Encoder Signals, A-24 | Intelligent Motion Systems MDrive34AC

Encoder Signals

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 R031808
	Relevant to Firmware Version 3.0.02

Image 77

Intelligent Motion Systems MDrive34AC manual Encoder Signals, A-24

Contents

34 TM Excellence in MotionTM42TM OPERATING INSTRUCTIONS MDriveAC Plus Microstepping Revision R031808 Low Voltage Installation Informationinaccuracies Intended Use Important informationQualification of personnel This page intentionally left blank Part 1 Hardware Specifications Table Of ContentsPart 2 Interfacing and Configuration 1-13 Section 2.4: Using User-DefinedSPI Section 2.3: Using the IMS SPI Motor Interface2-12 2-21 Part 1: Hardware Specifications List Of FiguresPart 2: Interfacing and Configuration Appendices Part 1: Hardware Specifications List of TablesPart 2: Interfacing and Configuration Appendices Connect Opto Power and Logic Inputs Connecting AC PowerGETTING STARTED MDriveAC Plus Microstepping Install the IMS SPI Motor Interface Connecting Parameter Setup CableMotion Settings DialogInput Settings Dialog Figure GS.2: MDriveAC Plus CD mICROSTEPPING PART HARDWARE SPECIFICATIONSExcellence in Motion TM Relevant to Firmware Version Page Intentionally Left Blank Features and Benefits ConfiguringSECTION Introduction to the MDrive34AC Plus Microstepping 20 Microstep Resolutions up to Electrical Specifications General SpecificationsThermal Specifications I/O Specifications MDriveAC Plus Microstepping Setup Parameters Setup ParametersMotor Specifications Default Dimensions in Inches mm Mechanical SpecificationsConnectors Control Knob available to interface to the 19-PinM23 Connector Pin Assignment and DescriptionNEED A CABLE? The following cordset is Connections Pin Assignment - P1 I/O, SPI and EncoderPin # Function Options and Accessories Outside: Pins 1Inside: Pins 13 - Configuring Introduction to the MDrive42AC Plus MicrosteppingFeatures and Benefits Motor, Power Supply, and Drive Electronics 20 Microstep Resolutions up to Thermal Specifications Electrical SpecificationsI/O Specifications Communications Specifications MDriveAC Plus Microstepping Setup Parameters Setup ParametersDefault Table 1.4.1: Setup Parameters Dimensions in Inches mm Mechanical SpecificationsConnectors P1 P3 Pin Assignment and Description available to interface to the 19-PinM23 ConnectorNEED A CABLE? The following cordset is Connections Pin Assignment - P1 I/O, SPI and EncoderPin # Function Pin Pin Pin Outside: Pins 1Inside: Pins 13 - Parameter Setup Cable and Adapter Options and AccessoriesInternal Encoder Control Knob Section 2.2: Connecting SPI Communications PART INTERFACING AND CONFIGURINGSection 2.3: Using the IMS SPI Motor Interface Section 2.4 Using User-DefinedSPI Relevant to Firmware Version Page Intentionally Left Blank Logic Interface and Connection Isolated Logic Input Pins and ConnectionsOptically Isolated Logic Inputs MD-CS10x-000Wire Color Reference Step Clock Isolated Logic Input CharacteristicsDirection Quadrature QUADRATURE TIMING STEP/DIRECTION TIMINGUP/DOWN CW/CCW TIMING Figure 2.1.3: Clock Input Timing Characteristics MDriveACPlus Optocoupler ReferenceMicrostepping Optocoupler Reference MDriveACPlus Microstepping NPN Open Collector Interface SinkingPNP Open Collector Interface Sourcing Input Connection Examples Switch Interface Sourcing Switch Interface SinkingFault Temperature Warning Output Switch Interface Example Figure 2.1.8 Minimum Required Connections Minimum Required ConnectionsFigure 2.1.7: Fault Output interfaced to an LED Connecting the SPI Interface Connecting SPI CommunicationsSPI Signal Overview +5 VDC Output MDriveACPlus Microstepping #1 MDriveACPlus SPI Pins and ConnectionsMicrostepping #2 2-11 Configuration Parameters and Ranges Using the IMS SPI Motor Interface InstallationColor Coded Parameter Values MDriveAC Plus Microstepping Setup Parameters IMS SPI Motor Interface Menu Options View Settings ScreenFile Perform File Operation Recall UpgradeHelp 2-14 MSEL Microstep Resolution Selection 1.MSEL: Microstep Resolution Select Factory Connected/Disconnected IndicatorExit HCDT Hold Current Delay Time Input Clock Filter Settings Screen 2 I/O Settings Configuration ScreenEnable Active High/Low Input Clock Type MDriveAC Plus Microstepping Fault Codes Fault IndicationIMS Part Number/Serial Number Screen 2.Serial Number: the serial number of your unit The IMS SPI Upgrader ScreenUpgrade Instructions Port Menu Initialization ScreenCommunications Port Operations SPI Timing Notes Using User-DefinedSPICheck Sum Calculation for SPI SECTION 2-22 SPI Commands and ParametersTable 2.4.1: SPI Commands and Parameters Relevant to Firmware Version SPI Communications Sequence READWrite Relevant to Firmware Version Page Intentionally Left Blank Appendix B: Gear Boxes APPENDICESAppendix C: Optional Cables and Cordsets Appendix D: Interfacing an EncoderPage MDriveAC Plus Microstepping Motor Performance Motor SpecificationsMDrive34AC Plus Microstepping MDrive34AC – 120VAC Triple Length Double LengthMDrive42AC Plus Microstepping MDrive42AC – 120VAC Single Length Motor SpecificationsDouble Length 1147 oz-in/810 N-cm MDrive with Planetary Gearbox APPENDIX BSection Overview Product Overview Example Calculating the Shock Load Output Torque TAB Figure B.1: MDrive23 Torque-SpeedCurve Table B.1: Planetary Gearbox Operating Factor Weight of A-11 Conveyor Belt A-12 A-13 A-14 Planetary Gearbox for MDrive34AC Plus2MDrive34AC Plus2 Planetary Gearbox Parameters PM81 Gearbox Ratios and Part Numbers PM105 Gearbox Ratios and Part Numbers Planetary Gearbox for MDrive42AC Plus2A-15 PM120 Gearbox Ratios and Part Numbers A-16 Installation Procedure for the MX-CC300-000 MD-CC300-000 USB to SPI Parameter Setup CableAPPENDIX C Optional Cables and Cordsets A-18 Determining the Virtual COM Port VCP A-19 A-20 Adapter Pin Assignment and Wire Colors MD-CS10x-000CordsetP1 - Expanded I/O Configuration Function Table C.2: Euro AC Wire Color Chart MD-CS20x-000Cordset3-PinEuro AC Connector MD-CS200-000 APPENDIX D Pin ConfigurationMDriveAC Plus Microstepping Factory Mounted Encoder A-24 Encoder Signals APPENDIX E FeaturesLinear Slide Option MDrive34Plus Linear Slide Specifications A-26Mechanical Specifications Screw WARRANTY TWENTY-FOUR24 MONTH LIMITED WARRANTYOBTAINING WARRANTY SERVICE Excellence in Motion intelligent motion systems, INC