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RDE Manual

MODEL RDE RESOLVER TO ENCODER CONVERTER
PRELIMINARY USER'S GUIDE  
RESOLVER CONNECTION
ENCODER CONNECTION
USING THE RDE WITH COMPUMOTOR INDEXERS
FEEDBACK TEST SEQUENCE
APPENDIX A 
ENCODER INTERFACE POWER JUMPERS
APPENDIX B
 B BINARY DATA OPTION

 

MODEL RDE RESOLVER TO ENCODER CONVERTER
PRELIMINARY USER'S GUIDE

October 15, 2001
Model RDE converts brushless resolver signals to two phase quadrature signals similar to the signals generated by an incremental encoder.  A once-per-rev index pulse is also generated.  These three signals are available on complementary TTL compatible open collector outputs, which are internally "pulled up" to an external 5 volts through 1,000 ohms.   

Incremental resolution is set at 1,024 cycles per revolution.   Common quadrature detection circuitry will decode this to provide 4,096 counts per revolution.  

 

Mounting Dimensions

Specifications
Power 105-125VAC,50-60Hz,125mA
Isolated interface 5VDC @ 150 mA
Operating temperature 0 to 50°C
Maximum velocity 40 rev/sec
Accuracy .3°
Resolver Output 7VRMS, 1kHz, 100mA
Encoder Outputs (open collector, 1kW to +5V)
Sink current 30 mA 
Quadrature 90°±10%
 Index pulse 7 msec
   

 

RESOLVER CONNECTION
   
Cabling from the resolver is to be connected to the removable screw terminal connector of the RDE, according to the wire color assignments below.  Cable conductors should be stripped back 3/16 inch or so, inserted into the appropriate wire aperture, and screwed down.  Verify proper insertion with a light pull test. Cable conductors are 22AWG twisted pair.

If you have an older unit, click here to see the old 
documents and wiring diagrams.

  

Resolver  Standard Resolver Vacuum & Radiation  w/ Cable
       
Rotor R1 Red/White Gray Green
Rotor R2 Black/White White BlackGreen
       
Stator S1 Red Red Red
Stator S3 Black Black BlackRed
Stator S2 Yellow Yellow White
Stator S4 Blue Blue BlueWhite
 

  

 

ENCODER CONNECTION

Optically isolated incremental encoder signals are available on the 25 pin "D" connector on the end of the RDE.  Signal assignments are listed by pin number below.  Note that the optical interface requires application of +5VDC at up to 50 mA to power the interface.  The RDE can supply this +5VDC power if desired, and up to 100mA to drive external equipment.  Refer to Appendix A for internal configuration instructions.

Note: Using the internal power supply to drive output signals defeats the optical isolation.

Signal Pin Number
Channel A+ 1
Channel A- 2
Channel B+ 3
Channel B- 4
Channel Z+ 5
Channel Z- 6
Shield 8
Signal Ground 14-19 
+5VDC IN 24

 

USING THE RDE WITH COMPUMOTOR INDEXERS

Model RDE is plug compatible with Compumotor model 2100, 6000 Series, and X Drives.  X type indexer drives require preparation of a cable, using the supplied connector.

Compumotor controls that use the "X language" can make use of the following instructions or equivalents when used with the RDE.

ER4096    set feedback resolution*
FSB1 switch to feedback controlled positioning
FSC1 servo to resolver referenced position
FSD1 stop on motor stall
GH1 return to the zero position and initialize
   
* Required

Electronic switching motor drives create large amounts of electrical noise which may occasionally generate position errors in electronic feedback devices.  Any accumulation of noise related positioning error may be eliminated by executing a "Go Home" instruction (GH command).  This command should be included in repetitive operations where possible to insure accuracy.

 

FEEDBACK TEST SEQUENCE

To verify a proper feedback relationship between motor, resolver, and control, the following X language command sequence will verify that the motor and resolver are turning in the right direction, and that the controller knows it. 

The value used for distance in the first command should equal the resolution of the drive system, in order to get the motor to turn one revolution.

 

Command  X language
set distance to 1 revolution D25000*
set to positioning mode MN
set acceleration parameter A5
set velocity parameter V2
set feedback resolution ER4096
set internal position to zero PZ
rotate 1 revolution G
report open loop position: 1PR
     response: +25000
report closed loop position: 1PX
     response: +4096
 
* this example applies to 25,000 step motor/drive equipment - 
substitute other motor/drive resolution values as appropriate

Following this test, verify that: 

            a. The closed loop position report is positive
            b. The report is within one or two counts of 4,096

 If the polarity of the closed loop position report is negative, exchange red and black motor wires to reverse motor direction, or exchange red and black resolver wires to reverse encoder output direction.  If it is not within a few counts, the motor controller is not getting RDE signals.  Verify that the encoder interface is getting 5 volt power from the control. Verify proper resolver and encoder connections. 

Bad resolver coupling and mounting, or even low motor current setting can contribute to position report error.

 

APPENDIX A 
ENCODER INTERFACE POWER JUMPERS
Remove the four side screws and detach the RDE cover.  Locate circuit board jumpers JU1 and JU2 near the encoder connector.  Install the jumper block bridging the two pins of jumper JU2 to connect encoder ground to RDE power supply ground. 

NOTE: This jumper defeats optical isolation.   

Install jumper JU1 to connect RDE 5 volts to the encoder connector

 

 

APPENDIX B
 B BINARY DATA OPTION

DESCRIPTION 

Model RDE provides absolute 14 bit binary position data over one revolution of the connected resolver (position data ranges between 0 and 16,383).  Binary position outputs remain in a high impedance state to allow multiplexing unless the ENABLE input is asserted (switched to GND). The ENABLE input should be connected to GND unless the RDE is to be multiplexed or connected to a data bus.  Binary data outputs are electrically capable of driving three LSTTL loads.  Unlike the encoder interface, none of the binary output signals is optically isolated.

RDE units having the binary (-B) option are shipped with a jumper inserted in the binary output connector which grounds the ENABLE input to allow quadrature generation to take place.

NOTE:  The ENCODER connector quadrature outputs will not function while the ENABLE input is high, causing erroneous counting of position data.

READING RESOLVER POSITION

Binary data is available on flat cable connector pins 19 through 34 in 14 bit format.  To read position data, the following steps are required.

1.   Assert the INHIBIT input to prevent output data from changing during access.
2.   Wait 600 nsec for data to be valid.  The XBUSY output can serve as a timing indicator as de­scribed below.
3.   Assert ENABLE input to access data.
4.   Release the INHIBIT input.
Note:  Both ENABLE and INHIBIT inputs are active low.

HANDSHAKING
The XBUSY output will serve as a "handshaking" signal for high speed data transfer.  This output switches to a low state when INHIBIT is asserted.  INHIBIT must be held low until XBUSY returns to a high state, at which time data may be accessed.

EIGHT BIT FORMAT
Data may be accessed in eight bit format if desired.  Both least significant and most significant bytes of position data are available on odd numbered connector pins 19 through 33 depending on the state of the BYTE SELECT input.  
The following steps are required to read data in an 8 bit format:
1.   Assert the INHIBIT input to prevent output data from changing during access.
2.   Wait 600 nsec for data to be valid.
3.   Assert the BYTE SELECT input to select the least significant data byte.
4.   Assert the ENABLE input to access data.
5.   Release the BYTE SELECT input to select the most significant data byte.
6.   Assert the ENABLE input to access data.
7.   Release INHIBIT (and ENABLE).
 

BINARY DATA IDC CONNECTOR PIN ASSIGNMENTS
J10 PIN  SIGNAL J10 PIN SIGNAL
 1 + 5VDC out 18 No Connection
 2 GND    19 DATA MSB      213 out
 3 XBUSY out      20 DATA               25  out
 4 DIRECTION out 21 DATA               212  out
 5 ZERO  out 22 DATA               24  out
 6 BUSY out 23 DATA               211  out
 7 INHIBIT in 24 DATA               23  out
 8 GND 25 DATA               210 out
 9 ENABLE in 26 DATA               22  out
10 GND                27 DATA               29  out
11 do not connect 28 DATA               21 out
12 GND 29 DATA               28  out
13 GND 30 DATA               20  out
14 GND 31 DATA               27  out
15 BYTE SELECT in 32 DATA (not used)
16 GND 33 DATA               26  out
17 No Connection 34 DATA (not used)
       
Note: All output signals are TTL compatible.  
Only XBUSY and DIRECTION outputs are buffered.