Intelligent Motion Systems Modular LYNX System manual Connecting and Using an Encoder

Page 35

PRINT CTR2

‘Print the position of the motor. Your terminal should echo “2.000”

PRINT POS

By printing the variable CTR2 (CTR2 = EUNIT X POS) we can view the distance the motor has traveled in raw encoder counts, or by printing POS you can see the distance of travel represented by number of units relative to 0.

Modular LYNX System

SCLK+

DIR+

+5VDC

OUTPUT

A0

6

1

 

21

 

A1

5

2

 

22

 

A2

4

3

 

23

 

PT

3

4

 

24

 

HI

2

5 6

 

25

TM Differential/O

UG

TX+

34

26

 

1

 

 

 

 

 

DIR-

 

21

 

 

 

DIR+

 

22

 

 

 

SCK-

 

23

 

 

 

SCK+

 

24

 

 

 

GND

 

25

 

 

 

+5V

 

26

 

 

 

RX-

 

31

 

 

 

RX+

 

32

 

 

 

TX-

1234

33

 

MODULE

 

V+

35

34

 

CGND

 

 

 

 

RX

 

36

 

 

 

TX

 

IG

 

 

 

 

 

 

31

 

 

GND

 

 

32

 

 

 

 

33

 

 

 

 

 

 

 

 

5

 

35

 

 

TM

6

 

36

 

13-

13+

14-

14+

15-

15+

16-

16+

17-

17+

18-

18+ GD

HSIO

ENCODER

13-

Channel A-

13+

Channel A+

14-

Channel B-

14+

Channel B+

 

Stepping Motor

 

&

+5VDC

Encoder

GND

 

+5VDC Opto Supply

 

 

 

Step Clock Input

Z N429D GP59627A

 

 

 

 

Direction Input

GP59627A

ZN429D

Power Connections

Not Shown For

 

 

 

 

 

 

Simplification

Motor Driver

Figure 6.8: Connecting and Using an Encoder

Tr a n s l a t i n g t h e E U N I T Va r i a b l e t o a D i m e n s i o n o f D i s t a n c e

The EUNIT, or Encoder Unit variable, is the scaling factor used to translate Encoder steps to a dimension of distance, or user units. At this point you should already be familiar with the MUNIT variable. The main difference between the two is as follows: By using MUNIT scaling factor you monitor the position of an axis based upon the value of CTR1, the register that contains the actual count of clock pulses sent to the drive. The number of pulses is then scaled to user units by setting the MUNIT Variable to the appropriate scaling factor for the type of units being used, be they inches, millimeters, degrees, etc. Then the POS variable tracks position in the user units specified. Example:

User Unit (POS) = CTR1 ÷ MUNIT where EE (Encoder Enable) Flag = FALSE (0)

By setting the state of EE, the master encoder function enable flag, to a true state you will monitor the position of an axis based upon the actual position of the motor shaft as it is fed back to the Control Module

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Contents Part Modular Lynx System Table of Contents List of Tables List of Figures C l u d e d i n t h e P a c k a g e T t i n g S t a r t e dC t i o n O v e r v i e w T t i n g S t a r t e dM m u n i c a t i o n s W i r i n g N n e c t i n g t h e P o w e r S u p p l yN n e c t i n g t h e S t e p M o t o r D r i v e r T o r C o n n e c t i o n sMunit = Te s t i n g t h e LY N X S e t u pMovr N n e c t i n g t h e S y s t e m N n e c t i n g t h e LY N X S y s t e mC l u d e d i n t h e D I N R a i l M o u n t i n g K i t U n t i n g t h e LY N X S y s t e mN e l M o u n t N R a i l M o u n t i n g O p t i o nInstalling the Lynx System on a DIN Rail L e s o f S h i e l d i n g W e r i n g t h e LY N X S y s t e mR i n g a n d S h i e l d i n g L e s o f W i r i n gSupply Does Not Exceed LY N X C o n t r o l M o d u l e w i t h I M S D r i v e r+ 5 V D C S u p p l y + 1 2 t o + 7 5 V D C S u p p l yW e r R e q u i r e m e n t s Power RequirementsN g l e C o n t r o l M o d u l e S y s t e m E C o m m u n i c a t i o n s I n t e r f a c eN n e c t i n g t h e R S 2 3 2 I n t e r f a c e L t i p l e C o n t r o l M o d u l e S y s t e m Party Mode Address Configuration Switch Settings RS-232 Interface, Multiple Control Module System T a C a b l e Te r m i n a t i o n R e s i s t o r sRS-485 Interface Connections N n e c t i n g t h e R S 4 8 5 I n t e r f a c eN g l e C o n t r o l l e r S y s t e m L t i p l e C o n t r o l l e r S y s t e m RS-485 Interface, Multiple Control Module System E C M o d e M e d i a t e M o d eO g r a m M o d e Binary Hex Codes Ascii Mode Special Command CharactersN a r y System I/O Availability by Module N f i g u r i n g t h e D i g i t a l I / OS t e m I / O a v a i l a b i l i t y b y M o d u l e E s o f t h e I s o l a t e d D i g i t a l I / O E I s o l a t e d D i g i t a l I / OLynx Control Module E I O S Va r i a b l e IOS Variable SettingsN f i g u r i n g t h e D i g i t a l F i l t e r i n g Digital Filter Settings for the Isolated I/ON f i g u r i n g a n I n p u t E I O Va r i a b l e N f i g u r i n g a n O u t p u tBinary State of Outputs A d / W r i t e a n I / O G r o u pO c k Ty p e s D e f i n e d Four Clocks and Their Default Line PlacementE D i f f e r e n t i a l I / O E C l o c k I n t e r f a c eIOS XX = X , X , X , X , X N f i g u r i n g a n T p u t Digital Filter Settings for the Differential I/OSave N n e c t i n g a n d U s i n g a n E n code rConnecting and Using an Encoder L f a x i s O p e r a t i o n F o l l o w e r E a n d a H a l f a x i s O p e r a t i o n R AT I O E Half Axis Mode Following10 One and a Half Axis Operation Modular Lynx System Lynx Control Module LX-CM100-000 R d w a r e Specification sV i r o n m e n t a l Specification s N n e c t i o n O v e r v i e w Power Requirements for the Lynx Control ModuleD I n d i c a t o r s Lynx Control Module Connector P2 Pin ConfigurationLynx Control Module Group 30 I/O Pull-up Switches Lynx Control Module Connector P3 Pin ConfigurationLynx Control Module Configuration Switches Lynx Control Module Group 20 I/O Pull-up SwitchesLynx Control Module Combination Lynx Control Module Combination DimensionsLynx Control Module Combination Connections and Switches Power Requirements for the Lynx Control Module CombinationN a s s i g n m e n t a n d D e s c r i p t i o n Lynx Combination Control Module Configuration Switches E I s o l a t e d D i g i t a l I / O M o d u l e Lynx Isolated I/O Module DimensionsIsolated Digital I/O Module Connection Overview N a s s i g n m e n t s a n d D e s c r i p t i o nI t c h a s s i g n m e n t s a n d D e s c r i p t i o n P u t Specification sIsolated I/O Module Group 40 I/O Pull-up Switches Isolated I/O Module Group 50 I/O Pull-up SwitchesP u t F i l t e r i n g T p u t Specification sE D i f f e r e n t i a l D i g i t a l I / O M o d u l e V i r o n m e n t a l SpecificationW e r R e q u i r e m e n t s High Speed Differential I/O Module Power RequirementsN a s s i n g m e n t s a n d D e s c r i p t i o n High Speed Differential I/O Module Pin ConfigurationHigh Speed Differential I/O Module Input Specifications Encoder Lynx Differential I/O Output Equivalent Circuit Lynx Differential I/O Output SpecificationsIntentionally Left Blank

Modular LYNX System specifications

The Intelligent Motion Systems Modular LYNX System represents a cutting-edge innovation in the realm of automation and control solutions. Developed to offer flexibility and scalability, the LYNX System is designed for a wide range of applications, from advanced robotics to intelligent transportation systems, showcasing its versatile nature in modern industrial environments.

One of the main features of the LYNX System is its modular architecture, which allows users to customize and expand their system based on specific project requirements. This modularity enables the integration of various components, such as controllers, sensors, and actuators, facilitating easy upgrades and modifications without the need for complete system overhauls. This not only reduces downtime but also promotes long-term cost savings.

The LYNX System is equipped with advanced control algorithms that enable precise motion control, ensuring that operations are executed smoothly and efficiently. These algorithms function seamlessly with a range of motion technologies, including servo and stepper motor drives. By employing real-time data processing, the system can adapt to dynamic environmental changes, enhancing accuracy and reliability across multiple applications.

An integral aspect of the LYNX System is its robust communication capabilities. It supports various standard communication protocols, such as EtherCAT, CANopen, and Modbus, ensuring compatibility with existing industrial infrastructure. This versatility allows for easy integration with other automation systems, enabling a cohesive operational environment.

Moreover, the LYNX System incorporates advanced safety features, adhering to strict international safety standards. Functions such as emergency stop protocols and redundant safety circuits are built into the design, ensuring operator safety and compliance with regulatory requirements.

The system is also designed with user-friendly interfaces, including intuitive software tools that simplify system configuration, monitoring, and maintenance tasks. These interfaces support graphical programming and provide real-time feedback, allowing operators to analyze system performance and make informed adjustments as necessary.

In summary, the Intelligent Motion Systems Modular LYNX System is a versatile, scalable solution characterized by its modular design, advanced control algorithms, robust communication capabilities, and comprehensive safety features. With its ability to adapt to a wide range of industrial applications, the LYNX System stands as a powerful asset for companies looking to enhance their automation and control processes.
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