AMCI ControlLogix 7262 User manual

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ControlLogix 7262 SSI Interface Manual
Revision 1.3
Table of Contents
Installing the 7262 Module Chapter 1 4
Hardware Overview Chapter 2 5
Module Specifications 5
Front Panel & LED Function 6
Connector Pinout 6
Wiring Notes 7
Latching Input Wiring 8
SSI Protocol 8
Programmable Parameters Chapter 3 9
Module Setup Parameters 9
Latched Input 9
Interpolated Position 9
Limit Switch Position 10
SSI Setup Parameters 10
SSI Clock Frequency 10
Number of SSI Data bits 10
Most Significant Bit Number 10
Number of SSI Clock Bits 10
Data Type 10
Data Logic 10
Data Setup Parameters 11
Scalar Multiplier & Divisor 11
Determining Multiplier & Divisor 11
Preset Value 12
Apply Preset 12
Count Direction 12
Velocity Update Time 12
Message Instructions Chapter 4 13
Configuration Tab 13
Writing Data Setup 14
Reading Data Setup 14
Communication Tab 15
Extended Error Codes 15
Setup Data Chapter 5 16
Reading Status Data Chapter 6 17
Input & Output Data Chapter 7 18
Input Registers 18
Status Bits 19
Input Register Description 19
Output Registers 20
Command Bits 20
Apply Preset Programming Cycle 20
Interpolation Command Programming Cycle 21
Manual Revision History Chapter 8 22

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ControlLogix 7262 SSI Interface Manual
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Chapter 1: INSTALLING THE 7262 MODULE
Configuring the ControlLogix System
1. Open RSLogix 5000 and the project in which you want to install the AMCI 7262 module.
2. Right click on I/O Configuration in the Project Tree.
3. Select New Module.
4. Select the following module type and description from the list that appears.
Type = 1756-MODULE
Description = Generic 1756 Module
5. Click on OK.
6. Enter the following module properties.
Name: Your Choice (must begin with a letter)
Description: Your Choice
Comm Format: Data-DINT (must be Data-DINT)
Slot: location of 7262 module
7. Enter the Connection Parameters from the following table. Please note that the 7262 module can be configured in
two ways, depending on how many channels are being used. Disabling the unused channel is recommended
because the module will stop all activities associated with the unused channel, which will improve the throughput
time.
Owner Controller Listen Only
Parameter Assembly
Instance Size in 32 bit words Assembly Instance Size in 32 bit words
1 Channel
INPUT
101 6 101 6
OUTPUT
111 2 115 1
CONFIGURATION
1 0 5 0
2 Channels
INPUT
102 12 102 12
OUTPUT
112 4 115 1
CONFIGURATION
2 0 5 0
The Owner Controller setup will be used in most instances. The Listen Only setup should only be used by the
listening processor(s) in systems with more than one PLC. Please note that the RPI time of the Listen Only
processor must be greater than or equal to the RPI of the Owner Controller, and the number of channels on the
Listen Only processor must match the number of channels on the Owner Controller.
8. Click on Next >
9. Set the RPI (Rate Packet Interval) Time to the desired value. For the 7262 module, the RPI parameter has a range
of 0.5 to 28ms, with a recommended RPI time of 5ms.
10. Click on Finish >>
The module should now appear in the project tree. The Input data will be referenced as Local:X.I.Data[Y] and the
output data will be referenced as Local:X.O.Data[Y] where “X” is the slot number and “Y” is the word number.

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ControlLogix 7262 SSI Interface Manual
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Chapter 2: HARDWARE OVERVIEW
Module Specifications
Current Draw: 400ma @ 5Vdc from PLC backplane
Throughput Time: 0.2ms to 1.2ms depending on the SSI frequency and the number of bits and channels used.
RPI Time:Recommended RPI Time = 5ms
Minimum RPI Time = 0.5ms
Units with a serial number below 07110195 have a Maximum RPI time = 28ms
The interpolated function will only work if the RPI time is less than or equal to 28ms
External Power: The 7262 module requires the use of an external +24Vdc power supply that is used power the input
isolation circuitry and can also be used to power sensors that operate on 24Vdc
Voltage Range = +24V dc (± 20%)
Current Draw = 150mA. Add this amount to your SSI encoder’s current draw when sizing your
external 24Vdc power supply.
5Vdc supply The 7262 module also uses the external power supply to generate a 5Vdc user power supply
that can be used to power encoders and or sensors that run on 5Vdc. This 5Vdc supply can
supply a maximum of 500mA (± 5%) of current.
Latching Inputs These opto-coupler input terminals accept up to 24VDC signal across pins 17-15, 18-16, The
latching function is performed as programmed when power is applied/removed, OFF to ON
and/or ON to OFF, to/from the input.
Voltage Range: 0 to 30Vdc
On State: 8 to 30Vdc
Off State: 0 to 2Vdc
Current Draw: 10mA @ 24Vdc
Can be wired to single ended sinking or sourcing sensors
The latching inputs must be on for between 0.2ms and 1.2ms, depending on the number of
channels being used.
Environmental Conditions Operating Temperature: 0 to 60° C
Relative Humidity: 5 to 95% (non-condensing)
Storage Temperature: -40 to 85° C
EDS File An EDS file for the 7262 module can be downloaded from the Tech Library section of AMCI’s website,
www.amci.com.
FLASH Memory
The 7262 module’s parameter values are stored in a non-volatile Flash memory. This memory type can store parameter
values in the absence of power for over twenty years, but you can only write to it a limited number of times before it
will be damaged. The Flash Memory used in the 7262 module is guaranteed for a minimum of 10,000 write cycles.

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ControlLogix 7262 SSI Interface Manual
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Front Panel:
Connector Pin Out:
The input connector consists of a Removable Terminal Block with the Rockwell Automation Part Numbers 1756-
TBCH (36 position cage clamp) or 1756-TBS6H (36 position spring clamp). The terminal block is not supplied with
the 7262 module.
AMCI SSI
Status
OK
Status LED
Solid Red Data Flash Memory Fault
Blinking Red/Green Module Hardware Comm. Failure
Blinking Red Output Data Fault
Solid Green No motion occurring
Blinking Green Motion on at least one channel
OK LED
Solid Green: Module Owned, two-way communication
Blinking Green: PLC in Program Mode or rack configuration not correct
Blinking Red: Communication between module and PLC interrupted, as
when a new program is downloaded to the PLC.
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
External +24V
GND 2
channel 2 Clock –
channel 2 Clock +
channel 2 Data -
channel 2 Data +
Earth Ground 2 (shields)
Latch Input channel 2 -
Latch Input channel 2 +
External +24V
GND 4
+5Vdc out 2
Earth Ground 1 (shields)
GND 1
channel 1 Clock -
channel 1 Clock +
channel 1 Data -
channel 1 Data +
Earth Ground 3 (shields)
Latch Input channel 1 –
Latch Input channel 1 +
Earth Ground 4 (shields)
GND2
+5Vdc out 1
It is possible to test that the 7262 module is
working correctly by removing the cable to the
sensor and connecting +Clock to +Data and –
Clock to –Data and applying power to the
external +24Vdc and GND terminals.
If the 7262 module is working correctly, the
Actual SSI Data in input registers 5 (channel 1)
and 11 (channel 2) will be zero.

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Wiring Notes
•Use the information provided by the encoder’s manufacture to determine the type and maximum length of cable
that should be used to connect the sensor to the 7262 module.
•When plugged into the 7262 module, pin 1 is located in the upper right hand corner.
•External +24Vdc (pins 2 and 20) are internally connected together.
•GND1/2/3/4 (pins 3, 4, 21 and 22) are internally connected together and must be connected to the external
+24Vdc supply’s common.
•The 7262 module uses the external +24Vdc supply to power the isolation circuitry and to generate +5Vdc user
power (pins 23 and 24). These two pins, which are internally connected together, can be used to power sensors
requiring less than 500 mA of current.
•Earth Grounds 1 through 4 (pins 1, 13, 14 and 19) are internally connected together and are connected to the
ControlLogix rack structure. The cable shields of the sensor’s cable should be connected to these terminals.
•Transducer signals are generally low voltage, low power signals. If you are using A-B guidelines for cabling
installation, treat the transducer cable as a Category 2 cable. It can be installed in conduit along with other low
power cabling such as communication cables and low power ac/dc I/O lines. It cannot be installed in conduit
with ac power lines or high power ac/dc I/O lines.
•Like all signal and communication cable, the transducer cable should be shielded. These shields must be
grounded only at one end of the cable. Because the rack cabinet is typically better grounded than the machine,
AMCI recommends that the cable shields be terminated at the 7262 module. However, if your cable shield is
attached to the sensor’s housing, and the sensor is grounded through its mounting, you must not connect the
cable shields to the 7262 module because this will create a ground loop.
•If a junction must be made in the signal cable, treat the shield as a signal-carrying conductor. Do not connect
the shield to ground at any junction box or the encoder/sensor.
•If the signal cable must cross power feed lines, it should do so at right angles.
•Route the cable at least five feet from high voltage enclosures, or sources of “rf” radiation.
Voltage
Regulator External Power
Supply
+24Vdc, pins 2 or 20 (connected together internally)
GND, pins 3,4,21,22)
+5Vdc out, pins 23, 24
+5Vdc
Optical isolation
+input data pins 9 or 10
-input, pins 11 or 12
7262 module

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ControlLogix 7262 SSI Interface Manual
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Latching Inputs Wiring
The following two diagrams show how you would wire the 7262 module’s opto-coupler latching inputs to either
sourcing or sinking sensors.
SSI Protocol
The following figure shows how a 7262 reads data from a SSI transducer. Note that the formal SSI definition allows
for twenty-four bits of data and a twenty-fifth stop bit. However, AMCI is aware of some transducers that transmit
more or less than twenty-five bits. To accommodate these transducers, the 7262 can be programmed to accept up to
thirty-two bits in the SSI bit stream.
“n” = Number of bits in the SSI data. Range of 1 to 32. Default of 24.
1. The first falling edge of the clock signal latches the SSI data. Note: Some transducers latch the data at the end
of the previous interrogation.
2. The next “n” rising edges of the clock shift out the “n” data bits.
3. TINT is the time between interrogations and is equal to (((1/clock frequency) * # of SSI bits) + Idle Time) for
the 7262. TM is the time that the Stop bit is valid, which is typically 12 to 20 µS. TIDL is the time between the
end of one group of clock pulses and the start of the next group of clock pulses and varies with the number of
channels that the 7262 module has been configured to use.
Number of
Channels Idle Time
1 130
µ
s
2 380
µ
s
4. The transducer must have new data available within the TIDL Time period if the system is to work properly.
+ Latch Input
- Latch Input
Sourcing Sensor
Power Supply
+ 8 to 30Vdc
Common
+ Latch Input
- Latch Input
Sinking Sensor
Power Supply
+ 8 to 30Vdc
Common

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ControlLogix 7262 SSI Interface Manual
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Chapter 3: Programmable Parameters
The 7262 is configured by programming its Programmable Parameters. These parameters are broken down into three
groups, Module Setup, SSI Setup, and Data Setup parameters.
The 7262 uses two methods for the programming and monitoring of data. Input and Output registers are used to
program and monitor data that occurs on a regular schedule, such as reading the data value and status information or
setting the system time. Message instructions are used for operations that occur less frequently, such as programming
the module set up parameters or reading back the set up data for trouble shooting purposes.
Module Setup Parameters
Latched Input: The 7262 module has two Latch Inputs, one for each channel, that allow you to capture and
display the current Data Value whenever the input transitions. This parameter, which is composed of two bits,
allows you to capture the input on the 0 to 1 transition, the 1 to 0 transition, or on both transitions. The function
of the Latched Input will be disabled if neither bit is set.
To be read by the 7262 module, the latching inputs must be on for between 0.2ms and 1.2ms, depending on the
number of channels being used.
The 7262 module reports the status of the Latched input even if the function of the latched input has been
disabled.
The Latched Value is not saved through power down. Therefore, the Latched Value displayed in the 7262
module’s input registers at power up will be zero.
Interpolated Data value: This additional and optional feature may be useful for customers using the
ControlLogix PLC’s virtual axis functionality. If used, the 7262 module will take the PLC’s Central System
Clock-Time and the sensor’s velocity data to calculate an Interpolated or “Look Ahead” Data value. This has
two possible functions. One, the Interpolated Data Value along with the time value can be sent to other
ControlLogix modules, for example the AMCI 8213-VA, allowing them to schedule their responses with a high
degree of precision. Two, the Interpolated Data Value allows the user to “Look Ahead” to what the Data Value
will be at a defined time in the future. Here is the procedure for generating the Interpolation Data Value.
1. The Interpolated function will only work if the RPI Time is less than or equal to 28ms.
2. Make the PLC the System Time Master by opening the Controller Properties and clicking on the
Date/Time tab. Click on the box next to the “Make this controller the Coordinated System Time
Master” text so that a check mark appears in the box and accept the changes by clicking on OK.
The Interpolated position value will be valid only if this step is performed.
3. Create a GSV instruction in your ladder logic, with the Class Name set to CST and the Attribute
Name set to CurrentValue, to read the system time from the PLC. The destination address must
made up of two DINT registers.
4. If desired, add a value to word 0 of the time value read above. This value is entered in 1µs
increments, every 1000 equals 1ms, and equals the amount of time that you want to “look ahead.”
5. Place the time value from step 3 into the output registers. The next time that the Interpolation
Transmit bit transitions from either 0 to 1 or 1 to 0, the Central System Time will be sent to the
7262 module.
6. The latest Interpolation Data Value will be located in the input data the next time the module is
updated at the normal RPI update.

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Limit Switch Position: This two word parameters defines ON and OFF setpoints. If the ON setpoint is less than
the OFF setpoint, a bit in the Input Registers, which can be easily interrogated by a relay instruction, will be set
when the Data Value is between these two setpoints. If the ON setpoint is greater than then OFF setpoint, then
the bit will be set when the Data Value is outside of the these two setpoints. A separate Limit Switch bit based
on the same ON/OFF setpoints also exists for the Interpolation Data Value.
SSI Setup Parameters:
These parameters are used to extract the SSI Data Value from the bit stream. These parameters define the
clock speed of the data transfer, the number of clock bits, the position and length of the SSI data within the
bit stream, and the format of the data.
SSI Clock Frequency: This parameter allows you to set the SSI clock frequency to one of five values; 125kHz,
250kHz, 500kHz, 1.0MHz, or 2.0MHz. The default value of 125kHz value will work in all applications. Your
sensor’s user manual should contain information on what SSI Clock Frequency is appropriate for both the sensor
and the type and length of cable used.
Number of SSI Data Bits: This parameter defines how many bits of the data stream make up the Data Value.
This parameter has a range of 1 to 32.
Most Significant Bit (MSB) Number: This parameter defines the bit location of the first bit of the Data Value
in the data bit stream. This parameter has a range of 1 to 32.
Number of SSI Clock Bits: This value sets the number of bits that the 7262 will read from the SSI transducer
per interrogation. This parameter has a range of 1 to 32 and must be greater than or equal to (Most Significant
Bit Number + (Number of SSI Data Bits – 1)). The default value of 24 bits will work in most applications.
Example: You have a 12 bit single turn SSI encoder that outputs 25 SSI Clock bits. The single turn value is located in
the least significant bits of the SSI data.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
0 0 0 0 0 0 0 0 0 0 0 0 0 X X X X X X X X X X X X
In this example, the 7262 module would be setup using the following data.
Number of SSI Clock Bits = 25
Most Significant Bit number = 14
Number of SSI Data Bits = 12
Data Type: This parameter tells the 7262 module to interpret the SSI data either as a binary number or as a gray
code number. The default value is binary.
Data Logic: This parameter is included to handle situations where the SSI data is reported with negative logic.
If this parameter is set, the 7262 will invert the data bits before performing any scaling and decoding operations.
When left in its default value of positive, the 7262 module will use the SSI data as it is from the sensor.
MSB of Data Value LSB of Data Value
and Clock bits
MSB of SSI Clock Bits

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Data Setup Parameters:
Once the 7262 module has extracted the SSI data from the data stream, it uses the Data Setup Parameters to
convert the raw SSI data into the Data Value it reports to the PLC.
Scalar Multiplier & Divisor: These two parameters are used to scale the SSI data. Both parameters have a
default value of one and can range in value from 1 to 32,767. The Scalar Multiplier must be less than or equal to
the Scalar Divisor. In other words, the ratio of Multiplier to Divisor CANNOT be greater than one.
Linear displacement transducers from Balluff and MTS have resolutions measured in µm/count. The 7262
module can easily convert this data into the more familiar US Customary system of inches. The table below
shows the Multiplier and Divisor values needed to convert from various metric resolutions to US Customary
resolutions. For example, to convert data from a LDT sensor with 5µm/count resolution to 0.0005inch/count
resolution, use a Multiplier of 50 and a Divisor of 127.
LDT
Resolution
Desired Resolution
0.00005” 0.0001” 0.0002” 0.0005” 0.001” 0.002” 0.005”
1µ
µµ
µm 100
127 50 127 25 127 10 127 5 127 5 254 1 127
2µ
µµ
µm 100
127 50 127 20 127 10 127 5 127 2 127
5µ
µµ
µm 125
127 50 127 25 127 25 254 5 127
10µ
µµ
µm 100
127 50 127 25 127 10 127
20µ
µµ
µm 100
127 50 127 20 127
40µ
µµ
µm 100
127 40 127
Use the following procedure to calculate your Scalar and Divisor values if either your LDT Resolution or Desired
Resolution does not appear in the above table
Conversion Factor: Desired Resolution (counts/inch)
LDT Resolution (counts/inch)
Step 1: Convert your LDT resolution from µm to inches. For example, you are using a sensor with 1µm resolution in
your application.
1 µm * 1 mm * 1 inch = 0.00003937 inches/count = 25400 counts/inch
1000 µm 25.4 mm
Step 2: Determine the number of counts per inch for the desired resolution. For example, 0.0001”.
0.0001 inch/count = 10000 counts/inch

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Step 3: Determine the Scalar Multiplier and Divisor values.
Desired Resolution (counts/inch) = 10000 counts/inch = 100 = 50
LDT Resolution (counts/inch) 25400 counts/inch 254 127
Therefore, to use a sensor with 1µm resolution and get 0.0001 inches per count resolution, use a Scalar
Multiplier of 50 and a Scalar Divisor of 127.
Preset Value: The zero position of the SSI encoder’s Data Value may not match the zero position of your
machine. The Preset Value parameter gives you the ability to offset the Data Value from the actual SSI data to a
value that will be more useful for your application.
Programming the Preset Value parameter does not change the Data Value. It is stored in the 7262 module’s
memory until the module sees a zero to one transition of the Apply Preset bit.
Apply Preset: Offsetting the Data Value to the Preset Value is a two step operation. First, a Message Instruction
must be used to send the Preset Value with the other setup parameters to the 7262 module. Second, setting the
Apply Preset in the output registers will change the Data Value to the Preset Value.
Setting the Apply Preset bit causes the module to generate an internal offset value that is applied to the Data
Value before it is reported to the PLC. This internal offset is saved in the 7262 module’s Flash memory, so it is
not necessary to home the module at every power up. Please note that using a Message Instruction to program a
channel’s setup data will clear the internal offset generated by an Apply Preset operation.
Count Direction: This parameter is useful if your Data Value represents a linear position. It gives you the
ability to reverse the direction of motion needed to increase the position count. For simplicity’s sake, the two
values for this parameter are called Positive Direction and Negative Direction. When this parameter is set to its
default of Positive, the Data Value is not changed. When this parameter is set to Negative, the Data Value is
multiplied by -1 before it is reported. For linear transducers, this has the effect of reversing the direction of
motion needed to increase the count. When using LDT’s and the Count Direction is set to Positive, the Data
Value usually increases as the magnet moves away from the head of the LDT. When the Count Direction is set to
Negative, the Data Value increases as the magnet moves towards the head of the LDT. You will need probably
need to Apply the Preset to the Data Value after you program the Count Direction parameter.
If your Data Value represents a rotary position, you cannot change the count direction with this parameter.
However, you can easily reverse the count direction with ladder logic. This is accomplished with two rungs of
logic. If the data value is equal to zero, do nothing, and if the data value is not equal to zero, subtract the current
data value from the maximum value that your rotary encoder will output.
Velocity Update Time: The Velocity Update Time parameter sets the amount of time between Rate of Change
information updates to the PLC. Its can be set to either 60 milliseconds or 160 milliseconds, with 160
milliseconds being the default. Decrease the time between updates for faster response to changes in this value.
Increase the time between updates for better averaging of this value. The Velocity update time does not affect
the rate at which the position data is updated.
The Velocity data is measured in Counts/Second.
The 7262 module’s Flash memory is guaranteed for 10,000 write cycles before
writing to it will cause it to fault. Therefore continuously applying the Preset should
be avoided. If your application requires you to continuously apply the Preset,
consider calculating and app
lying the Preset in your PLC program.