Delta Tau 5xx-603869-xUxx manual Encoder Loss Setup, Channel# Address Description

Page 33

Brick Motion Controller Hardware Reference Manual

Encoder Loss Setup

The Brick Motion Controller has encoder-loss detection circuitry for each encoder input. Designed for use with encoders with differential line-driver outputs, the circuitry monitors each input pair with an exclusive-or (XOR) gate. If the encoder is working properly and connected to the Brick Motion Controller, the two inputs of the pair should be in opposite logical states – one high and one low – yielding a true output from the XOR gate.

Note

A single-ended encoder cannot be used on the channel Encoder-Loss Errors

For the Brick Motion Controller Controller Encoder-loss detection bits come in the locations shown in the table below.

Channel#

Address

Description

 

 

 

Encoder #1

Y:$78807,0,1

Encoder #1 Loss Input Signal

 

 

 

Encoder #2

Y:$78807,1,1

Encoder #2 Loss Input Signal

 

 

 

Encoder #3

Y:$78807,2,1

Encoder #3 Loss Input Signal

 

 

 

Encoder #4

Y:$78807,3,1

Encoder #4 Loss Input Signal

 

 

 

Encoder #5

Y:$78807,4,1

Encoder #5 Loss Input Signal

 

 

 

Encoder #6

Y:$78807,5,1

Encoder #6 Loss Input Signal

 

 

 

Encoder #7

Y:$78807,6,1

Encoder #7 Loss Input Signal

 

 

 

Encoder #8

Y:$78807,7,1

Encoder #8 Loss Input Signal

 

 

 

As of this writing, there is no automatic action taken on detection of encoder loss. Users who want to take action on detecting encoder loss should write a PLC program to look for a change in the encoder loss bit and take the appropriate action. Generally, the only appropriate response is to kill (open loop, zero output, disabled) the motor with lost encoder feedback; other motors may be killed or aborted as well.

This next example program reacts to a detection of encoder loss. This is a more serious condition than a count error, so a “kill” command is issued when the loss is detected. The example is for a single axis only, but is easy to duplicate for multiple axes.

; Substitutions and definitions

; Motor status bit

#define Mtr1OpenLoop

M138

Mtr1OpenLoop->Y:$0000B0,18,1

M180

; Standard definition

#define Enc1LossIn

; Input loss-detection bit

Enc1LossIn->Y:$078807,0,1

P180

; Brick Motion Controller Ch1 loss bit

#define Mtr1EncLossStatus

; Internal latched status

#define Lost

0

; Low-true fault here

#define OK

1

; High is encoder present

;Program (PLC) to check for and react to encoder loss

OPEN PLC 18 CLEAR

;Logic to disable and set fault status

IF (Mtr1OpenLoop=0 AND Enc1LossIn=Lost) ; Closed loop, no enc

CMD^K

; Kill all motors

Mtr1EncLossStatus=1

; Indicate encoder loss

ENDIF

 

; Logic to clear fault status

IF (Mtr1OpenLoop=1 AND Enc1LossIn=OK AND Mtr1EncLossStatus=0)

Mtr1EncLossStatus=0

; Indicate valid encoder signal

ENDIF

 

CLOSE

 

 

 

System Wiring

25

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Contents 125 Copyright Information Safety InstructionsOperating Conditions Delta Tau Data Systems, Inc. Technical SupportPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Introduction Brick Motion Controller FeaturesBrick Motion Controller Hardware Reference Manual Brick Motion Controller Options Part NumberAnalog I/O Options Communication OptionsMacro and Special Feedback Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Wiring Earth-Ground Noise ProblemsEarth Grounding Paths Connectors Pin Symbol FunctionX1-X8 Encoder Input 1 to X11/12 Female DB-9 Connector Pin # Symbol Function X9/10 Female DB-9 Connector Pin # SymbolX9-10 Analog I/O Ch5 X9 and Ch6 X10, Optional X11-12 Analog I/O Ch7 X11 and Ch8 X12, OptionalX14 RJ45, Ethernet Connector X13 USB 2.0 ConnectorPin # Symbol X15 WatchdogTB1 Power Connector S1 Re-Initialization on Reset ControlS2 Firmware Reload Enable Description J4 Limit Inputs 1-4 AxisJ5 Limit Inputs 5-8 Axis Limit and Flag Circuit WiringGND Sample J4/J5, Flags Wiring DiagramsAMP1-AMP8 Amplifier connections 1 to Amplifier Fault / Amplifier Enable diagrams J6 General Purpose I/O J6 General Purpose I/O Female DB-37 Connector Pin # SymbolSourcing Sinking Suggested M-var. # AddressJ7 Extra General Purpose I/O Optional Symbol FunctionSuggested M-var. # Address J8 Extra General Purpose I/O Optional J8 General Purpose I/O Female DB-37 Connector Pin # SymbolSuggested M-var. # Address GBL Sample J6/J7, I/O Wiring DiagramsSignal Format Setting up Quadrature EncodersHardware Setup Function Pin #Channel# Address Description Encoder Loss SetupSetting up the Analog Inputs optional Filtered DAC Outputs Configuration optionalBipolar Parameters to Set up Global Hardware Signals Parameters to Set Up Per-Channel Hardware Signals Software Setup Setting up for Pulse and Direction OutputI7m00 Servo IC m MaxPhase/PWM Frequency Control Multi-Channel Servo IC I-VariablesSingle-Channel I-Variables I7mn6 Servo IC m Channel n Output Mode SelectI7m04 PFM Pulse Width Control I7mn0 Servo IC m Channel n Encoder Decode ControlIxx30 Motor xx Proportional Gain Ixx34 Motor xx Integration ModeExample Ixx31 Motor x Derivative GainBrick Motion Controller Hardware Reference Manual Watchdog Timer Actions on Watchdog Timer TripDiagnosing Cause of Watchdog Timer Trip Troubleshooting X1-8 DB-15 Connectors for encoder feedback DB- Connector Spacing SpecificationsX9-12 DB-9 Connectors for Analog I/O Screw Lock Size for all DB-connectorsType of Cable for Encoder Wiring Appendix a Schematics J6 and J7 General Purpose I/OInputs Outputs Opto Gnd PlaneLimits 1,2,3,4 J4 Limit Inputs for AxisLimits 5,6,7,8 J5 Limit Inputs for AxisDimensional Layout and Connector location
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