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Argonne National Labs
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Materiel
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Empire Magnetics
RDE Manual
Specifications
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 |
| 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. | |
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If you have an older unit, click here to see the old documents and wiring diagrams. |
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| 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 |
| 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:
- 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. 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.
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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
| 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. | |||
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