrical connection test Q A some LEDs are toggling on and
14. memory Connection test A B toggle on off All outputs toggle on off all outputs The communication mode is employed in the following cases Configuration Window Read Encoder Configuration read data from encoder Evaluation Window Start send configuration data and LUT to encoder Linearization Window Measure Default LUT and Measure RAM LUT send configuration data and LUT to encoder Programming mode The measurement mode is employed in the following cases Evaluation Window Start after encoder has been configured Linearization Window Measure Default LUT and Measure RAM LUT after encoder has been configured Debug window Encoder supply test The programming mode is employed in the following cases Configuration window Program in OTP of the interpolation factor the LUT or the Encoder D Linearization window Program LUT in OTP The connection test mode is employed in the following cases Debug window encoder connection test EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 17 of 52 4 6 Encoder RAM and OTP memories The encoders configuration data and LUT can be stored in RAM Random Access Memory The RAM is volatile any data written into the encoders RAM will be lost when the encoder power is turned off The encoder s configuration data and LUT can be stored in OTP memory One Time Programmable The OTP memory is non volatile any data programm
15. parallel using a DAQ system with two A quad B interfaces not the Interface Board The measured data has to be converted into a text file with two columns the first column containing the reference position in mm and the second column containing the POSIC encoder position in mm see Figure 23 The Assist software asks for this data file in a dialog box in order to calculate the LUT and to display the measurement data in the graph The POSIC encoder position must be reset to zero at each rising edge of the Index pulse The reference encoder position should not be reset to zero during the measurement SIAS dL e955015 948600 202I Mo e 998247 002903 0163539 TIREUR 59 046360 sOGU320 074860 2 2 2 2 2 2 3 3 3 3 3 3 3 O0Oo0o0o0o0o000000O0O O Figure 23 Example of the measurement data file the left column is the reference and the right column is the POSIC encoder The encoder positions are in mm Table 7 Select linearization method File Start the measurement with Default LUT it takes a few seconds to upload the encoder configuration and the Default LUT Move the target over the measurement range Stop the POSIC encoder when the linearity measurement has been completed A dialog box appears that asks for the file containing the measurement data This dialog box will be completed in step 7 Convert the measurement results into a text file with two columns containing the reference encoder and
16. 02 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 4 of 52 1 2 Interface Board The most important elements on the Interface Board are shown in Figure 2 The schematics are given in Annex 5 Figure 2 The Interface Board 1 3 Targets codewheels and linear scales The Interface Board contains a target holder which holds the target and the encoder in the correct position with respect to each other Figure 3 Target holder with codewheel EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 5 of 52 For rotary encoders the target is a codewheel Figure 3 with 64 periods compatible to ID1101C ID1301C and IT3401C For linear encoders the target is a 100 mm long 2 track linear scale with a centered index positon Figure 4 compatible to ID1101L ID1301L and IT3401L If the scale contains a double period location of Index pulse for an IT3401L the scale should be oriented as shown in Figure 4 a Target holder Linear Scale v kia His Figure 4 a Target holder with linear scale b Orientation of the 2 track linear scale inside the target holder 1 4 LEDs The status of the LEDs in Figure 2 are explained in Table 1 Table 1 Status of the different LEDs during operation of the Interface Board L aeaa orange orange orange yellow red Encoder in ae off or communication or on on a blinking measurement mode Encoder in OTP Bn m Pa ah programming mode
17. 1 1 1 IZ be RA She LINEARIZATION DEBUG m Measure Default LUT F2 Measure RAM LUT F5 Program LUT in OTP F8 Number of Periods sa vob 4 991 V IDD 11 18 ma ile Edit Operate Tools Window Help i gt CONFIGURATION EVALUATION NL Default Measures Saf LINEARIZATION DEBUG Measure Default LUT F2 Measure RAM LUT FS Program LUT in OTP F8 Save Number of Periods 4 AEA 1 1 1 1 1 i 1 1 1 1 1 1 1 1 1 0 Qu G2 DS OF Ds Oh Ap OB AP 1 Lid We ea Way She Reference mm vob 5 001 v IDD 11 08 ma Start the measurement with RAM LUT it takes a few seconds to upload the encoder configuration and the RAM LUT The measurement data are dynamically shown in the graph while the measurement takes place 10 The green sign indicates that the measurement with RAM LUT has been completed 11 The measured position white and non linearity green are displayed lf the linearity with RAM LUT ts OK continue with the next step if the result is not OK check your measurement setup and re start with step 1 12 Program the LUT in the encoder s OTP memory One Time Programmable 13 The programming of OTP memory is irreversible therefore a dialog box will appear to confirm the command Measures MA Measures MA asure lt p M LUT FS hie RAM LUT I Program LUT in OTP F8 5 en e
18. 1 1 1 z 1 NL Default J 0 038 D ob Ge Da of DS Of de be DD 4 da ie 4a ga 45 Measures Reference mm EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 41 of 52 Annex 4 Linearization of a rotary encoder Linearization of a rotary encoder with a codewheel that has a negligible eccentricity will lead to linearity graphs similar to those shown in Annex 1 until Annex 3 Figure 25 and Figure 26 show the linearization results of a standard codewheel with 64 periods with an eccentricity of 0 021 mm The readout radius is 12 2 mm so the angle corresponding to the maximum eccentricity is 0 20 Eccentricity 0 20 0 20 Not influenced by lineariz ation Periodice NL 0 12 0 Eliminated by linearization Number of Periods 4 1 n NL deg Measures deg Measures MA Reference deg Figure 25 Measurement with Default LUT with standard codewheel 64 periods with an eccentricity of 0 021 mm The non linearity NL consists of a periodic NL double sine wave and an eccentricity NL vertical shift over 0 189 Hj Number of Periods 9j64 Measures deg NL RAM Bon NL Default i o s42 ee j 1 3 3 4 5 6 Measures ae Reference deg Figure 26 Measurement with RAM LUT green curve after linearization The linearization has eliminated the periodic NL what remains is the NL due to the eccentricity of the codewheel EPT002 V2B User Manual for ASSIST
19. 1 28 mm LINEARIZATION DEBUG periods Reference Enco Resolution Sor um der s VDD 4 971 Vv IDD 0 1961 mA incr rev Read Encoder Configuration Interpolation Encoder ID Nr 1 965535 __ Nr 2 9165535 Nr 39a65535 _ Progam in OTP EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 20 of 52 3 Select Linearization Method AA Automatic CONFIGURATION EVALUATION LINEARIZATION DEBUG Define number of periods copper ob strips on the target over which the fl D eet linearity measurement has to be carried out Start the measurement with RAM LUT do not activate Measure Default LUT it takes a few seconds to upload the encoder configuration and the RAM LUT NLRSM B oono NL Default E 0 000 ee oe a ee Measures Reference mm The green sign indicates that the es File Edit Operate Tools Window Help measurement with RAM LUT has eal Se HE CONFIGURATION EVALUATION been completed 5 o The measured position white and non linearity green are displayed voD 4 971 V IDD 10 88 mA Number of Periods 3 4 7 I 1 1 i 1 1 1 i 1 1 1 1 i 1 joules Do De siz or od wS Oe ee Ge Ga st NK ba Se a FI Measures La Reference mm EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 21 of 52 4 10 Program a LUT directly into OTP This method can be used if a L
20. 125 A 4 A 61425761250 soi Ol Few eo 143 70214643750 Figure 18 Example of a LUT file with filename LUT FFFF_FFFF_FFFF txt Only the initial 20 values are shown a complete LUT contains 256 values EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 25 of 52 4 14 Result file format During the linearization procedure Annex 1 Annex 3 the filename proposed for the Result file is Result dat This is only a recommendation any other filename may be used Save RESULTS to file Save in ASSIST_VO 0 4 B data 4 E Results dat My Recent Documents 3 Desktop Mo Documents gd hy Computer a File name iesus dat My Network Dave as type Custom Pattern dat Figure 19 Pop up window at the end of the linearization procedure asking for the filename for the measurement results The Result file contains the identification information and the measurement results of one or more encoders Each row corresponds to one encoder The data are stored as text and can easily be imported into a spreadsheet program An example of a result file is shown in Figure 20 During a Save operation in the Linearization window if an existing filename is used the values will be added to the file as the last line existing data will not be overwritten lt is recommended to use one result file per production batch up to several thousand encoders so that measurement results can e
21. 65535 _ resolution is 14 bits 4 096 CPR 4 1 2 Encoder configuration When the ASSIST software is started and each time a new encoder is connected the Read Encoder Configuration button Read Encoder Configuration must be pressed so that ASSIST reads the encoder configuration stored in the encoders OTP memory 4 1 2 1 Interpolation The interpolation factor Interpolation gh12 bits 1024 cPP _ js expressed in bits per period and in cycles per period CPP Table 2 explains the relation between the interpolation factor and the resolution for certain cases The interpolation factors that are possible for a given encoder can be selected from a pulldown menu Typically the interpolation factor can be set to either 3 8 bits or 10 12 bits EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 11 of 52 Table 2 Resolution for a given target as a function of the adjusted interpolation value Interpolation value Resolution depending on target Ccodewheel scale Cycles Resolution Resolution Resolution Per linear scale linear scale codewheel Period 1 2 mm period 1 28 mm period 64 periods cs 2 e osm um s20PR E Increments Per Period e ass e 4esrsum sum socer One A quad B cycle consists of 4 increments The linear resolution is typically expressed as the length of one increment The rotary resolution is typically expressed as the number of A quad B Cycles Per Revol
22. C has ie roo 70 98 ma RAM LUT F5 been completed LUT in OTP Fe NLRAM RB o 004 NL Default J 0 038 me oi 02 03 04 o5 068 OF 0 1 i 1 1 1 isk 1 1 ma Go ae ta ae as Measures MA Reference mm EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 36 of 52 Annex 3 Automatic linearization The linearization method Automatic is listed in Table 8 and is most suitable when the scale is moved by means of a drive system can also be moved manually and no external DAQ system is used A reference encoder is required The method is illustrated in Figure 24 The requirements and remarks for this method are A reference encoder is required and must be connected to the Interface Board as explained in Annex 6 During each measurement of the linearization procedure the scale must be moving over the linearization trajectory always in the same direction in order to avoid problems related to the hysteresis of the reference encoder The maximum speed should not exceed 10 periods of the POSIC scale codewheel per second For a linear scale with period length 1 28 mm this corresponds to 12 8 mm s For a codewheel with 64 periods this corresponds to 0 15 RPM Meas data Meas data ASSIST Reference lt _ lt Software Encoder Config LUT Movement of scales USB Meas data Reference Encoder ae POSIC Encoder Config LUT ASSIST Interface Board
23. Default LUT F2 r Encoder Status vob 4 971 W IDD 10 98 mA Number of Periods 4 1 3 2 25 Reference mm CONFIGURATION EVALUATION Linearization Method A Measure Ee Default LUT F2 OFile Automatic easure 1 0 RAM LUT F5 ram Mea Prog LUT in OTP F8 NL RAM 0 004 J NL Default E 0 038 NaN 1 1 1 1 1 i 1 1 0 Qt 282 TF 04 OS GE OF NG Encoder Status _ yop 4 971 V IDD 10 98 ma Number of Periods 4 1 1 1 1 En 1 1 09 1 Lb We he Ee See Reference mm File Edit Operate Tools Window Help ei CONFIGURATION EVALUATION LINEARIZATION Manual Measure 5 Default LUT F2 OFile Automatic Measure RAM LUT FS Program LUT in OTP F8 Linearization Method NLRAM B ooo NL Default E 0 038 Ti 1 1 1 1 1 i 0 mi O2 we OF OS G Encoder Status vob 4 971 v IDD 10 98 ma ramming the encoder s OTP One Time Programable l memory is irreversible aj o continu Number of Periods i 1 1 1 1 1 1 1 1 1 6 OF a6 Of 1 Ld 1 2 1 3 1 4 1 5 Reference mm 14 Wait until the box to the left of the eer command Program LUT in OTP CONFIGURATION EVALUATION LINEARIZATION DEBUG turns green which means that the m Encoder status vob 4 971 V OTP programming has been E i oo ESE ts RAM LUT F5 completed successfully i LUT in OTP F8 15 Save the m
24. EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 1 of 52 User Manual for ASSIST Evaluation amp Programming Tool EPT002 EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 2 of 52 CONTENTS Wes FINOWIE a a a thd hee Pala ihe teat eh ote 3 PS es 0 91 gt une Une rae S Ce eee TOT 3 ez UMC Rha BO a 4 1 3 Targets codewheels and linear scales cccccecccneeeeceeeeeeeeeeeeeeseeeeneeeseeeeseeeesees 4 TA MES aaa cee ca ere cpce E a A 5 2 OpPeraion WITROUL PG ssnsusssen esbccnscctonsyesereasnessveasyenssonsuesss sasha senoaswocsboasnasansessassesesyanesaue 6 3 OOMWALS INSTA ALON cee corssescsetcuuarecadisisi alee A 7 3 1 Installation on a PC with LabView uu cececcecccecsersersescesesesersereesseeesarserenreessearens 7 3 2 Installation on a PC without LabViSWssescssinessordveninsdanoueodnnrnes dunnen aetnanet 8 4 ASSloT SOMNWAE SEH GUIDE aa 9 dE 0 a 9 01g e 116 Roman me Renae enn eRe eit ete enema cen ne een een een nn mn een ee emt 9 4 1 1 Measurement configuration cccccccssccceeeceeeceeeeceeeceueceeeeseeeseusseeeensees 10 A T2 ENCOCErCOMMNOUI ANON acca atte Sheen e aya tiacn atin tea a ceee ee taee 10 Alek WAL ONO ONE Ol eneee ete setae eletis erosion eect ent eae a etea chew eaten 10 ly 2 LOOKUP TaD c een nen mn eM ere eeronte ea in ten ern EE re one ED 11 4123 Encoder ID nee nnn ere mn ne ee ee en ee ee eee ee eee 11 A2 Ev
25. Evaluation amp Programming Tool Page 42 of 52 Annex 5 Schematics O a projet ASSIST pour dsPICIJEPZS56MU806 M 8 Document Number 010468 5002 CH 2002 Neuchatel Sch Figure 27 Schematic diagram of the Programming Board EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 43 of 52 The schematic diagram of the Interface Board is provided in Figure 27 a short explanation of the different components is given below Integrated circuits The microcontroller uC U2 is a dsPIC33EP with two A quad B interfaces and a USB interface In communication mode the uC converts the USB protocol to the serial communication protocol of the encoder During encoder operation the uC reads out the POSIC encoder and a reference encoder and transfers the data via the USB connection to the PC The booster U8 increases the USB supply voltage to the Board Voltage between 7 5V and 9V The uC regulator U11 provides a 3 3V supply voltage to the uC The encoder regulator U7 provides a 5V supply during communication and normal operation and provides a 6 5V supply during OTP programming of the encoder The digital potentiometer U10 is controlled by the uC and is used to set the output voltage the encoder regulator to the correct value The bidirectional level shifters U3 U4 U5 U9 interface between the uC signal levels O 3 3V and the encoder signal levels 0 5V or 0 6 5V The current measu
26. L RAM D SS a ee n Y Scale 2 O68 OF 0e ns NL Default 0 038 Reference mm Measures MEA Export Ae AACE a b Figure 13 Export measurement data by right clicking on the icon a selecting Export and then selecting your preferred export destination b 1 35 0 04 H2 003 1 05 002 8 E ga a ne a ae eee te mrs m 06 0F i 0 45 g j oan ot f 0 15 g 3 i i l l I I l l l fe Sie OS B j i F m l ihe m3 0 4 05 0 6 MF 0 8 ERE Reference mm Figure 14 Automatically adapt scales by right clicking on a value in the X or Y scale l l a 0 Ot Ove Or Oye 0S 06 07 6 09 i i L 1 SI 5 dl OZ 03 OF OS 06 OF O88 OF 1 LI L L3 4 15 b Reference mm Figure 15 Manually adapt the Y scale by writing a new value at the top or bottom of the scale a while changing the value at the top of the scale from 0 05 to 0 01 b after top and bottom values have been changed Gk bees ee 1 cE t 5 0 D 12 D3 O4 0S 06 oF o8 03 j 0 16 0 32 0 48 0 64 oe 0 96 1 12 1 28 C Reference mm Figure 16 Manually adapt the X scale by writing a new value on the scale a while changing the maximum value of the scale from 1 5 to 1 28 b while changing the unit of the scale from 0 1 to 0 16 c after maximum and unit values have been changed 4 13 LUT file format During the linearization procedure Annex 1 Annex 3 the filename proposed for th
27. One Time Programmable memory This non volatile memory in a POSIC encoder contains the configuration and calibration data and can be programmed only once LUT stored in the encoder s OTP memory Programming warning LED that turns on during irreversible programming of the encoder s OTP memory Power LED indicating that the Programming Board is powered via the USB cable LUT calculated by ASSIST software from _ linearity measurement carried out by the user that is stored in RAM for verification purposes The RAM LUT is stored in volatile memory which means that the RAM LUT is erased when the encoder supply is turned off Reset of the microcontroller on the Interface Board This switch should not be used EPT002 V2B fy User Manual for ASSIST Evaluation amp Programming Tool Posic Page 52 of 52 scale Linear scale or ruler containing copper strips that is linearly moved in front of the encoder in order to measure the linear position START STOP start stop button that allows to operate the encoder without PC SYSTEM system LED indicating that the microcontroller is active Target Object that moves in front of an encoder For rotaty applications the target is a codewheel for linear applications the target is a linear scale USB Universal Serial Bus Connection between the PC with ASSIST software and the Interface Board The Interface Board receives its power supply from the PC via the USB
28. P LUT in two files on your PC NLRAM QMB 0 004 oe Mr 1 1 i i 1 i 1 1 1 1 j E 1 1 NL Default HEN 0298 D o Ge Te Ga iS Oh As AS Go 3 LL ie aa I as Measures Reference mm 20 A first a dialog box appears that ee asks you to specify the LUT file _Piaile CONFIGURATION EVALUATION LINEARIZATION pesue Encoder Status gy Each LUT is stored in a separate ro EEE ts file the suggested filename contains i aa the encoder ID three 16 bit sen Daeron hexadecimal numbers and has the gt suffix txt Details about the LUT file in Section 4 13 NERAM Booo NL Default E 0 038 Measures MA 21 A second dialog box appears that EESE asks you to specify the file in which ize the measurement results are stored 7 Encoder Status Measure Default LUT F2 yop 4 971 M The results are stored in a line that poani is added to the file Results dat M PE Details about the results file in Section 4 14 gf My Computer NL RAM a 0 004 i File name 3 esis ee cn My Network Save as type Measures MA 23 The complete linearization including HAZE File Edit Operate Tools Window Help storage in the encoder s OTP amg CONFIGURATION EVALUATION LINEARIZATION DEBUG memory and storage of the Linearization Method fi creoder statis Default LUT F2 Manual vob 4 971 V linearization results on your P
29. Position 23 4819 deg Position 23 9748 deg The POSIC encoder can be started and stopped by pressing the on Start Stop button The graph displays the POSIC encoder position white and the Reference encoder position white as a function of time D F vnu insp inano ace E AREA a E MA Pat E Position deg wo ES in i ts yO ae at a l The vertical scale in the Evaluation window is automatically adjusted to one period length In the example above a codewheel with 64 periods is used each period corresponds to 360764 5 625 4 3 Linearization Table 3 and Figure 8 until Figure 10 provide an overview of the three linearization methods which are explained in detail in Annex 1 until Annex 3 The Automatic linearization method is the most efficient one because it does not require manual adjustment method Manual and does not require the preparation and transfer of a measurement file method File Table 3 Linearization methods Linearization Measurement Scale Data Acquisition method reference movement system Manual with ASSIST Interface Figure 8 fixed precise Board Annex 1 steps Microscrew or caliper External DAQ system with two A quad B Index interfaces Reference Motorized or encoder manual Figure 9 Annex 2 Reference Motorized or ASSIST Interface Figure 10 encoder manual Board Annex 3 EPT002 V2B User Manual for ASSIST Evaluation
30. SSIST software has not been re initialized First the ASSIST software should be stopped and the USB connection unplugged Then the short circuit should be eliminated Finally the USB connection should be established and the ASSIST software re started Open File Security Warning Warning when launching Posic exe The publisher could not be vernfied Are you sure you want to run this software Q After launching Posic exe the warning az Name Posic exe shown to the right appears Publisher Unknown Publisher l Type Application A The operating system on your PC does From P SAPPLICATIONS Labview 2010builds A551514 not recognize the publisher of the A Cancel ASSIST software and therefore generates this warning Press Run and the ASSIST software Will Start This file does not have a valid digital signature that verifies its x publisher ou should only run software from publishers you truest How cand decide what software to mn Program not responding impossible to close the window Q The program is not responding and it is not possible to close the window A The LabView program has encountered a problem and has to IIE m be halted by pressing the stop button as shown to the right After pressing the stop button the execution of the program has been halted and the window can be closed by pressing the close button at the right top side Fichier Edition Execution Outils Fen tr CONFIGURATION E
31. SSIST software to know the reference position which is required to calculate the LUT Go to the initial position and record the first datapoint by pressing Measure Point A first white datapoint appears in the graph Move to the second position record the second datapoint etc Continue until at least one complete scale period has been covered lf an error occurs the last datapoint can be eliminated by pressing Remove Point When all measurement points have been recorded Press Stop Meas Linearization procedure Manual EA ASSIST_V0 0 4 vi File Edit Operate Tools Window Help i gt S CONFIGURATION EVALUATION NL RAM Measures RA ASSIST_V0 0 4 vi CAE CONFIGURATION EVALUATION Measures EA ASSIST_V0 0 4 vi LINEARIZATION DEBUG r x Measure Default LUT F2 r Measure RAM LUT F5 Program LUT in OTP FS Save F12 Bag 0 000 NL Default E 0 000 a i 1 1 1 1 i 1 1 0 Ot 02 DS O84 DS Oo DA U VDD 0 v IDD 0 ma 2 Step Size mm 40 0500 Nr Measures j0 Last Position mm 10 1 1 I 1 1 1 1 a oS to Ai fe sive aha sa Reference mm File Edit Operate Tools Window Help LINEARIZATION DEBUG Measure RAM LUT FS Progra LUT in OTP F8 Save F12 1 1 1 1 1 1 j 0 0 4 0 2 O03 04 OS 0e OF m Measure easure Default LUT F2 m vob 4 962 V IDD 10 98 ma Nr Measure
32. T in OTP alee LINEARIZATION pesue turns green which means that the Ghearain iiine Encoder status Default LUT F2 Manual ee VDD 14 981 V OTP programming has been OM ic a SRE nd completed successfully 18 il RAM LUT F5 Program LUT in OTP F8 r 19 Save the measurement data and the step Size tm ETET Nr Measures 27 LUT In two files on your PC Last Position mm 3 NLRAM Bao E SM 1 1 i 1 1 i 1 t 1 I i i NL Default HE0 038 To o2 US o4 o5 os UF o8 oS f 11 L2 13 14 15 Measures Reference mm 20 A first a dialog box appears that asks you to specify the LUT file ae Linearization Method Encoder Status G Each LUT is stored in a separate sna v0 ET vi file the suggested filename contains S ae the encoder ID three 16 bit hexadecimal numbers and has the suffix txt Details about the LUT file in Section 4 13 NLRAM Boons NL Default E 0 038 Measures MgA 21 A second dialog box appears that ee asks you to specify the file in which zas oar the measurement results are stored i Encoder status Default LUT F2 vob 4 981 V IDD 11 03 z The results are stored in a line that i aese is added to the file Results dat E Save in ASSIST_V0 0 4 Details about the results file in D Bia Section 4 14 NLRAM aooo NL Default E 0 038 Measures Eal 22 The complete linearization including storage i
33. UT stored in a file has to be programmed into the OTP memory of one or more encoders without any linearity measurement Read Encoder Configuration Se S e e ct th e Lo O k U p Tab e Fi e J CONFIGURATION EVALUATION LINEARIZATION DEBUG POSIC Encoder Reference Encoder Encoder Status Use browser to specify the filename Se perea EE imm Reson o o a periods Resolution 1361 incr rev Program in OTP The programming of OTP memory ae Interpolation 12 bits 1024 CPP Progam in OTP 2 Default al Progam in OTP BS Look Up Table lOr g Cor abvie uilds Blame BiP SAPPLICATIONS LabvieW201 O builds ASSISTIASSIST_ 0 0 4 LUT_FFFF is irreversible therefore a dialog box will appear to confirm the command After completion of the OTP programming the encoder can be eee 3S disconnected and another encoder vam can be connected for programming 4 11 Export linearity measurement data to spreadsheet 1 Right click in the icon of the measurement that you want to export see Figure 13 a 2 Select Export 3 Select whether you want to export the date to the clipboard so you can paste it in any application or to Excel Excel will be opened with the measurement data in the first worksheet see Figure 13 b PSr 1 35 Common Plots P pa Color Line Style Line Width Anti Aliased Bar Plots Fill Base Line Interpolation Paint Style 1 XScale i N
34. VALUATION Evaluation window POSIC and Reference encoder activated Q The POSIC and the Reference encoder are not synchronous Each time the encoders are activated the difference between the two encoders in mm or in degrees is different This observation is correct The POSIC i encoder is operated as an incremental encoder with an index pulse which A appears once every 1 period The Reference encoder is operated as a purely incremental encoder if there is an index pulse it is ignored Upon activation of the encoders the counters for both encoders start at zero so they are synchronized As soon as the POSIC encoder provides an index pulse it is reset to zero in the example at X value 110 From that moment on the two encoders are not synchronous anymore The difference in mm or angle between the encoders depends on the start position So if the start position is not always equal the difference between the two encoders won t be equal either Position ram I z i l l l l T l l 1 i 0 20 40 60 ag 100 120 140 160 180 200 220 240 z60 z280 300 320 340 360 Linearization window white measurement curves Q During the measurement Measure Default LUT the white curves that are drawn A during the measurement seem to be quite non linear The white curves that are drawn during the measurement with Default LUT show indeed a non linearity that is higher than the actually measured non linearity T
35. aa conya a a beers yansy e eain 11 A BMC AN AUN OA 12 A NCTC Ora a EE ducer Ga teaa E 15 4 4 1 Interface Board Firmware ccccccccccecceeecececeeeeeeceeeceeseeeseeseeeeeeeseesaees 15 4 4 2 Interface Board Supply Voltage ccccccccceecccseeeeeseeeesseeeesseeesaeeeeseeeeeeas 15 4 4 3 Encoder connection test cccccccssccceeeceececeeeeceuceceusessueeesneeseneeseeeenaaees 15 AAAS ENCoder SUDDIV 16 SU icc ilie sens tencxcunicescuceculht tern E E EE 16 AS Encoder operating Modes sirsiran ec EE E E ames anne Geo 16 4 6 Encoder RAM and OTP Me MOTSIeG cccsscccsececsscecaececaeeecusecaeeesusesseeesaaees 17 Act ENCOGCK Slavs wissen dnestoseatal a teat ect anita one ea toeieaeaaced 17 4 8 Operate encoder with Default LUT or LUT from file or OTP ee ceeeee eens 18 4 9 Measure linearity with Default LUT or LUT from file or OTP eee eeeee 19 4 10 Program aiLUT directly into OT Prece a aed 21 4 11 Export linearity measurement data to spreadsheet ccccceeceeeeeeeeeeeeeeeeeeeees 21 4 12 Adapting scales and line properties In Qrapns cccecccseeeceeeceeeeeeeeneeeeeeeeeeeens 22 a Us CUT 8 6110 0 een nee eee eee eee ero ee ee nee eee eee ne 23 AAA RESU MNES TORIMAL annaa e ESEE 25 Annex T Manualineanzat oN esris enna E 26 Annex 2 Linearization with external DAQ SYStOM cccccceececceeeesseeeesaeeesaeeeeeaeeeesaeeeeas 31 Annex 3 Automatic linearization
36. asily be analysed using a spreadsheet program Encoder ID1 Encoder ID2 Encoder ID3 NLCalibration NL Control NL Final File name Date Time Commentary mm mm mm jj mm aa hh mm ss 0 0 0 3 28E 02 7 85E 03 7 86E 03 result dat 12 12 2013 12 00 08 0 0 1 4 64E 02 6 30E 03 6 30E 03 result dat 12 12 2013 17 40 06 0 0 2 4 92E 02 4 90E 03 4 86E 03 result dat 13 12 2013 15 50 04 Figure 20 Example of a Result file result dat imported into a spreadsheet program EPT002 V2B Page 26 of 52 User Manual for ASSIST Evaluation amp Programming Tool Annex 1 Manual linearization The linearization method Manual is listed in Table 6 and is most suitable when the scale is moved by means of a manual system with fixed steps An example with a microscrew is shown in Figure 21 Meas data gt ASSIST Software lt Config LUT Movement of scale MAN Meas data gt POSIC Encoder Config LUT ASSIST Interface Board Figure 21 Linearization method Manual using a microscrew to adjust fixed steps Table 6 Select linearization method Manual Define step size that will be applied Start the measurement with Default LUT it takes a few seconds to upload the encoder configuration and the Default LUT and move the target until at least one Index pulse has been observed on the corresponding signal LED Move the target until at least one index pulse has been generated This allows the A
37. ccccccccccsecceeccececeeceseceeeceeeceeseeeeueceeeceeeseeeseesaeeseeeseees 36 Annex 4 Linearization of a rotary CNCOEL cccccccceeeeceeeeceeeseeeeseeeeseeeeseueesueeseueeseeesaes 41 ANNEX O O NEMA ICS sees tess science a tics aa 42 Annex 6 Electrical connections POSIC and Reference encode ls ccseeceseeeeeeeeeeees 44 ANNEX 7 WWOWUDIESMOOUNG eorias n a ec ee es A 47 PNK S GlOSSANY ensesinden ran r a a ae Eae 51 EPT002V2B EPT002V2B User Manual for ASSIST Evaluation amp Programming Tool amp Page 3 of 52 1 Hardware 1 1 Contents The contents of the Evaluation and Programming Tool EPT002 is shown in Figure 1 em me Fame ms me TTE O i Meeder Apea 9 si at o i ates vie Dace Bane fame me me fe fs fe s ani si Figure 1 Evaluation and Programming Tool EPT002 left and the Programming Tool PTOO2 right The Evaluation and Programming Tool EPT002 is intended for new customers It allows basic evaluation and demonstration without a PC detailed evaluation and linearization using the ASSIST software on a PC programming of the encoder s volatile and non volatile memories The Programming Tool PT002 is intended for customers who already have POSIC encoders and only need the Interface Board and its enclosure The Programming Tool PTOO2 has the exact same functionality as the Evaluation and Programming Tool EPT002 but does not include the evaluation encoders nor a target EPT0
38. download page is granted upon purchase of the Evaluation and Programming Tool EPT002 lf LabView is installed on your PC or if a previous version of ASSIST has been installed please carry out the installation according to Section 3 1 lf LabView is not installed on your PC and if ASSIST has not been installed previously please carry out the installation according to Section 3 2 3 1 Installation on a PC with LabView This installation should be carried out if LabView is installed on your PC or if a previous version of ASSIST has been installed on your PC ASSIST Installation a Fie Edit view Favorites Tools Hel 1 Download and unzip ASSIST_Vx x x zip Q sak X S P Search E Folders fs 2 Copy the directory ASSIST_Vx x x to the Address gt ASSIST_ 0 0 4 desired location in your PC It is not Fades ute lupe poii z Ge ASSIST_ 0 0 4 zip A Gjdata File Folder OKB necessary to carry out an installation or to re SSR gt aos 1 KB _JjPosic exe Application 1 400 KB boot your PC asic ini abi 1 KB E Results dat DAT File 1 KB 3 In the directory ASSIST _Vx x x launch the application Posic exe it is recommended to create a shortcut on your desktop Vx x x designates the version of the ASSIST software and may for example be V0 0 4 USB Driver File Edit view Favorites Tools Help 1 Download and unzip the file driver zip O O B D semen fe rors E 2 Connect the Interface Board via the USB eve
39. e LUT file contains the encoder ID Section 4 1 2 3 and Figure 7 in hexadecimal format FFFF_FFFF_FFFF txt for an encoder in which the Encoder ID has not been programmed This is only a recommendation any other filename may be used EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 24 of 52 Save RESULTS to file Save in ASSIST_VO 04 a Gdate A My Recent Documents _ L Th ey oy My Documents hy Computer EE d File name LoT FEFF FFFF FEFF tet a a EE I g My Network Save as type Custom Fatter txt Figure 17 Pop up window at the end of the linearization procedure asking for the LUT filename A LUT file contains the LUT of one encoder and consists of 258 lines 2 header lines followed by 256 LUT values The LUT values are expressed in electrical degrees 360 electrical degrees correspont to one period of a target An example is shown in Figure 18 During a Save operation in the Linearization window if an existing filename is used the values will be overwritten LUT_FFFF FFFF FFFF tCXxXt LUT deg 0 57128906250 0 08789062500 3 E A 4 a A sa9o 00 OlZ0U a Or 290244140625 alee oe 83496093750 647949213675 02148437500 12730466 7500 ate or solicit LOS3a 7S OO L942 9600 75 402603671075 032226560230 82324218750 02099609379 sado T3000 000 MTA er Po bo 90439453
40. easurement data and the Cp LUT in two files on your PC Number of Periods ff NLRAM BaS ooo i 7 0 057 1 1 a 1 NL Default J 0 038 Sn a nn nn eae Measures Min Reference mm 16 A first a dialog box appears that Setar hee as ks you to specify the LUT file e LINEARIZATION pesue Each LUT is stored in a separate ma e em file the suggested filename contains Rime the encoder ID three 16 bit em hexadecimal numbers and has the a suffix txt Details about the LUT file in Section 4 13 NLRAM B NL Default E 0 038 Measures 17 A second dialog box appears that as Ks you to specify the file in which CONFIGURATION EVALUATION LINEARIZATION DEBUG h m r m n r r r Linearization Method T Encod r Statu o the measurement results are stored prea ofan Measure RAM LUT F5 The results are stored in a line that pa is added to the file Results dat E E in ASSIST_V0 0 4 Odata El Results dat Details about the results file in Section 4 14 NLRAM M o 004 NL Default J 0 038 Measures MgA 18 The complete linearization including storage in the encoder s OTP CONFIGURATION EVALUATION LINEARIZATION memory and storage of the Linearization Method f encoder status Manual r vDD 4 971 v linearization results on your PC has Baa 0 GSE imi been completed Number of Periods u NLRAM Boon D 1 i 1
41. ed into the encoders OTP memory is permanently stored and cannot be re programmed or erased Therefore each OTP programming sequence is preceded by a dialog box with a warning that OTP programming is irreversible and asking a confirmation to continue When the encoder is operated using ASSIST it is always operated using RAM data the contents of OTP memory is ignored When the encoder is operated without ASSIST it is always operated using OTP data Non programmed OTP memory contains all ones A non programmed 16 bit number has therefore the hexadecimal value FFFF decimal value 2 1 65 535 see Encoder ID Figure 7 4 7 Encoder status At the top right side of each window the encoder status is displayed see Figure 12 Indicator showing whether the encoder is on or off Encoder supply voltage VDD Encoder supply current IDD The supply voltage and current are measured when the encoder is started up and when it goes from one operating mode to another e g from communication mode to measurement mode When the encoder indicator is off the encoder can be disconnected replaced by another encoder While the indicator is on the encoder should not be disconnected Encoder Status _ Encoder Status Encoder Status gS Encoder Status e Encoder Status _ VDD 0 v vob 4 971 v vop 5 001 Vv vDD 6 336 Vv YDD 0 v IDD 0 m IDD 0 3922 mA IDD 11 18 mA IDD 0 5882 mA IDD um ma a b C d e
42. eriod For the manual linearization method with a linear scale this corresponds to a step size of approximately 0 05 mm The LUT is calculated using an 8 order polynomial fitting procedure additional calibration points above 20 will not significantly improve the resulting LUT Spacing between calibration points For optimum linearization it is recommended to use equidistant calibration points e g 1 2 mm 24 points 0 05 mm between two calibration points However non equidistant calibration points are acceptable as long as the maximum distance between two calibration points does not exceed the period length 20 see previous point on the number of calibration points Non equidistant calibration points may occur due to non constant speed of a linear actuator or due to non constant readout frequency of the reference and POSIC encoders It is not required that the period length is an integer multiple of the calibration point spacing Example the combination of period length 1 2 mm and calibration point spacing 0 018 mm would be perfectly OK although their ratio is not an integer number 66 67 Linearity of reference encoder The result of the linearization will by definition not be better than the linearity of the reference encoder It is recommended to use a reference encoder with a linearity that is at least 10 times higher than the desired linearity of the POSIC encoder after linearization EPT002 V2B a User Manual for ASSIST Evaluati
43. ex 6 POSIC Encoder supply Q There is no POSIC Encoder supply connection on the green Terminal Block A The POSIC Encoder supply voltage VDD is provided by the Interface Board Hence no external encoder supply is required and therefore there is no encoder supply connection on the green Terminal Block More detailed information on the schematic diagram in Annex 5 and on the encoder connectors in Annex 6 EPT002 V2B v User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 51 of 52 ASSIST Binary Codewheel Decimal Default LUT ENC Hexadecimal LED LUT OTP OTP LUT PROG PWR RAM LUT RESET Annex 8 Glossary Name of the software that runs on a PC and communicates with the Interface Board Binary 1111 1111 Hexadecimal OxFF Decimal 255 Disc or ring containing copper strips that is rotated on front of the encoder in order to measure the rotary position Binary 1111 1111 Hexadecimal OxFF Decimal 255 LUT that corrects electronic non linearities but does not correct non linearities due to the encoder and scale codewheel Encoder LED on the Programming Board indicating that the encoder receives its supply voltage Binary 1111 1111 Hexadecimal OxFF Decimal 255 Light Emitting Diode The Programming Board contains red LEDs for the encoder signals orange LEDs for the power supply and a yellow LED that lights up during OTP programming LookUp Table to linearize the encoder
44. he correct a a non linearity is displayed o 0 05 i after the measurement i oe s has been completed Linearization window automatic linearization method right end value of scale Q During linearity measurement the white measurement curves are drawn from right to A left and the right end of the scale is at a very large value When the encoder is is 005 moved in negative poe direction of the reference 1os o 0 encoder the measurement starts with the counter at zero and then counts down As the ieee O 0 05 1 1 1 429493 429494 429495 429496 Reference mm D o 1 8 om on AD i 1 1 NL mma Qo i Measures m 42949 429 496 74 EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 49 of 52 counter in the Interface Board is a 32 bit counter it will count down from 2 If the reference encoder has a resolution of 0 1 um the maximum value of the counter Is 429 496 74 mm This value will be the right end of the scale when the movement is in the negative direction Linearization window automatic linearization method wide scale Q A During linearity measurement the white measurement curves are drawn drawn as vertical lines See previous Q and A When the counter starts at zero and then moves in the negative direction the graph shows both the value at zero and at the maximum counter value Hence the graph is EEL S gt
45. n Annex 3 Recommendations for linearization amp EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 14 of 52 Minimum range The absolute minimum range is one scale period It is recommended to linearize over multiple periods the LUT will be calculated using the average values thus reducing the influence of noise or target errors For a linear application it is recommended to linearize over the complete range or at least over the range where the highest linearity is required For a rotary application it is recommended to linearize over one full rotation in order to take into account a potential runout Maximum range For a linear application length of scale with a margin of 2 complete scale periods at each end of the scale For a rotary application one complete rotation of the codewheel Direction of movement During the linearization the target must move in only one direction with respect to the encoder This is a precaution to avoid potential problems with the hysteresis of the reference encoder Changes in direction during the calibration are not allowed Maximum speed It is recommended to stay at least a factor 10 below the maximum speed lowest of the reference and POSIC encoder in order to avoid effects due to bandwidth limitations For the method automatic the maximum speed is given in Annex 3 Number of calibration points It is recommended to use at least 20 calibration points per target p
46. n the encoder s OTP e memory and storage of the Encoder status P g x i vop 4 981 V linearization results on your PC has Tmi RAM LUT F5 been completed LUT in OTP F8 fa ve Step Size mm 940 0500 _ a Nr Measures 27 Last Position mm 11 3 is 4 NLROM B lo 004 au al cae F m o t I 1 NL Default W 0 038 o pi 02 03 Of OS O86 OF O8 09 4 Li 12 13 14 15 Measures Reference mm EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 31 of 52 Annex 2 Linearization with external DAQ system The linearization method File is listed in Table 7 and is most suitable when the scale is moved by means of a drive system can also be moved manually and an external DAQ system is used A reference encoder and a data acquisition system with two ABl interfaces other than the ASSIST Interface Board are required The linearization data are transferred from the DAQ system into the ASSIST software by means of a measurement data file Meas file in Figure 22 Meas data _ Reference Data Encoder ee Movement Meas data Config LUT Acquisition A I DAQ System of scales USB POSIC Fit ES eoder Reference Encoder Meas POSIC Encoder file Conti LUT onfig ASSIST Interface Board ASSIST Software Figure 22 Linearization method File using an external DAQ system In the File method the POSIC and the Reference encoders are measured in
47. off but not all This behavior is correct because not all signal LEDs are connected to encoder outputs Check in Annex 6 which signal LEDs are connected to encoder outputs The EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 50 of 52 signal LEDs that are not connected to encoder outputs are continuously on emitting light during the electrical connection test Colors of text boxes Q What is the meaning of the colors of the text boxes A The color scheme used in the ASSIST software is as follows Values displayed in a yellow box E201 have been read from the encoder or have been measured and cannot be modified by the user Values displayed in a yellow box with up down arrows 12 bits 1024 CPP have been read from the encoder s OTP memory These values cannot be re programmed in OTP memory but can be modified in the encoders RAM memory Values displayed in a blue box 5525__ can be defined or selected from a list by the user In some cases e g Encoder ID Section 4 1 2 3 these are unprogrammed values read from the encoder s OTP memory These unprogrammed values can be programmed into the encoders OTP saleille by filling in the right number and pressing the Program in OTP button Reference encoder Q The reference encoder does not seem to work A Check whether the supply and the signal levels of the reference encoder are defined correctly according to Ann
48. on amp Programming Tool Posic Page 15 of 52 4 4 Debug The Debug window is shown in Figure 11 and allows you to check whether the InterfaceBoard and the encoder are working correctly Ea ASSIST VO 0 4 vi Eg Edit Operate Tools Window Help gt CONFIGURATION EVALUATION LINEARIZATION DEBUG Encoder Status wo Interface Board Firmware j02 00 04 vod fo 000 W Interface Board supply Voltage 8 261 nominal 7 5 09v IDD 0 000 mA All encoder outputs toggle on off Encoder connection test Encoder supply test Measure encoder supply voltage and current Figure 11 The Debug window 4 4 1 Interface Board Firmware The Interface Board Firmware is the firmware in the dsPIC microcontroller see Figure 2 4 4 2 Interface Board Supply Voltage The Interface Board receives a 5V USB supply voltage The USB supply voltage is boosted to the Interface Board Supply Voltage with a level between 7 5 and 9 V Annex 5 The Interface Board Supply Voltage is measured when the board is powered up it is not continuously measured and displayed in the Debug window 4 4 3 Encoder connection test The encoder connection test allows you to check whether all electrical connections supply and outputs are correct The test is activated by pressing the Start Test button and stopped by pressing the Stop Test button When the electric test is active the outputs toggle on and off with a frequency around 1 Hz Thi
49. r T packe s Folders ame Ype SCKE cable to your PC A USB driver installation g ASSIST_VO 0 4_Install zip A Am hocde cat Security Cata 5 KB i i a 6 _ 0 0 4_Install Setup Inform 2 KB wizard will appear Bp Sst i Grove e D bin 3 Use the browser of the installation wizard to E icense select mchpcdc the wizard will carry out the om installation EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool Posic Page 8 of 52 3 2 Installation on a PC without LabView This installation should be carried out if LabView is not installed on your PC and ASSIST has not been installed on your PC previously LabView Runtime The ASSIST Software is written in LabView LabView Runtime is required to execute the ASSIST software LabView Runtime is about 250 MB downloading may take up to several minutes and installation may take up to several tens of minutes ASSIST installation including LabView Runtime File Edit View Favorites Tools Help 1 Download and unzip ASSIST _Vx x x zip a Q sak X S P Search E Folders Gi 2 Go to ASSIST_Vx x x_Install Volume See te 33 1 1 olders x Name Type Packed Size 3 Launch setup exe a wizard installs ASSIST CS csc uoa naa A ei m ASSIST_V0 0 4_Install AA baina 0 KB 4 Go to the directory ASSIST_Vx x x gt EE gael oe y aie a 2 Application 1 212 KB 5 Posic exe starts the ASSIST software A Corfiguatins 6 KB O driver
50. re it signals the short circuit If this happens disconnect the Interface Board from the PC and close the ASSIST software Eliminate the short circuit re connect the Interface Board and re start the ASSIST software 4 8 Operate encoder with Default LUT or LUT from file or OTP This mode of operation is useful if the encoder has already been linearized and has to be operated e g in a closed loop system with a controller Please make sure that the POSIC and the Reference encoder have been correctly configured prior to launching the procedure explained below Select the appropriate LookUp Table Default File or OTP POSIC Encoder Reference Encoder Seale Parad Mien T Resolution 0 1 um LINEAR cale Period 91 28 mm Soi IDD 0 1961 mA ROTARY E periods Resolution 360 incr rev If File is selected use the browser to select the LUT file nterpolation The selected LUT will be uploaded rupte ore D in the RAM LUT Nari iP SAPPLICATIONS LabiieW2010 builds A5SIST ASSIST_ 0 0 4 LUT_FFFF Encoder ID Nri Sd65535 _ Progam in OTP Nr 3 ga User Manual for ASSIST Evaluation amp Programming Tool 3 If desired turn on the reference encoder Start the POSIC encoder The POSIC and reference encoder remain working until the POSIC encoder is stopped During operation the results are continuously displayed in the graph and the encoder output signals can be measured on the Interface Board
51. rement chip U6 is used to measure the encoder supply current Figure 12 The RS422 line receiver U12 receives the differential signals from the reference encoder and converts them to single ended signals than are connected via level shifters to the uC Diodes and LEDs The red signal LEDs D1 D5 indicate the status of the POSIC encoder signals lOO 105 TP3 TP8 and D6 D7 indicate the status for the reference encoder signals IO6 IO7 TP9 TP10 The red LED D9 POWER ON PWR on board indicates whether the USB power Supply is correct The red LED D11 SYSTEM is activated when the uC is reading the POSIC and or reference encoder The red LED D10 ENCODER ON ENC on board indicates whether the encoder is powered The yellow LED D12 PROG ON PROG on board indicates that programming of the OTP memory of the encoder is ongoing The reference diode U1 provides a reference voltage to the uC Connectors J1 is the USB connector J2 is the connector for the Reference encoder J3 is the connector for the POSIC encoder J4 is the green terminal block J5 is used by POSIC to load the code into the uC EPT002 V2B User Manual for ASSIST Evaluation amp Programming Tool Page 44 of 52 Annex 6 Electrical connections POSIC and Reference encoders Figure 28 Interface Board with the connectors for POSIC and Reference encoder green terminal block and DIP switches Table 9 Pinout of the
52. s 27 Last Position mm 11 3 12 Then carry out the same procedure as in steps 4 6 13 When all measurement points have been recorded Press Stop Meas a Pe oad U 7 in a a o NLRAM 3 ooo i T IE s a0 o j 1 1 Aes Soe d a os os A oF O08 oF o8 OF 4 Measures Reference mm 14 The green sign indicates that the es measurement with RAM LUT has 8 ee oe been completed mar m 15 The measured position white and n Pre non linearity green are displayed If the linearity with RAM LUT is OK m continue with the next step if the ici result is not OK check your measurement setup and re start with step 1 B 7 1 1 1 1 if 1 I NL Default J 0 038 m ne eS Des Gi 0S E 1 1 1 1 1 1 1 1 1 p Te ne Ge E ir I2 3 Ie 45 Measures Reference mm 16 Program the LUT in the encoder s EE OTP memory One Time ale LINEARIZATION pesue Programmable aeren T voD 4 981 V 17 The programming of OTP memory 10 LOE ma is irreversible therefore a dialog box will appear to confirm the command step size mm XESS Nr Measures 27 ing the encoder s OTP One Time Programable m is il ible ae s TSERE ube a Last Position mm f1 3 NLROM Y lo 004 Ez a i 1 i 1 1 i 1 t 1 I 1 i NL Default J o 038 1 02 o3 o4 OF os OF O8 o9 f If 12 13 14 15 Measures Reference mm 18 Wait until the box to the left of the EEEE command Program LU
53. s can be observed on the signal LEDs on the interface Board Figure 2 in Section 1 2 If the LEDs are not toggling correctly see Annex 7 on Troubleshooting LEDs that are not connected to the encoder s outputs are continuously on emitting light during this test EPT002 V2B fy User Manual for ASSIST Evaluation amp Programming Tool Posic Page 16 of 52 4 4 4 Encoder supply test The encoder supply test allows you to check whether the encoder supply voltage and current are correct The test is activated by pressing the Start Test and stopped by pressing the Stop Test button During this test the encoder is activated its output signals can be observed measured on the Interface Board and the supply voltage and current are measured continuously and displayed at the top right side of the window 4 5 Encoder operating modes The 4 modes in which the encoder can be operated using ASSIST are listed in Table 4 Table 4 Operating modes of the encoder 2 wire serial communication to read data Communication from the encoder and to store configuration A clock input mode data and LUT in the encoder s RAM volatile B data bidirectional memory Measurement Encoder measures incremental position and A B incremental mode outputs via ABI interface encoder output signals 2 wire serial communication to program A clock input configuration data and LUT in OTP One B aala bidirectional Time Programmable non volatile
54. s jo Last Position mm fo 1 1 1 I 1 1 1 1 ja aS 1 KE t2 A fa 45 Reference mm Operate Tools Window Help gt CONFIGURATION EVALUATION NLRAM Ba o oo NL Default E 0 000 Measures Mn LINEARIZATION DEBUG easure Measure RAM LUT F5 Program LUT in OTP F8 1 L I j jz pa oe o8 1 P M Me Default LUT F2 Poi asure ff nt F3 Encoder Status vob 4 991 V IDD 11 08 mA Step Size mm 940 0500 _ Nr Measures 53 Last Position mm 12 6 o i 1 1 1 1 1 6 1 8 Z 22 2 4 2 6 1 I FA Fd Reference mm EPT002 V2B Page 28 of 52 9 The green sign indicates that the measurement with Default LUT has been completed Ureaizaton aos 7 nr Default LUT F2 OFile vop 4 991 v 10 The measured position white and i Paa non linearity red are displayed Based on the measurement with Pr veasures E3 Default LUT a LUT is calculated o that compensates the encoders non linearity This LUT is uploaded in RAM memory during the next step 1 NL Default E 095 Measures pag Reference mm 11 Start the measurement with RAM ee LUT it takes a few seconds to ee oo ee upload the encoder configuration 2 der sta and the RAM LUT and move the po aee o EE i scale until at least one Index pulse iem has been observed on the corresponding signal LED Step Size mm 940 0500 _ Nr Measure
55. switches 2 4 are off the RS422 line receiver on the Interface Board is enabled When DIP switches 2 4 are on the RS422 line receiver on the Interface Board is disabled its inputs are connected to the corresponding outputs thus allowing single ended 5V TTL encoder signals to pass to the uC EPT002 V2B fv User Manual for ASSIST Evaluation amp Programming Tool Posic Page 47 of 52 Annex 7 Troubleshooting USB connections lost and re established Q During Read Encoder Configuration or other communication with the encoder the USB connection is lost and re established USB connection and disconnection sounds are heard then the LabView program does not respond anymore A lf there is a short circuit between the encoder connections a large current approx 100 mA is drawn when the encoder is started If the USB cable is connected to a high current USB connection typically the USB connectors in a PC max current 500 mA the ASSIST software automatically turns off the encoder and provides a warning that a short circuit has been detected See Figure 12 in Section 4 7 However if the USB cable is connected to a low current USB connection typically a USB hub or a USB connection at the side of a computer screen max current 100 mA the short circuit current during startup exceeds the USB current limit and the USB connection is lost stopped by the PC Directly after the USB connection has been lost it is re established but the A
56. ution CPR 4 1 2 2 LookUp Table The encoder contains a LookUp Table LUT that can be used to correct the bDefault encoder s non linearities One of three options can be selected OF ile Default Default LUT file stored in the ASSIST software This LUT is a ot general purpose LUT and does not compensate non linearities of a specific target File file selected using a browser This could e g be a typical LUT for a specific target or the LUT previously generated in the Linearization window OTP the LUT stored in the encoder s OTP memory will be used 4 1 2 3 Encoder ID The Encoder Identification number consists of three 16 bit numbers Encoder 1D Nr 1465535 Each number can be programmed to a value between 0 and 65535 Nr2Gaess35 The encoder ID has no influence on the encoder operation NraSaessas 4 2 Evaluation The evaluation window allows you to check whether the POSIC and Reference encoder are working correctly operate the POSIC and Reference encoder in a closed loop control system by using POSIC encoder signals available on the Interface Board EPT002 V2B a User Manual for ASSIST Evaluation amp Programming Tool POSIC Page 12 of 52 The reference encoder if available File Edit View Project Operate Tools Window Help can be activated by pressing the gt een ON OFF button prior to starting the Toa POSIC Encoder Reference Encoder von 4o71 ri POSIC encoder 2 gt mo SSE tm
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