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Encoder Multiplexer Manual

publicité
Manual
Z-4-Fold Level
Shifter PR0095
Last revision: 2007-10-11
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 1 von 16
Content
Chapters:
1.
Description of the module.............................................................................................4
1.1.
Purpose of use ......................................................................................................4
1.2.
Technical data .......................................................................................................5
1.3.
Principal circuit diagram ........................................................................................6
1.4.
Connecting layout..................................................................................................7
1.4.1.
Encoder input plug BR 2 (16-pole) .................................................................8
1.4.2.
Encoder outputs plug BR3, 4, 5, 6 (12-pole) ..................................................9
1.4.3.
Power supply (4-pole) ....................................................................................9
1.5.
Displays ...............................................................................................................10
1.6.
Settings ...............................................................................................................11
2.
Installation ..................................................................................................................12
3.
Commissioning ...........................................................................................................13
3.1.
4.
Check-up before the commissioning ...................................................................13
Maintenance ...............................................................................................................14
4.1.
Maintenance........................................................................................................14
4.2.
Maintenance safety .............................................................................................14
4.3.
Maintenance works..............................................................................................14
5.
Trouble shooting.........................................................................................................15
6.
Safety instructions ......................................................................................................16
Figures:
Figure 1: Principal circuit diagram........................................................................................6
Figure 2: Layout...................................................................................................................7
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 2 von 16
Tables:
Table 1: Technical data .......................................................................................................5
Table 2: Pin-out of encoder input ........................................................................................8
Table 3: Setting of the DIP-switches..................................................................................11
Table 4: Check-up .............................................................................................................13
Table 5: Maintenance ........................................................................................................14
Table 6: Possible errors/causes and trouble shooting .......................................................15
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 3 von 16
1. Description of the module
The Z-4-Fold Level Shifter PR0095 gives out the signal of an incremental encoder
potential-free to 4 outputs. At this the input signal to the evaluation electronic and to
the 4 outputs is separated. Due to an input level in the range of 4 to 24V DC it is
possible to use 5V and 24V encoders. All 4 outputs are also potential-free among
each other and provided by separately supplied voltage in the range of 4V to 6V.
A voltage converter internally produces a 5V supply voltage for 5V incremental
encoder (max. 0,9A). If the internal 5 volt supply or the feed-in of the module for
supply of the incremental encoder is used there is no electrical insulation to the
evaluation electronic.
A micro controller assumes the separation, interlocking of jitter, recognition of
direction as well as the generation of the output signals within the module. Additionally
a plausibility check of the input signals is carried out.
1.1. Purpose of use
The module transforms the encoder signals, which are inducted by a commercial
encoder. These signals can reach a level from 5 up to 24V DC. A potential free
transformation to an output level of app. 5V (depending on the supply voltage of the
output and on the load) with a RS 422 trait takes place.
Additionally, pulse frequency of the output levels can be given in partition ratios of
1/2/4/8/16/32/64/128 and 256, whereas the counting direction can be negated. This
requires only turning a DIP-switch. Partition ratios refer only to the encoder’s counting
signals (K1 und K2), the zero encoder signal is given undivided.
The module’s input frequency is max. 100 kHz.
The module is connected via lockable header strips and is destined for top hat rail
mounting (35mm).
The frequency division is inactive, the counting direction reversal is switched of
and the partition ratio is set to “1” on delivery.
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 4 von 16
1.2. Technical data
Power supply
12 – 35V DC reverse-polarity protected
Power consumption
app. 30mA on 24V without encoder
DIP switch settings for partition ratios and counting
direction
Module configuration
Power supply encoder
5V +/- 3%, max. 0,9A not potential-free to the
feed-in or the same voltage like the feed-in with
max. 0,7A (the voltage is app. 0,7V lower than the
feed-in)
Input level encoder
4 to 24 V DC
Maximum input rate of
encoder signal
100 kHz
Power supply outputs
4V-6V DC
Output level
app. 5V, depending on the supply voltage of the
output and the load, RS 422 trait
Status display
1 LED – Operating state;
3 LED´s – Encoder signals
Fuse protection
Internal, 0,75A – self resetting
Operating temperature
10° to 50°
Storage temperature
-30° to 70°
Operating humidity
35 – 85 % relative humidity (without condensation)
Safety class
IP 24
Material
Housing: Metal coated (RAL 5013)
Weight
app. 400 g
Dimensions
app. 194 x 76 x 36 (LxWxH) (dimensions without
plugs and socket of DIN rail)
Table 1: Technical data
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
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1.3. Principal circuit diagram
DIP Switch
5V
0V
K1
3
3
K1
Encoder
CPU
K2
K2
RS422
K0
K1
K2
Encoder
Output #1
K0
Shield
K0
5V
0V
3
LED3
LED2
LED1
3
RS422
LED4
K1
K2
Encoder
Output #2
K0
Shield
Shield
5V
Encoder
Supply
5V
12-35V
0V
3
3
RS422
K1
K2
Encoder
Output #3
K0
Shield
5V
DC
Supply
0V
DC
3
3
RS422
K1
K2
K0
Shield
Shield
Figure 1: Principal circuit diagram
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
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Encoder
Output #4
1.4. Connection Layout
Figure 2: Layout
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
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1.4.1. Encoder input plug BR 2 (16-pole)
Clamp
Function
1
Port 1 (A) +
2
Port 1 (A) -
3
Port 2 (B) +
4
Port 2 (B) -
5
Port 0 (C) + zero-impuls
6
Port 0 (C) – zero-impuls
7 / 8 connected internally
Encoder supply 24 V DC – connection
encoder
9 / 10 / 11 / 12 connected with 0 V
supply internally
0 V DC – connection encoder
13 / 14 connected internally
+5 V DC output
15 / 16 internally connected with shield Shielding encoder
connector of encoder outputs and
shielding of power supply
Table 2: Pin-out of encoder input
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
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1.4.2. Encoder outputs plug BR3, 4, 5, 6 (12-pole)
Clamp
Function
1 / 2 connected internally
4 – 6 V DC supply output driver
3 / 4 connected internally
0 V DC supply output driver
5
Port 1 (A) +
6
Port 1 (A) -
7
Port 2 (B) +
8
Port 2 (B) -
9
Port 0 (C) + zero-impuls
10
Port 0 (C) – zero-impuls
11 / 12 internally connected with shield Shielding encoder
connector of encoder input and
shielding of power supply
Table 3: Pin-out of encoder outputs
1.4.3. Power supply (4-pole)
Clamp
Function
1
+ 12 – 35 V DC supply
2
0 V DC supply
3 / 4 internally connected with
shield connector of encoder input
and encoder outputs
Table 4: Pin-out of power supply
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
Shield connection
[email protected]
www.fanucrobotics.lu
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1.5. Displays
The module is equipped with 4 LED´s for display and control functions.
Following the respective functions:
LED4 – red (top) – unit ready-to-operate
LED1 – red (second from the top) – encoder signal Port 1
LED2 – red (third from the top) – encoder signal Port 2
LED3 – red (fourth from the top) – encoder signal port 0
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
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1.6. Settings
The partition ratio of the encoder signals and the counting direction can be set by
means of the DIP-switches, which are accessible from outside of the housing.
The partition is only active if the DIP-switch 4 is set to OFF, in that case the partition is
defined by the combination of DIP-switch 1 to 3.
DIP switch 5 negates the counting direction independent from the setting of the other
switches.
Advice: The states of the Dip-switches are only read in at switch-on of the
power supply, thus changes do not have any effect until the module is restarted.
DIP 1
DIP 2
DIP 3
DIP 4
DIP 5
Partition
Counting
direction
x
x
x
On
Off
1
Not negated
Off
Off
Off
Off
Off
2
Not negated
On
Off
Off
Off
Off
4
Not negated
Off
On
Off
Off
Off
8
Not negated
On
On
Off
Off
Off
16
Not negated
Off
Off
On
Off
Off
32
Not negated
On
Off
On
Off
Off
64
Not negated
Off
On
On
Off
Off
128
Not negated
On
On
On
Off
Off
256
Not negated
x
x
x
On
On
1
Negated
Off
Off
Off
Off
On
2
Negated
On
Off
Off
Off
On
4
Negated
Off
On
Off
Off
On
8
Negated
On
On
Off
Off
On
16
Negated
Off
Off
On
Off
On
32
Negated
On
Off
On
Off
On
64
Negated
Off
On
On
Off
On
128
Negated
On
On
On
Off
On
Table 3: Setting of the DIP-switches
256
Negated
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 11 von 16
2. Installation
Provided plans and sketches have to be observed. The default-connected values for
electric energy have to be kept.
Use only appropriate tools for installation as injury can occur otherwise.
The laying of the electric connecting bends has to be carried out safely and
sufficiently dimensioned.
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]robotics.lu
www.fanucrobotics.lu
Seite 12 von 16
3. Commissioning
3.1. Check-up before the commissioning
Damage may occur due to wrong connections and settings. Operate the module only
with tested, correct connections and settings.
The following conditions and set parameters have to be checked:
•
at the beginning of each working shift at disconnected operation
•
once a week during operation
•
after each maintenance or repair
Pos.
To be checked
Where?
01
Are the module’s supply connections connected
correctly and undamaged?
Module
02
Are the mechanical covers of the module
assembled correctly and undamaged?
Module
03
Do the module’s operating displays show the
correct functions?
Module
Table 4: Check-up
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 13 von 16
4. Maintenance
4.1. Maintenance
The maintenance personal has to be skilled and qualified sufficiently for the
respective works.
4.2. Maintenance safety
Please inform the operating personal in time about maintenance works.
Coordinate these works with further, spreading procedures.
All safety relevant changing in machine operation behavior has to be reported
immediately.
Switch off the machine and protect it against unauthorized reactivation.
All changes have to be documented and the operating personal has to be instructed.
4.3. Maintenance works
The following table states all necessary maintenance works and frequency:
Description
Where
Measures
Frequency
Cleaning;
Module
Cleaning of the module;
Annually;
if necessary
every 6 month
Detachable
connections
Checking all detachable
connections
Indicator lamps
Module
Functional checking of the
relevant indicator lamps
weekly
Electric
connections
Module
Visual check for damage, bruise
and abrasion
monthly
Table 5: Maintenance
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 14 von 16
5. Trouble shooting
As an optical indicator the module features 4 LED’s which allow for error detections
on malfunctions.
Note: During operation the brightness of LED 1-3 depends on the incoming frequency
of encoder signals (flickering). Especially LED 3 might possibly not glow properly if the
incoming frequency is quite low.
Kind of error
Signal on the
module
Trouble shooting
Signal receiver does not
receive any signals
LED 4 does not
glow
Supply voltage is not available or
reverse-poled, check wiring and
power supply
Signal receiver receives
signals but reports
encoder error
LED 3 glows very
bright
Encoder zero-impuls is reversepoled, change wiring to correct
polarity
Signal receiver does not
receive any signals
LED 1 or 2 glow
very bright,
independently
from the encoder
incoming
frequency
Port 1 or 2 is not assigned with
encoder counting signals but e.g.
with supply voltage; make up correct
wiring
Signal receiver does not
receive any signal
LED 1- 4 glow
Power supply for the respective
output is not available; check wiring
of the output on the module as well
as the power supply
Table 6: Possible errors/causes and trouble shooting
Please check all mentioned sources of error first before returning the tool!
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
Seite 15 von 16
6. Safety instructions
The module is not specified and designed to use as a safety critical component in the
medical sector. The use of the module in this sector is inadmissible.
-
Please contact a specialist if there are any doubts concerning the mode of
operation, safety or tool connections.
-
If any item or liquid gets into the tool, disconnect power supply and ask qualified
personal to check the tool before further use.
-
Avoid strong mechanical load of the tool.
-
Do not expose the tool to high temperatures, strong vibrations or high humidity.
-
Never put the tool on an unstable surface. Persons can be injured if the tool falls
down.
-
Also consider the safety instructions and manuals of the other units to which the
tool gets connected.
-
In industrial facilities the regulations for the prevention of industrial accidents of the
employers’ liability insurance association for electric plants and equipment are to
be considered.
-
In schools, training facilities or any other workshops the use of electronic products
has to be observed by skilled personal.
-
If there are any questions concerning the correct connection or if there is anything
which is not fully explained in the manual, please contact our technical information
desk.
FANUC Robotics Europe S.A.
Zone Industrielle - L-6468 Echternach Grand-Duché de
Luxembourg
Tel.: +352-72-7777-0
Fax.: +352 72 7777 - 403
[email protected]
www.fanucrobotics.lu
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