Infranor Tamagawa PPAC-30 User manual

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Tamagawa® Absolute encoders - Customization PPAC-30
Tamagawa®
Absolute encoders
Customization PPAC-30
Content
Content.................................................................................................................................................................... 1
Chapter 1 - Introduction........................................................................................................................................... 2
1.1 - General description...................................................................................................................................... 2
2.1 - Product identification.................................................................................................................................... 2
Chapter 2 - Firmware and PLD update.................................................................................................................... 3
2.1 - Firmware Update ......................................................................................................................................... 3
2.2 - PLD Update................................................................................................................................................. 4
Chapter 3 - Wiring ................................................................................................................................................... 5
3.1 - X1 connector pin assignment (Sub D 15 pins female)................................................................................. 5
3.2 - Connection examples .................................................................................................................................. 6
Chapter 4 - Commissioning..................................................................................................................................... 7
4.1 - First commissioning..................................................................................................................................... 7
4.2 - Battery replacement..................................................................................................................................... 9
Application note
August 27, 2015 - Issue 1.0

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Tamagawa® Absolute encoders - Customization PPAC-30
Chapter 1 - Introduction
1.1 - General description
This document provides specific information regarding the XtrapulsPac-ed PPAC-30 drive version.
The specific functions of the XtrapulsPac-ed PPAC-30 servo drive concern the motor control with Tamagawa®
absolute encoder feedback (bi-directional serial communication type).
Please refer to the XtrapulsPac manuals for complete information regarding the XtrapulsPac-ed servo-drive
functionalities:
oXtrapulsPac Installation Guide for the hardware installation of the drive (mounting, wiring, …)
oXtrapulsPac User Guide for the operation of the drive (commissioning, configuration, ...)
oXtrapulsPac STO for the Safe Torque Off function
oGem Drive Studio software Quick Start manual for the drive parameterization.
oGDPS manual, for the use of the GDPS power supply unit.
XtrapulsPac-ed PPAC-30 specific parameters are displayed in the Gem Drive Studio parameter setting software
as from the release 5.9.
2.1 - Product identification
Check that the XtrapulsPac-ed servo drive is fitted with the PPAC-30 customization. This information is displayed
in the “Device Info” window of the Gem Drive Studio PC software.
If the customization code 30 is not displayed, the drive must be updated with the PPAC-30 application firmware
and the PPAC-30 PLD firmware.

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Tamagawa® Absolute encoders - Customization PPAC-30
Chapter 2 - Firmware and PLD update
The application firmware is a special firmware which can be uploaded into the XtrapulsPac-ed drive in the same
way as a standard firmware. This application firmware will then replace the standard firmware.
2.1 - Firmware Update
XtrapulsPac firmware update procedure:
- Connect the XtrapulsPac drive to the Gem Drive Studio software;
- Select menu Tools File Service;
- If several drives are connected, select the drive to be updated with “Device;
- Click on the "Update drive firmware" button.

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Tamagawa® Absolute encoders - Customization PPAC-30
- Select the firmware file: EDxxxxxx.BIN (where xxxxxx is the version number);
- Confirm and wait until the update is performed. After the firmware update, the drive is automatically restarted.
2.2 - PLD Update
- Follow the same procedure to update the drive PLD with the PLD file: EDHTxxxxxx.BIN (where xxxxxx is the
version number);
- Select the item "Device info" in the navigation tree of the drive;
- Check the firmware and PLD versions as well as the customisation code 0.0.0.30:

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Tamagawa® Absolute encoders - Customization PPAC-30
Chapter 3 - Wiring
This section describes the wiring between the Tamagawa® encoders and the drive. For the wiring of the other
drive connectors, please refer to the XtrapulsPac Installation Guide.
The maximum length of the encoder cable is 50 m.
The encoder cable shall be shielded and the SD+ and SD- data wires shall be twisted.
3.1 - X1 connector pin assignment (Sub D 15 pins female)
The Tamagawa® absolute encoder is to be connected to the drive X1 connector as defined in the table below.
PIN
FUNCTION
I/O
DESCRIPTION
9
SD+
I/O
Differential Data+ channel of the Tamagawa® encoder
2
/SD-
I/O
Differential Data- channel of the Tamagawa® encoder
7
5 V
O
Encoder supply voltage (max. current = 300 mA)
8
GND
O
Encoder supply GND
6
External supply
O
Encoder battery supply voltage.
Supply to be provided via X2 connector, pin 3.
1
GND
O
Encoder battery supply GND
12
TC (thermal sensor)*
I
Motor thermal sensor inputs.
The valid measurement range is between 100 Ω and 44 kΩ.
13
TC (thermal sensor)*
I
Others
Reserved
*Optional connection of the thermal sensor if available in the motor.
1kΩ
220Ω
+5V
Transceiver
75-176
SD+
SD -
+5V
1kΩ
SPECIFICATION OF THE TAMAGAWA® INTERFACE

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Tamagawa® Absolute encoders - Customization PPAC-30
3.2 - Connection examples
Connection example without backup battery:
Connection example with a backup battery for absolute multi-turn application:
Connection with a backup battery on the encoder cable for absolute multi-turn application:
This solution allows the encoder cable being disconnected from the drive while maintaining the absolute multi-turn
encoder position.

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Tamagawa® Absolute encoders - Customization PPAC-30
Chapter 4 - Commissioning
The drive commissioning for use of the Tamagawa® encoders requires the Gem Drive Studio PC tool software
with at least version 5.10.
4.1 - First commissioning
- Connect the drive to Gem Drive Studio;
- Click on the item "Position sensors" and then on the "Encoder 2 parameters" button:
- Tick off the box "enable encoder 2 input";
- Select "Tamagawa® encoder" in "Encoder Type".
- Select the "TS5669N124" Tamagawa® encoder model number or the one installed in the application motor;
- Click on button "Apply";
- If a back-up battery is installed:
- Click on button "Reset encoder errors" to get the encoder error code equal to 0x0;
- Tick off the box "Absolute multi-turn (battery)";
- Click on button "Apply";
- Click on button "Close";

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Tamagawa® Absolute encoders - Customization PPAC-30
- In the window "Position sensors paramaters" above, click on the "Feedback selection" button and select
"Encoder 2" in both boxes "Motor feedback" and "Servo loop feedback" if the Tamagawa® encoder is the only
position sensor used.
- Click on the "Apply" and "Close" buttons;
- Save the parameters with “Drive parameter files” “Store parameters to Flash memory";
- Turn off and on the power supply of the drive to have the Tamagawa® interface parameters take effect.
- Then, perform the servo drive commissioning as indicated in the XtrapulsPac User Guide.

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Tamagawa® Absolute encoders - Customization PPAC-30
4.2 - Battery replacement
When the battery is detected as discharged during the drive powering, the error message "ERROR 59: Encoder 2
absolute error" is displayed in the Error message(s) field of item "Device control" in the drive navigation tree.
- Turn off the power supply of the drive;
- Replace the discharged battery by a new one (refer to the encoder manufacturer's specification for the selection
of the battery);
- Turn on the power supply of the drive;
- Open the "Encoder 2 parameters" window with the "Position sensors" "Encoder 2 parameters" button:
- Uncheck the box "Absolute multi-turn (battery)";
- Click on button "Apply";
- Click on button "Reset" in the "Device control" window: the error message "ERROR 59: Encoder 2 absolute error"
disappears.
- Click on button "Reset encoder errors" in the "Encoder 2 parameters" window to get the encoder error code
equal to 0x0;
- Click on button "Apply";
- Turn off and on the power supply of the drive to get the Tamagawa® interface parameters taking effect.