TRUSTED BY:
Arnold A.F.B.
Argonne National Labs
Boeing
CTA Space Systems
European Space Agency
J.P.L./Hughes
U.C. Santa Cruz, Lick Observatory
Los Alamos National Labs
Optical Coating Labs
NASA/Langley AFB
Smithsonian Observatory
Space Industries
U.C. Berkeley Space Sciences Lab
Stanford Linear Accelerator
Ontario Hydro, Canada
Tokai Works, Japan
Taiwan Nuclear Power Commission
Public Nuclear Commission, Japan
Materiel
Brookhaven National Labs
General Electric Nuclear Fuels Div.
Martin Marietta/Oak Ridge National Lab
Empire Magnetics
RDE Manual
Specifications
Old wiring schematics, click on area desired
Mounting Dimensions
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| 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 |
| 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. | |
| 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. | |
| 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 |
| 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. 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.
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| 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: | |||||||||||||||
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| BINARY DATA IDC CONNECTOR PIN ASSIGNMENTS | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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Government Projects & Defense Applications
Empire Magnetics has been awarded and completed US Navy contracts in excess of $100,000 as a prime contractor. The Cage code number assigned was OYMU1, CEC code 19665900H. As a subcontractor to RSI/Comsat, SAIC, Lockheed Martin, Westinghouse, General Electric and other prime contractors for the US Government, contracts in excess of $200,000 have been awarded and completed.
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