Intelligent Motion Systems MDriveAC manual Encoder Signals, Differential Encoder

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Encoder Signals

Differential Encoder

C

X

Y

2.4

V

Channel A +

0.4 V

2.4

V

Channel A -

0.4 V

Z

2.4

V

Channel B +

0.4 V

2.4

V

Channel B -

t1

0.4 V

t2

2.4

V

Index +

0.4 V

Po

2.4

V

Index -

0.4 V

Rotation:

CW – B Leads A

CCW – A Leads B

Figure D.2: Differential Encoder Signal Timing

Note: Rotation is as viewed from the cover side.

(C)One Cycle: 360 electrical degrees (°e)

(X/Y)

Symmetry: A measure of the relationship between X and Y, nominally 180°e.

(Z)Quadrature: The phase lag or lead between channels A and B, nominally 90°e. (Po) Index Pulse Width: Nominally 90°e.

C h a r a c t e r i s t i c s
Parameter	Symbol	Min	Typ	Max	Units
Cycle Error			3	5.5	°e
Symmetry		130	180	230	°e
Quadrature		40	90	140	°e
Index Pulse Width	Po	60	90	120	°e
Index Rise After CH B or CH A fall	t1	-300	100	250	ns
Index Fall After CH A or CH B rise	t2	70	150	1000	ns

Over recommended operating range. Values are for worst error over a full rotation.

A-24	MDriveAC Plus Microstepping Hardware - Revision R121707
	Relevant to Firmware Version 3.0.02

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Contents 34 TM UL Application Details and Conditions of Acceptance Low Voltage Installation InformationTable Of Contents Appendices List Of Figures List of Tables Before You Begin Connecting AC PowerConnect Opto Power and Logic Inputs MDriveAC Plus MicrosteppingInstall the IMS SPI Motor Interface Connecting Parameter Setup CablePart Hardware Specifications Intentionally Left Blank Configuring Features and BenefitsIntroduction to the MDrive34AC Plus Microstepping Page General Specifications MDrive34AC Plus Microstepping Detailed SpecificationsSingle Length Setup ParametersDimensions in Inches mm Mechanical SpecificationsPin Assignment and Description P1 19-Pin M23 Connector I/O and SPI CommunicationsPin Assignment P1 I/O, SPI and Encoder Connections Options and Accessories P3 Connector AC PowerPin Introduction to the MDrive42AC Plus Microstepping Page MDrive42AC Plus Microstepping Detailed Specifications Setup Parameters 76.2 Pin Assignment and Description Pin Assignment P1 I/O, SPI and Encoder Connections Outside Pins 1 Options and Accessories Part Interfacing Configuring Intentionally Left Blank Isolated Logic Input Pins and Connections Logic Interface and ConnectionOptically Isolated Logic Inputs Up/Down Step ClockDirection QuadratureChannel B DirectionStep Channel aOptocoupler Reference Optocoupler ReferenceOpen Collector Interface Example Input Connection ExamplesFault Temperature Warning Output Switch Interface ExampleSwitch Minimum Required Connections 7 Fault Output interfaced to an LEDConnecting SPI Communications SPI Pins and Connections SPI Master with Multiple MDriveAC Plus MicrosteppingSPI Clock Using the IMS SPI Motor Interface Installation Configuration Parameters and RangesColor Coded Parameter Values View Motion Settings Screen Read-Only Part Serial Number ScreenIMS SPI Motor Interface Menu Options FileUpgrade RecallHelp Msel Microstep Resolution Selection Screen 1 The Motion Settings Configuration ScreenExit Connected/Disconnected IndicatorFactory SetInput Clock Filter Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Input Clock TypeFault Indication IMS Part Number/Serial Number ScreenIMS IMS Serial Number IMS SPI Upgrader Screen Upgrade InstructionsUpgrading the Firmware in the MDriveAC Plus Microstepping Port Menu Initialization ScreenUsing User-Defined SPI SPI Timing NotesCheck Sum Calculation for SPI MSB SPI Commands and ParametersSPI Communications Sequence WriteIntentionally Left Blank Appendices MDriveAC Plus Microstepping Hardware Revision R121707 Single Length MDriveAC Plus Microstepping Motor PerformanceMDrive34AC 120VAC MDrive34AC 240VACMDrive42AC 120VAC Double LengthTriple Length MDrive42AC Plus MicrosteppingOz-in/810 N-cm Selecting a Planetary Gearbox MDrive with Planetary GearboxSection Overview Product OverviewCalculating the Shock Load Output Torque TAB FactorsReduction Ratio Speed in Full Steps per Second Nominal Output Torque=1.6 =1.7 =1.9 Shock Load Output TorqueSystem Inertia Type of SystemLead Screw Rack and Pinion Conveyor BeltBelt Drive Rotary TableFigure B.6 Chain Drive System Inertia Considerations Chain DrivePlanetary Gearbox for MDrive34AC Plus2 MDrive34AC Plus2 Planetary Gearbox ParametersPM81 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive42AC Plus2 MDrive42AC Plus2 Planetary Gearbox Parameters PM105PM105 Gearbox Ratios and Part Numbers PM120 Gearbox Ratios and Part Numbers MDrive42AC Plus2 Planetary Gearbox Parameters PM120Optional Cables and Cordsets MD-CC300-000 USB to SPI Parameter Setup CableInstallation Procedure for the MX-CC300-000 Installing the Cable/VCP DriversFigure C.4 Hardware Update Wizard Screen Determining the Virtual COM Port VCP Figure C.7 Hardware Update Wizard Finish InstallationTo Controller Interface AdapterMD-CS10x-000 Cordset Pin Assignment and Wire ColorsMD-CS201-000 MD-CS20x-000 CordsetPin Configuration Interfacing the Internal Differential Optical EncoderFactory Mounted Encoder Differential Encoder Encoder SignalsSpeed-Force Limitations† FeaturesLinear Slide Option MDrive34Plus Linear SlideMechanical Specifications SpecificationsWarranty Excellence in Motion