Series 1746R GEMCO® PLC Resolver Interface Module Installation & Programming Manual For Allen-Bradley® SLC 500 I/O Chassis
1080 North Crooks Road Clawson, MI 48017-1097 Phone: (248) 435-0700 FAX: (248) 435-8120 Internet: www.ametekapt.com www.ametek.com Preface This manual will instruct the user in installing and programming the Series 1746R Gemco PLC Resolver Interface Module. Chapter 2 contains information on installing the 1746R PLC Resolver Interface Module. Chapter 3 provides instructions on programming the 1746R, while Chapter 4 contains Application Examples.
Contents Chapter 1: Introduction & Overview 1 1.1 Face Panel ..........................................................................................................................
Chapter 1: Introduction & Overview Chapter 1: Introduction & Overview The Series 1746R PLC Resolver Interface Module is a resolver based unit that incorporates Allen-Bradley SLC 500 I/O interface technology, and is completely compatible with the A-B Series 1746R I/O chassis. The unit monitors machine/process position and delivers absolute position data with up to 12 bit (4096 count) resolution per turn to the SLC 500 processor.
Chapter 1: Introduction & Overview 1.1: Face Panel Description The Monitor’s operating status is indicated by the two (2) LEDs on the face panel. RUN FAULT The green LED indicates that the card is operational. The red LED indicates there is a card fault, or when there is a resolver (transducer) fault. Note: There are four typical causes for a resolver (transducer) fault: 1. Broken resolver cable 2. Improperly wired cable 3. Faulty resolver 4.
Chapter 2: Installation Chapter 2: Installation I/O Rack Installation & Removal Before installation, confirm that the I/O power is compatible with the Series 1746R PLC Resolver Interface Module. (See Appendix A: Specifications, Power Requirements). The Series 1746R PLC Resolver Interface Module can be installed into any open slot in the A-B SLC 500 rack. Align the module’s circuit board with the top and bottom card guides and gently slide in until it latches securely.
Chapter 3: Set-Up & Programming Chapter 3: Setup & Programming Getting Started Before the 1746R PLC Resolver Interface Module can communicate with the A-B SLC 500 processor, the system must be configured to include the 1746R PLC Resolver Interface Module. This is done through either the APS Software or the hand-held controller. When defining the system, the program will prompt for a SPIOGA ID code. The ID code for the 1746R PLC Resolver Interface Module is: 3535.
Chapter 3: Set-Up & Programming Command Bit Register (Word 0) The Status Bit Register has been defined below: Bit 15 14 13 12 11 10 9 8 PROG 0 0 0 0 0 Cle ar Brake Error Cle ar Brake Warning Bit 7 6 5 4 3 2 1 0 Data Format 0 0 0 0 0 0 0 Programming Bit (15) The 1746R PLC Resolver Interface Module will monitor the programming bit for a 0 to 1 transition. When this is detected, it reads the command register and processes the data based on the command specified.
Chapter 3: Set-Up & Programming displayed in the input image table as: 35 111 ;high word ;low word Note: If using Configuration 6, the resolver 1 position is displayed only as one word. Therefore, the new data format does not apply to this position. With the new data format option selected, the position can range from 0 to 32767999. NOTE: All reserved locations should be set to 0.
Chapter 3: Set-Up & Programming The parameters for this command 1 have been defined below: Output Image Table De s cription Word 0 Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 Bit Register Command Register (1) Parameter 1 Password (1111) Parameter 2 Configuration Number Parameter 3 Reserved (0) Parameter 4 Reserved (0) Parameter 5 Reserved (0) Parameter 6 Reserved (0) Parameter 1 is a password to verify that this change is to take place. The password is 1111.
Chapter 3: Set-Up & Programming Parameter 1 is used to indicate which resolver input channel the scale factor and turns count applies to. On two axis (not multi-turn dual resolver) modules Command 2 will be programmed twice. Parameters 2, 3 and 4 are used to establish how position data will count as the resolver rotates. NOTE: See Chapter 4: Application Examples for dealing with 32 bit numbers..
Chapter 3: Set-Up & Programming NOTE: The total accumulated count when turns counting is enabled is a volatile value. This number will be lost on a power failure. Steps should be taken to save this value to a nonvolatile integer file in the SLC processor if maintaining position data is important to your application. The Save Command can also be used to save the current position, therefore, not losing the turns count.
Chapter 3: Set-Up & Programming Output Image Table D e s cription Word Word Word Word 0 1 2 3 Bit Register Command Register (3) Parameter 1 Resolver N umber Parameter 2 Home Position (high word) Word Word Word Word 4 5 6 7 Parameter Parameter Parameter Parameter 3 4 5 6 Home Position (low word) Reserved (0) Reserved (0) Reserved (0) Parameter 1 will indicate whether the new home position is for resolver 1 or 2. Parameters 2 and 3 contain the new home position of the reset resolver.
Chapter 3: Set-Up & Programming Output Image Table Word 0 Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 De s cription Bit Register Command Register (5) Parameter 1 Motion Detect RPM Parameter 2 Reserved (0) Parameter 3 Reserved (0) Parameter 4 Reserved (0) Parameter 5 Reserved (0) Parameter 6 Reserved (0) Parameter 1 contains the motion detect RPM value. This value can range from zero to 65,535. The default value is zero.
Chapter 3: Set-Up & Programming Output Image Table Word 0 Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 De s cription Bit Register Command Register (7) Parameter 1 Password 1 (2222) Parameter 2 Password 2 (3333) Parameter 3 Reserved (0) Parameter 4 Reserved (0) Parameter 5 Reserved (0) Parameter 6 Reserved (0) NOTE: The passwords exists to ensure that your intent is to save current changes. A Save Command will automatically delete old program data.
Chapter 3: Set-Up & Programming Acknowledge Bit (15) This bit is used to acknowledge a command from the output image table. If all the data is valid in the command, the acknowledge bit is set to indicate to the A-B SLC 500 processor that the command was processed. This bit is cleared when the programming bit is cleared in the output image table. Data Error Bit (14) This bit is used to indicate an error was detected in the command sent from the output image table.
Chapter 3: Set-Up & Programming S1 Open Error The S1 open bit is set when this error is detected on either one of the resolvers. Resolver #1 is in bit 5 and resolver #2 is in bit 1. This bit is clear when no error is present. S4 Open Error The S4 open bit is set when this error is detected on either one of the resolvers. Resolver #1 is in bit 4 and resolver #2 is in bit 0. This bit is clear when no error is present.
Chapter 4: Application Examples Chapter 4: Application Examples (1) (2) 15 For parameters and positions that are 32 bits, the value needs to be spread over two 16 bit words. The high word will contain the most significant 16 bit and the low word will contain the least significant 16 bits. Example: If the scale factor was 4096, the high word would be 0 (0 hex) and the low word would be 4096 (1000 hex).
Chapter 4: Application Examples On the first scan, the start 1746R configuration flag is set. When this flag is set, the configuration command is copied into the output image table with the programming bit set. This will continue until the command has been acknowledged in the input image table.
Chapter 4: Application Examples When the position scaling data has been acknowledged for resolver 1, the program will copy the position scaling command for resolver 2 into the output image table. This resolver is set up for a scale factor of 360 with no turns counting. This will continue until the command has been acknowledged.
Chapter 4: Application Examples When the reset-to-preset values have been acknowledged, the program will check to see if the resolver positions need to be homed to a previously set position. This is done through the valid position flags, B3:0/15 for resolver 1 and B3:0/14 for resolver 2. If the valid position flag, B3:0/15, is set, it will perform a home command for resolver 1. This command will contain the new position data for resolver 1.
Chapter 4: Application Examples COPY THE HOME COMMAND TO HOME RESOLVER 2 IF THE RESOLVER 2 POSITION WAS VALID Res 2 Home Pos Bit Set N10:0 Ack Bit Cleared I:1 Res 2 Valid Pos Bit B3:0 COP Copy File Source #N9:10 Dest #O:1.
Chapter 4: Application Examples IF CONFIGURATION IS COMPLETE AND THERE ARE NO RESOLVER 2 FAULTS, COPY RESOLVER 2 POSITION TO A NON-VOLATILE LOCATION AND SET FLAG INDICATING VALID RESOLVER 2 POSITION Config Complete NO Primary Bit Set Open Res 2 I:1 N10:0 NO Primary NO S1Open NO S4 Open Res 2 Short Res 2 Res 2 I:1 I:1 I:1 0016 6 3 OTHER 2 OTHER 1 OTHER 0 OTHER COP Copy File Source #I:1.
Chapter 4: Application Examples IF CONFIGURATION IS COMPLETE AND THERE IS A RESOLVER 2 FAULT, CLEAR THE FLAG TO INDICATE RESOLVER 2 POSITION IS INVALID Config Complete Bit Set N10:0 Primary Open Error for Res 2 I:1 Clear Res 2 Valid Pos Bit B3:0 (U) 14 0018 3 OTHER 6 Primary Short Error Res 2 I:1 2 OTHER S1 Open Error Res 2 I:1 1 OTHER S4 Open Error Res 2 I:1 0 OTHER 0019 (END) Data File N7 (de c) -- INTEGER Offset 0 1 2 3 4 5 6 7 8 9 N7:0 - 32768 1 1111 4 0 0 0 0 0 0 N7:10 - 3
Appendix A: Specifications Appendix A: Specifications Power Requirements: 0.250A max. @ 5 Vdc 0.0A @ 24 Vdc Resolution: 12 bit resolution for standard resolver 18 bit resolution for 64:1 multi-turn resolver 19 bit resolution for 128:1 multi-turn resolver RPM: 2048 max. Resolver Cable Length: 1000 ft. max.
23 A SINGLE TURN RESOLVER ASSEMBLY SEE CATALOG SECTION 1986 Dual resolver wiring diagram Installation & Programming Manual RED BLACK OF RED WHITE BLACK OF WHITE GREEN BLACK OF GREEN WIRE COLOR 1 2 3 4 5 6 1746 PIN A B C D E F RESOLVER CONNECTOR 10-30VDC @ 3mA MAX.
64 OR 128 TURN DUAL RESOLVER SEE CATALOG SECTION 1986 SINGLE/MULTI TURN OPTION D1 OR D2 Installation & Programming Manual 12 5 6 8 9 10 11 12 GREEN BLACK OF GREEN SHIELD BLACK OF BROWN BROWN YELLOW BLACK OF YELLOW H G J K - DC POWER SUPPLY CUSTOMER 10 TO 24V + 11 4 BLACK OF WHITE D E F 10-30VDC @ 3mA MAX. 2. CONNECT SHIELD OF RESOLVER CABLE TO TERMINAL 8.
AMETEK APT 1080 N. Crooks Road Clawson, MI 48017 800-635-0289 248-435-0700 Fax 248-435-8120 www.ametekapt.com 1196 1746R.M1R1 10/01.
