Ametek GEMCO 1746R Series Assembly instructions

ForAllen-Bradley®SLC 500 I/O Chassis
Installation & Programming Manual
Series 1746R
GEMCO
PLC Resolver Interface Module
®
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Installation & Programming Manual
This product incorporates technology which is licensed by RockwellAutomation, Inc. Rockwell
Automation has not technically approved, nor does it warrant or support this product. All warranty and
support for this product and its application is provided solely byAMETEK .
1080 North Crooks Road
Clawson, MI 48017-1097
Phone: [phone]
FAX: [phone]
Internet: www.ametekapt.com
www.ametek.com
Copyright1999byAMETEK
All Rights Reserved - Made in the U.S.A.
Version0.1
AMETEK has checked the accuracy of this manual at the time it was printed. Any comments you may
have for the improvement of this manual are welcomed.
AMETEK reserves the right to revise and redistribute the entire contents or selected pages of this
manual. All rights to the contents of this manual are reserved by AMETEK.
Preface
This manual will instruct the user in installing and programming the Series 1746R Gemco PLC Resolver
Interface Module. Chapter 2 contains information on installing the 1746R PLC Resolver Interface Module.
Chapter 3 provides instructions on programming the 1746R, while Chapter 4 containsApplication
Examples. Specifications and Wiring Diagrams can be found inAppendixAandAppendix B, respectively.
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Installation & Programming Manual
Contents
Chapter 1: Introduction & Overview 1
1.1 Face Panel .......................................................................................................................... 2
Chapter 2: Installation 3
Chapter 3: Setup & Programming 4
Chapter 4: Application Examples 14
Appendix A: Specifications 21
Appendix B: Wiring Diagram 22
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1Installation & Programming Manual
Chapter 1: Introduction & Overview
The Series 1746R PLC Resolver Interface Module is a resolver based unit that incorporates
Allen-Bradley SLC 500 I/O interface technology, and is completely compatible with theA-B
Series 1746R I/O chassis. The unit monitors machine/process position and delivers absolute
position data with up to 12 bit
(4096count) resolution per turn to the SLC500processor.
The Series 1746R PLC Resolver Interface Module is available in two versions:
1746R-1isforsingle axis applicationsandusesasingleturn resolver. Standard“Turns
Counting”softwareallowsasingleturnresolvertobeusedinmulti-turnapplications.
1746R-2isfordualaxis applications andcanusetwo,singleturn resolvers tomonitor
eachaxisindependently, orisfieldconfigurableforusewithasingle,multi-turndual
resolvertomonitorasingleaxisforabsolutepositioningovermultiplerevolutions.
The 1746R PLC Resolver Interface Module will read in the “raw position” from 1 or 2 resolvers,
convert it to a scaled position and transmit that data to theA-B SLC 500 processor I/O image
table.
Thesoftwareallowsfield programmingofMotionDetectionof aRPM valuewhichsetsabit in theI/O
imagetable.
Thesoftwarealso willmonitortwoauxiliaryinputs, thatcanbefield configuredtooperateinone oftwo
ways:
Reset-to-Preset. Thisfeatureallowsyou tocontinuouslysynchronizepositiondata to
theleadingedgeofthe product ortoautomaticallycompensateforprocessdrift.
Brakemonitoringinmetalstampingapplications. Inthisconfiguration,automatic
calculationofstoptimeand stop angle istransferredtotheI/Oimagetable. In addition,
twoprogrammabletimelimitsare availabletomonitormaximumstopvalues: thefirstas
apotentialmaintenancewarning,andthesecond as an error if thepressexceedsthe
programmedmaximumacceptablestoptime. These status bitsaresetatthetimethe
limitsareexceeded,notafterthepressstops.
NOTE: Abrakefailfeature isalsointheBrakeMonitor configuration. Astatusbitinthe imagetable
willbesetif the resolver moves by more than +/- 20 degrees (outof360degrees)aftera
stophasbeendetermined.
Systemparametersareprogrammedthrough theI/Oimagetable. Theseparametersincludethe
positionscalingdata,themotiondetectRPM,brakemonitordataandreset-to-presetdata.
SystemdataisreadfromtheI/OImagetable. ThisdataincludesthescaledpositionandRPMofeach
resolver,thestate of theinputsanderrorflagsin the system.
Chapter 1: Introduction & Overview
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Chapter 1: Introduction & Overview
Installation & Programming Manual 2
1.1: Face Panel Description
TheMonitor’s operating status isindicatedbythetwo(2)LEDsontheface panel.
RUN ThegreenLEDindicates that thecardisoperational.
FAULT TheredLEDindicatesthereisa card fault, or when there is a resolver
(transducer)fault.
Note: Therearefourtypicalcausesfora resolver (transducer) fault:
1. Brokenresolvercable
2. Improperlywiredcable
3. Faultyresolver
4. Non-compatibleresolver
INSIDEFACE PANELDOOR
Plug-inconnectorwith 16terminals. (Seewiringdiagrams,AppendixB)
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3Installation & Programming Manual
Chapter 2: Installation
Chapter 2: Installation
I/O Rack Installation & Removal
Before installation, confirm that the I/O power is compatible with the Series 1746R PLC Resolver
Interface Module. (SeeAppendixA: Specifications, Power Requirements). The Series 1746R
PLC Resolver Interface Module can be installed into any open slot in theA-B SLC 500 rack.
Align the module’s circuit board with the top and bottom card guides and gently slide in until it
latches securely. To remove the module, depress the top and bottom latches and slide the module
out of the rack.
NOTE: TheSeries1746Rhasa convenient plug-in terminalstrip. Therefore,themodulecanbe
removedorreplacedwithoutrewiringtheterminalstrip.
Resolver Installation
It is recommended to use Gemco Series 1986 Resolvers with the Gemco Series 1746R Resolver
Interface Module. Series 1986 resolver specifications, mounting guidelines and outline drawings
are available from the factory.
NOTE: The Gemco Series 1746R Resolver Interface Module has been designed to be
compatible with other resolver inputs. Contact the factory for details.
Resolver Cable Installation
Itisrecommendedthattheresolvercablebe run in a separate conduit andshouldbeacontinuous
uninterruptedlength. ResolvercableinstallationiscoveredintheWiringDiagramsinAppendixBofthis
manual. Themaximumcable lengthusingBelden9873(orequivalent)is 1,000feet.
InputWiring
IfwiringforBrakeMonitoring,theinputmustbedriven“high” (seeAppendixA:Specifications)when
thebrakeisdisengaged. Theinputis then released (powerremoved)whenthebrakeengagestoinitiate
stoptime/stopanglecalculations.
IfwiringforReset-to-Preset,theinputmustbedriven“high”(seeAppendixA:Specifications)toinitiate
resettingtothepreset value.
Power Requirements
SeeAppendixA:Specifications
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Chapter3: Set-Up &Programming
Installation & Programming Manual 4
Getting Started
Before the 1746R PLC Resolver Interface Module can communicate with theA-B SLC 500
processor, the system must be configured to include the 1746R PLC Resolver Interface Module.
This is done through either theAPS Software or the hand-held controller. When defining the
system, the program will prompt for a SPIOGA ID code. The ID code for the 1746R PLC
Resolver Interface Module is: 3535. This tells the processor that the 1746R uses 8 input words
and 8 output words.
I/O Image Table
Dataispassedbetweenthe A-B SLC 500 processor and the resolver input module through the I/O
imagetable. Thistableislimitedto8 input words and8outputwords.
Configurationdata,suchas thescalefactorand theoffsetposition,willbe programmedthroughthe
outputimagetable. Monitoringdata,such as the currentresolverpositionandRPM,willbe reported
backtotheSLC500processorthroughtheinputimagetable.
TwotypesofdatacanbepassedthroughtheI/Oimagetable,status/controldataandapplicationdata.
Two bitregistershavebeenplacedinword0oftheinputimagetable and word 0 of the outputimage
tableforthestatus/controldata. TherestoftheI/Oimagetableisused for application data.
Output Image Table
Because there are more than 8 parameters to program, the 1746R Resolver Interface Module uses
a command based programming sequence to enter parameters into the system. The first word of
the output image table is the command bit register. This bit register contains a programming bit
used to initiate the programming sequence. The second word is the command word and the other 6
words are used for the command parameters as shown in the table below:
Chapter 3: Setup & Programming
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiBdnammoC
51tiBtiBgnimmargorP
01-41stiB )0(devreseR
9tiBtiBrorrErotinoMekarBraelC
8tiBtiBgninraWrotinoMekarBraelC
0-6stiB)0(devreseR
7tiBtiBtamroFataD
1droW retsigeRdnammoC
2droW1retemaraP
3droW 2retemaraP
4droW3retemaraP
5droW 4retemaraP
6droW5retemaraP
7droW 6retemaraP
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5Installation & Programming Manual
Chapter3: Set-Up &Programming
7tiB 6543210
ataD tamroF 0 0 0 0 0 0 0
Command Bit Register (Word 0)
TheStatusBitRegister hasbeendefinedbelow:
Programming Bit (15)
The 1746R PLC Resolver Interface Module will monitor the programming bit for a 0 to 1
transition. When this is detected, it reads the command register and processes the data based on
the command specified. If the command data and parameter data are valid, the acknowledge bit is
set in the input image table bit register. If the data is invalid, the error bit will be set in the input
image table bit register. These bits are cleared when the programming bit is set back to zero.
Clear Brake Error Bit (9) & Clear Brake Warning Bit (8)
The clear brake monitor error bit and clear brake monitor warning bit are used to clear the error
conditions produced by the brake monitor.The 1746R PLC Resolver Interface Module will
monitor these bits for a 0 to 1 transition. When it is detected, the corresponding error bit in the
input image table will be cleared.
Data Format Bit (7)
The purpose of this bit is to add an option that will allow the customer to display the position
value in a more readable format. By setting bit 7 of the Command bit register to one, the position
will be displayed in the following format: The thousandths digits will be displayed in the high
word and the ones, tens and hundredths digits will be displayed in the low word. See example
below and specifications for increased update time.
Example:
Position is 35111.
Without the data format option (Command bit register, bit 7 = 0), the position would be displayed
in the input image table as:
0 ;high word
-30425 ;low word
With the data format option selected (Command bit register, bit 7=1), the position would be
51tiB413121110198
GORP 0 0 0 0 0 ekarBraelC rorrE ekarBraelC gninraW
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Chapter3: Set-Up &Programming
Installation & Programming Manual 6
Command 1: Configuration
The 1746R PLC Resolver Interface Module can be configured for 6 different applications:
Singleaxis,singleturnresolverwithnoturnscountingandonebrake monitorinput.
Multi-turndualresolverwithnoinputs.
Singleaxis,single turnresolverwithturnscountingandone reset-to-presetinput.
Two axis,twosingleturnresolvers withturnscountingandtwo reset-to-presetinputs.
Multi-turn dual resolver with one reset-to-preset input.
Two axis, two single turn resolvers; one with no turns counting and one brake
monitor input; the other with turns counting and one reset-to-preset input.
NOTE: Allreservedlocationsshouldbesetto0.
displayed in the input image table as:
35 ;high word
111 ;low word
Note: If using Configuration 6, the resolver 1 position is displayed only as one word. Therefore,
the new data format does not apply to this position.
With the new data format option selected, the position can range from 0 to 32767999.
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7Installation & Programming Manual
Chapter3: Set-Up &Programming
Theparametersforthis command1havebeendefinedbelow:
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )1(
2droW drowssaP1retemaraP )1111(
3droWrebmuNnoitarugifnoC2retemaraP
4droW )0(devreseR3retemaraP
5droW)0(devreseR4retemaraP
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
Parameter1 isapasswordtoverifythat this change is to takeplace. Thepasswordis1111. Thisisto
preventanaccidental changeinthesystem. Thesecond parametercontainstheConfiguration number:
rebmuNnoitarugifnoCnoitpircseD
1
!revlosernrutelgnis,sixaelgniS
!gnitnuocsnrutoN
!tupnirotinomekarbenO
!MPRtceteDnoitoM
2
!revloserlaudnrut-itluM
!stupnioN
!MPRtceteDnoitoM
3
!revlosernrutelgnis,sixaelgniS
!elbanegnitnuocsnruT
!tupniteserp-ot-teserenO
4
!revlosernrutelgnisowt,sixaowT
!elbanegnitnuocsnruT
!stupniteserp-ot-teserowT
5!revloserlaudnrut-itluM
!tupniteserp-ot-teserenO
6
!srevlosernrutelgnisowt,sixaowT
!rotinomekarbhtiwgnitnuocsnrutoN MPRtceteDnoitoMdnatupni
!teserp-ot-teserhtiwgnitnuocsnruT tupni
NOTE: Anyotherconfigurationnumberswillgenerateanerror. The defaultconfigurationis1.
Command 2: Position Scaling Data
Thiscommandwillprogram thescalefactorandthe totalturncount. Theparametersfor this command
havebeendefinedbelow:
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )2(
2droW rebmuNrevloseR1retemaraP
3droWrotcaFelacS2retemaraP )droWhgiH(
4droW rotcaFelacS3retemaraP )droWwoL(
5droW gnitnuoCsnruTlatoT4retemaraP ()ylnOgnitnuoCsnruT
6droW oitaRsnruT5retemaraP ()ylnOrevloseRlauDnrut-itluM
7droW)0(devreseR6retemaraP
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Chapter3: Set-Up &Programming
Installation & Programming Manual 8
NOTE: SeeChapter4: ApplicationExamplesfordealingwith 32bitnumbers..
Parameter4is used toenableordisabletheTurns Countingsoftwareandtoestablishthenumberof
turnsoverwhichthescalefactordevelopswhenTurns Countingisenabled. Parameter4mustbeset
tozerowhensendingthiscommandformulti-turnconfigurations2or 5.
Whenparameter4isset to zero,TurnsCountingisdisabledandthe system will operateasasingleturn
system. Thescalefactorprogrammedinparameter2and3willbethenumber counted to over one
rotationoftheresolver. The position count will rollovertozeroandrepeatthesamescalefactor count
foreachadditionalrotation oftheresolver.
Whenparameter4issetto any value other thanzero,thevaluewillbethenumber of turns required to
counttothescalefactornumber programmed in parameters2and3. Whenturnscountingisenabled,
thecountwillneverrollover and start againatzero. Thecountwillcontinueto increase or decreaseby
theperturncountchangeestablishedby parameter 2, 3 and4. Rotationinthereversedirectionwill
resultinanegative positionvalue. Maximumpositionvaluescan rangefrom-2,147,483,648to
2,147,483,647.
Example1: Parameters 2 and 3 (scale factor) set at 1200
Parameter4(turnscounting)setat1
Thecountwill increase from 0 to 1199 over the firstrotation,1200to2399overthesecond,2400 to
3599overthethird andwillcontinuechangingat this rateperturnforsubsequent rotations.
Example2: Parameters 2 and 3 (scale factor) set at 500,000
Parameter4(turnscounting)setat1000
Thecountwillincrease from 0 to 499 over the first rotation,500to999overthesecond,1000 to 1499
overthethirdandwillcontinuecounting at this rateto499,999attheendofturn1000. Additional
rotationinthesame direction willresultinthecountincreasing beyond 500,000atthesamerateper
turn.
NOTE: Turns Counting is only valid for modules set up for configuration 3, 4 or 6.
NOTE: Themaximumresolutionofthe module is4096countsperturn. Scalefactors that areless
than4096perturnwillcountinonecount increments. Scale factors greater than 4096per
turnwillcountto the scalefactornumberin4096steps which willnotbeonecount
increments.
Parameter1isused to indicatewhichresolverinputchannelthe scale factorandturnscountappliesto.
Ontwoaxis(notmulti-turndualresolver)modulesCommand2willbe programmedtwice.
Parameters2,3and4areused to establish how position data will count as the resolver rotates.
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9Installation & Programming Manual
Chapter3: Set-Up &Programming
Parameter5is onlyusedontwo axismodulesintowhich amulti-turndualresolver assemblyisbeing
wired. Amulti-turndualresolver assembly containstworesolversgearedtogether through a64:1or
128:1precisiongearreducer. One resolver providesfinepositiondataperturnof the inputshaftwhile
thecourseresolverkeepstrackofthenumberof turns. A zero in parameter 5 configuresthemodule
foroperationwitha64:1dualresolver assembly. Aone in parameter 5configuresthemoduleforuse
witha128:1dual resolverassembly.
Whenconfiguredforusewith a dualresolverassembly,thescalefactorsetinparameters 2 and3will
bethecountchangeover the total numberofturns.
Forexample,if the scale factor was 640 and theratiowas64:1,eachturnwouldbe10 counts. The
totalaccumulatedcountof a multi-turndualresolversystemis absolute andwillnotbelost onapower
failure. Also,anymovementofthemechanismwhilepoweris offwillbereflectedinthetotalposition
countwhenpowerisrestored.
Example: Parameter5(turnsratio) set for 1 (128 turns)
Parameters 2 and 3 (scale factor) set for 12,800
Parameter4 must be set tozero
Thepositioncountwillcount from 0 to 99 over the first rotation, 100 to 199 over the second,200to
299overthethirdandwill continue increasing by 100countsperturnuntil12,799isreached at the end
ofturn128. Thesystemwillrolloverto zeroandbegincountingup againiftheresolver continues
rotationinapositivedirection beyond 12,799. Reverserotationbelowzerowillresult in acountthat
jumpsto12,799andcontinuous counting backwards.
Thedefaultvaluesforthescalefactoris4096and the turns counting is set tozero(disabled). The
defaultsettingforthemulti-turnresolver is64:1. SaveConfigurationCommandwillsavethese valuesto
EEPROM.
NOTE: Whenthescalefactoror turns count ischanged,alloffsetvalueswillbe reset to zero. This
includesthehomeposition andallreset-to-presetoffsets.
Command 3: Home Positioning Data
Thiscommandwillresettheposition oftheresolverindicatedtomatchactual machineposition.
Example: Withthemachinestoppedatthe“0”position, parameters 2 and 3 (Home
Position)mustbesetto“0”. Theparameters for this command have been
definedonnextpage:
NOTE: Thetotalaccumulatedcountwhenturnscountingisenabledisavolatilevalue.Thisnumber
willbelostonapowerfailure. Steps should be taken tosavethisvaluetoanonvolatile
integerfileintheSLCprocessor ifmaintainingpositiondataisimportantto your application.
TheSaveCommandcanalsobeusedto save the current position, therefore,notlosingthe
turnscount.
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Chapter3: Set-Up &Programming
Installation & Programming Manual 10
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )4(
2droW *emiTgninraW1retemaraP
3droW**emiTrorrE2retemaraP
4droW )0(devreseR3retemaraP
5droW)0(devreseR4retemaraP
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
Parameter1willindicatewhetherthe new homepositionisforresolver1or 2.
Parameters2and3containthenewhomepositionof the reset resolver. Whenthiscommandis
received,thehomeposition willbecheckedforvalidity. Forasystem withnoturnscountingenabled,
thehomepositionmustbebetween zero and the scalefactor. Fora system with turnscountingenabled,
thehomepositionmust be lessthan2,147,483,647. ASaveConfigurationcommand willsavethis
offsettoEEPROM.
Command 4: Brake Monitor Data
Thiscommandwillset upthewarningtimeand errortimeforthebrake monitorinput. Theparameters
forthiscommandhavebeendefinedbelow:
* WarningTimeindicates thatthepressstoppingtime isdeteriorating.
**ErrorTimeindicatesthat themaximumallowablestoppingtimehasbeen
exceeded.
Parameter1containsthewarning timeforthebrakemonitor input. If thebrakemonitorstoppingtime
exceedsthiswarningtime,the warning bitwillbeset. Thisvaluecan range fromzeroto65,535. The
unitsofmeasurement areinmilliseconds(ms). Thedefault valueis65,535ms(65.535s).
Parameter2containstheerror time for thebrakemonitorinput. Thistimemustbegreater than or
equaltothewarning time. Whenthebrakemonitorstopping timeexceedsthisvalue,the errorbitwill
beset. Thisvaluecanrange from zeroto65,535. Theunitsofmeasurementare in milliseconds(ms).
Thedefaultvalueis65,535ms(65.535s).
NOTE: This command is only valid if the module has been set up for configuration 1 or 6.
Command 5: Motion Detect Data
Thiscommandwillset themotiondetectRPMvalue. The parameters forthiscommandhavebeen
definedonthe nextpage:
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )3(
2droW rebmuNrevloseR1retemaraP
3droWnoitisoPemoH2retemaraP
)
drowhgih(
4droW noitisoPemoH3retemaraP )drowwol(
5droW)0(devreseR4retemaraP
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
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11 Installation & Programming Manual
Chapter3: Set-Up &Programming
Command 6: Reset-to-Preset Data
Thiscommandwillprogramthe reset-to-preset valueforeachresolver. The parametersforthis
commandhavebeendefinedbelow:
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )6(
2droW (1tupnirofeulaVteserP-ot-teseR1retemaraP )drowhgih
3droW1tupnirofeulaVteserP-ot-teseR2retemaraP )drowwol(
4droW 2tupnirofeulaVteserP-ot-teseR3retemaraP )drowhgih(
5droW2tupnirofeulaVteserP-ot-teseR4retemaraP )drowwol(
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
NOTE: The reset-to-preset command is only valid if the module has been set up for
configurations 3, 4, 5 and 6.
Parameter1containsthemotiondetectRPMvalue. Thisvaluecanrangefromzeroto65,535. The
defaultvalueiszero. WhentheRPM is greater thanorequaltothisvalue,amotion detect bit willbe
setintheinput imagetable. Azerovaluewill disablethemotiondetect.
NOTE: This command is only valid if the module has been set up for configurations 1, 2 or 6.
Parameters1and2containthepositionthatresolver#1shouldreset to when input 1 is activated.
Parameters3and4containthepositionresolver#2shouldresettowheninput2isactivated. When
thiscommandisreceived, thesoftwarewillverify thatthereset-to-presetvaluesare validpositions*.
Thedefaultvaluesforthe reset-to-preset values iszero.
* Ifturnscountingisdisabledorconfiguredfor multi-turn,thepositionmustbe betweenzero
and the scale factor. Ifturnscountingisenabled,thepositionmustbebetweenzeroand
2,147,483,647.
Command 7: Save Configuration
Thiscommandwillsavethedata to theEEPROM. Theparametersforthiscommandhavebeen
definedbelow:
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )5(
2droW MPRtceteDnoitoM1retemaraP
3droW)0(devreseR2retemaraP
4droW )0(devreseR3retemaraP
5droW)0(devreseR4retemaraP
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
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Chapter3: Set-Up &Programming
Installation & Programming Manual 12
Status Bit Register (Word 0)
Thebitregisterhas beendefinedbelow:
51tiB413121110198
KCA RREATAD TUPNI 1ETATS TUPNI 2ETATS NOITOM TCETED EKARB LIAF EKARB RRE EKARB NRAW
7tiB 6543210
IRP NEPO 1SER IRP TROHS 1SER 1S NEPO 1SER 4S NEPO 1SER IRP NEPO 2SER IRP TROHS 2SER 1S NEPO 2SER 4S NEPO 2SER
NOTE: TheEEPROMonthe1746Risonlyguaranteedto10,000writecycles. Becauseofthis,itis
recommendedthatthesaveconfigurationcommand beusedsparingly.
InputImageTable
The Input Image Table is used to send the system data back to theA-B SLC 500 Processor. There are
8datawordsin the InputImageTable. TheI/OImageTablewillvary dependingontheconfiguration
asshownbelow:
noitarugifnoC 1sixAelgniS rotinoMekarB noitarugifnoC 2nruT-itluM noitarugifnoC 3sixAelgniS noitarugifnoC 4sixAowT noitarugifnoC 5nruT-itluM noitarugifnoC 6sixAowT )teserP-ot-teseR&rotinoMekarB(
0droW retsigeRtiB retsigeRtiB retsigeRtiB retsigeRtiB retsigeRtiB retsigeRtiB
1droWnoitarugifnoCnoitarugifnoCnoitarugifnoCnoitarugifnoCnoitarugifnoCnoitarugifnoC
2droW )hgih(noitisoP )hgih(noitisoP )hgih(noitisoP )hgih(1noitisoP )hgih(noitisoP )wol(1noitisoP
3droW)wol(noitisoP)wol(noitisoP)wol(noitisoP)wol(1noitisoP)wol(noitisoPMPR
4droW MPR MPR MPR 1MPR MPR emiTgnippotS
5droWemiTgnippotS )hgih(2noitisoPelgnAgnippotS
6droW elgnAgnippotS )wol(2noitisoP )hgih(2noitisoP
7droW 2MPR)wol(2noitisoP
elbaTegamItuptuOnoitpircseD
0droW retsigeRtiB
1droWretsigeRdnammoC )7(
2droW 1drowssaP1retemaraP )2222(
3droW2retemaraP2drowssaP )3333(
4droW )0(devreseR3retemaraP
5droW)0(devreseR4retemaraP
6droW )0(devreseR5retemaraP
7droW)0(devreseR6retemaraP
NOTE: Thepasswordsexiststoensurethatyourintentistosavecurrentchanges. ASave
Commandwillautomaticallydeleteoldprogramdata. Evenchangingjust thescalefactor will
automaticallydeleteall HomePositionoffsetsandReset-to-Presetvalues.
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13 Installation & Programming Manual
Chapter3: Set-Up &Programming
PrimaryOpenError
Theprimaryopenbitwillbesetif this error is detected oneitheroneoftheresolvers. Resolver#1isin
bit7andresolver#2 is in bit 3. This bit is clear when no error is present.
PrimaryShortError
Theprimaryshortbitwillbeset if this error isdetectedoneitheroneoftheresolvers. Resolver#1is in
bit6andresolver#2 is in bit 2. This bit is clear when no error is present.
Motion Detect Bit (11)
Thisbitwillindicatewhether theRPMisaboveorbelowthe programmedmotiondetectRPMvalue. If
theactualRPMisbelowtheprogrammedRPM,thebitwillbecleared. IftheRPMisgreaterthanor
equaltotheprogrammedRPM,thebitwill be set.
Brake Fail Bit (10)
Thisbitisused todetectwhetherthebrake monitor inputisfunctioningcorrectly. Thisisdoneby
monitoringthestateof thebrakeinputwhenmovement isdetectedintheresolver. Ifthereismovement
detectedandthebrakemonitorindicates the brake isstillactivated,thisbitwillbeset to indicate a
possiblefailureinthebrakemonitorinputcircuitry.
BrakeErrorBit(9)
Thisbitissetwhentheactual brake stopping time exceeds theprogrammedbrakeerror time. Thisbit
isclearedwhenazerotoonetransition on the clear brake error bit is detected. This bit is set in real
time,atthepointtheinternaltimerexceedsthetimelimit.
BrakeWarning(8)
Thisbitisset when theactualbrakestoppingtime exceeds theprogrammedbrakewarningtime. This
bitisclearedwhenazerotoonetransitiononthe clear brake warning bit is detected. This bitissetin
realtime,atthepointtheinternaltimerexceeds thetimelimit.
InputState 2 (12)
Thisbitwill reflectthestateof input2fromthe frontoftheunit.
AcknowledgeBit(15)
Thisbitisusedto acknowledgeacommandfromtheoutputimage table. Ifallthedataisvalid in the
command,theacknowledgebitisset to indicate to the A-B SLC 500 processor that the command was
processed. Thisbitiscleared when theprogrammingbitiscleared in theoutputimagetable.
DataErrorBit(14)
Thisbitisusedtoindicate an errorwasdetectedinthecommandsentfrom the output imagetable. This
bitissetifanerrorisdetectedinthecommandparameterdata. Thisbit is cleared when the
programmingbitisclearedintheoutputimagetable.
InputState 1 (13)
Thisbitwill reflectthestateof input1fromthe frontoftheunit.
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Chapter3: Set-Up &Programming
Installation & Programming Manual 14
RPM(Word4,alsoWord7forDualAxis,Words 3,forconfiguration6 only)
TheRPM data is given in 1 wordandrangesfromzeroto2048. It is updated every 14.68ms.
StoppingTime (Word5, forConfiguration 1 only,Word4,forconfiguration6only)
Theactualstoppingtimeis given in 1wordandrangesfromzeroto 65,535ms.
StoppingAngle(Word 6,forConfiguration 1only,Word5,forconfiguration6 only)
Theactualstoppingangleisgivenin1 word and ranges from 0to65,535scaledcounts.
NOTE: Thisistheangular differencebetweentheresolverposition whentheinputwasdetected and
theresolverpositionwhen it stopped.
S4OpenError
TheS4openbit is set when this error is detected on either one ofthe resolvers. Resolver#1isinbit4
andresolver#2isinbit0. Thisbitisclearwhennoerrorispresent.
ConfigurationRegister(Word1)
Thisregisterwillreflectthecurrentconfigurationnumberofthesystem. Becausethe inputimagetable is
setupdifferentlyfor each configuration,itallowstheuserto know whatdataispresentinthe tableand
verifythatthesystemis configuredthewayitissupposed to be.
Position(Words2and 3,alsoWords 5and6 forDualAxis, words2,6 and7forconfiguration
6only)
Thescaledpositionis givenintworegisters, positionhighandpositionlow. Thepositiondata canrange
from-2,147,483,648 to 2,147,483,647. (See Appendix A: Specifications.)
S1OpenError
TheS1openbit is set when this error is detected on either one ofthe resolvers. Resolver#1isinbit5
andresolver#2isinbit1. Thisbitisclearwhennoerrorispresent.
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15 Installation & Programming Manual
Chapter4: Application Examples
Chapter 4: Application Examples
(1) For parameters and positions thatare32bits,the value needs to be spreadovertwo16bit
words. Thehighword willcontainthemost significant16bitandthelowwordwillcontainthe
leastsignificant16bits.
Example: Ifthescale factor was 4096, the high wordwouldbe0(0hex)andthelow
word would be 4096 (1000 hex).
Example: Ifthe scale factor was 500,000, the highwordwouldbe7(7hex)and the low
word would be -14,288 (A120 hex).
(2) The following is an example program for setting up the 1746R Resolver Interface Module.
The 1746R Resolver Interface Module is installed in slot 1 of the SLC 500 rack. The
following data defines the command parameters and state flags that are used to program the
1746R Resolver Interface Module:
ConfigurationCommand #N7:0
PositionScalingCommandforResolver1 #N7:10
PositionScalingCommandforResolver2 #N7:20
Reset-to-PresetCommand #N7:30
HomePositionCommand forResolver1 #N9:0
HomePositionCommand forResolver2 #N9:10
ProgramStateFlags #N10:0
1746RConfiguration #N10:0/0
Resolver1Configuration #N10:0/1
Resolver2Configuration #N10:0/2
Reset-to-Preset #N10:0/3
Resolver1HomePositioning #N10:0/4
Resolver2HomePositioning #N10:0/5
ConfigurationComplete #N10:0/6
ValidPositionFlags #B3:0
Resolver1ValidPosition #B3:0/15
Resolver2ValidPosition #B3:0/14
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Chapter4: Application Examples
Installation & Programming Manual 16
On the first scan, the start 1746R configuration flag is set. When this flag is set, the configuration command is
copied into the output image table with the programming bit set. This will continue until the command has been
acknowledged in the input image table.
0000
First Pass
S2:1 MOV
Move
Source 1
1<
Dest N10:0
0<
ClearProgramBit
O:1
(U)
15
OTHER
CLEARSTATE FLAGSANDSETUPFORINITIALIZATION
COP
CopyFile
Source #N7:0
Dest #O:1.0
Length 8
0001
COPYCOMMANDTOCONFIGURETHE1746RCARD
ConfigBit Set
N10:0 AckBit Cleared I:1
15
015
OTHER
When the 1746R configuration command is complete, the program will copy the position scaling command for
resolver 1 into the output image table with the programming bit set. This command will configure resolver 1 for
a total scale factor of 1000 and turn count of 10. This will configure the resolver for 100 counts per turn. This
continues until the command has been acknowledged.
0002
WHENCOPYOFTHE1746RCONFIGURATIONCOMMANDISCOMPLETE,SETTHESTATEFLAGTO
CONFIGURERESOLVER1
ConfigBit Set
N10:0 Ack Bit Set I:1
015
OTHER
ProgramBit Set
O:1
15
OTHER
MOV
Move
Source 2
2<
Dest N10:0
0<
ClearProgramBit
O:1
(U)
15
OTHER
COP
CopyFile
Source #N7:10
Dest #O:1.0
Length 8
0003
COPYTHECOMMANDTOCONFIGURERESOLVER1WITHSCALEFACTORANDTURNSCOUNTING
INFORMATION
Res 1 Config Bit Set
N10:0 AckBit Cleared
I:1
115
OTHER
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17 Installation & Programming Manual
Chapter4: Application Examples
When the position scaling data has been acknowledged for resolver 1, the program will copy the position
scaling command for resolver 2 into the output image table. This resolver is set up for a scale factor of 360 with
no turns counting. This will continue until the command has been acknowledged.
0004
Res 1 Config Bit Set
N10:0 MOV
Move
Source 4
4<
Dest N10:0
0<
ClearProgramBit
O:1
(U)
15
OTHER
WHENCOPYOFTHERESOLVER1COMMANDISCOMPLETE,SETTHESTATEFLAGTOCONFIGURE
RESOLVER2
COP
CopyFile
Source #N7:20
Dest #O:1.0
Length 8
0005
COPYTHECOMMANDTOCONFIGURETHERESOLVER2WITH
SCALEFACTORANDTURNSCOUNTINGINFORMATION
Res 2 Config Bit Set
N10:0 AckBit Cleared I:1
1
215
OTHER
When the position scaling data has been acknowledged for resolver 2, the program will copy the reset-to-preset
command into the output image table. The reset-to-preset value for resolver 1 is set to 100 and the reset-to-
preset value for resolver 2 is set to 180. The program will wait for the acknowledge bit to be set.
0006
WHENCOPYOFTHERESOLVER2COMMANDISCOMPLETE,SETTHESTATEFLAGTOCONFIGURE
RESET-TO-PRESET
Res 2 Config Bit Set
N10:0 Ack Bit Set I:1
215
OTHER
ProgramBit Set
O:1
15
OTHER
MOV
Move
Source 8
8<
Dest N10:0
0<
ClearProgramBit
O:1
(U)
15
OTHER
COP
CopyFile
Source #N7:30
Dest #O:1.0
Length 8
0007
COPYTHECOMMANDTOCONFIGURETHERESET-TO-PRESET
ConfigBit Set
N10:0 AckBit Cleared
I:1
315
OTHER
Ack Bit Set
I:1
15
OTHER
ProgramBit Set
O:1
15
OTHER
Reset-to-Preset
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