National Instruments Quadrature Input Module FP-QUAD-510 Manual de usuario

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OPERATING INSTRUCTIONS

FP-QUAD-510

4-Axis, Quadrature Input Module

These operating instructions describe the installation, features, and

characteristics of the FP-QUAD-510. For details on configuring

and accessing the FP-QUAD-510 over a network, refer to the user

manual for the particular FieldPoint network module you are using

with the FP-QUAD-510.

Features

The FP-QUAD-510 is a FieldPoint quadrature input module with

the following features:

• Four independent 32-bit position counters with individual

Phase A, Phase B, and Index input terminals

• Velocity measurement capabilities

• Programmable reset on index mode

• Sinking inputs, compatible with TTL or differential devices

• Inputs protected to ±250 VDC

• Hot plug and play operation

• 2,500 Vrms input-to-output isolation

• Double insulated for 250 V safe working voltage

Power Requirement

The FP-QUAD-510 is powered via the local backplane bus from

the FieldPoint network module. The FP-QUAD-510 is a

high-power consumption module and requires more than the

nominal power allocated to an I/O module from the network

module. In some applications, this could limit the number of I/O

modules that you can connect to a single network module.

FP-QUAD-510 2 www.ni.com

When defining a FieldPoint system that uses an FP-QUAD-510

module, you must calculate the power consumption. First refer

to the specifications section in the user manual for your network

module. The maximum number of terminal bases per bank

multiplied by 1 watt is the total power the network module can

supply. For example, an FP-1000 or FP-1001 can support nine

terminal bases (9 × 1 W = 9 W).

Next, refer to the specifications section in the operating

instructions for the I/O modules. Use the Power from Network

Module specification. For example, a bank of modules consisting

offourFP-QUAD-510andfiveFP-DI-301modulesrequiresatotal

of 6.4 W from the FieldPoint network module [4 × (1.2 W) + 5 ×

(0.325 W) = 6.4 W]. This power requirement is less than the 9 W

maximum and is therefore acceptable.

Installation

The FP-QUAD-510 mounts on a FieldPoint terminal base

(FP-TB-xx) unit. Because of its hot plug and play operation, you

can install the FP-QUAD-510 onto a powered terminal base

without disturbing the operation of other modules or terminal

bases. Although the FP-QUAD-510 receives operating power from

the terminal base, the input circuitry requires an external power

supply.

To install your module, refer to Figure 1 and complete the

following steps:

1. Slide the terminal base key to either position 8 (used for the

FP-QUAD-510 module) or position X(used for any module).

Note Although your module operates normally with the

terminal base key in either position, you should use the

position specifically for your module whenever possible.

By doing so, you avoid accidentally plugging an incorrect

module into a base once the base has been wired into the

system.

2. Align the FP-QUAD-510 alignment slots with the guide rails

on the terminal base.

3. Press firmly to seat the FP-QUAD-510 on the terminal base.

Whenthemodule is firmly seated, theterminalbaselatch locks

it into place.

Figure 1. Install Your Module

Field Wiring

The terminal base provides connections for each axis and for an

external supply to power the FP-QUAD-510 input channels and

field devices.

The FP-QUAD-510 accepts two types of encoder signal inputs:

single-ended (TTL) or differential line driver. Figure 2 shows the

typical encoder wiring for differential signal input. Figure 3 shows

the typical encoder wiring for single-ended signal input. Power for

a +5 V encoder is also provided for each axis. If you require other

encoder power voltages, reference an external supply to either the

C terminal or the COM terminal.

Figure 2. Basic Field Connections to Differential Encoders

Alignment

Slot

Key

Latch

Guide Rails

Terminal BaseI/O Module

–A

–B

+Index

–Index

+5 V

GND

Encoder

+5 V

Reg

+–

–A

–B

–I

Vsup

COM

FP-QUAD-510 4 www.ni.com

Figure 3. Basic Field Connections to Single-Ended Encoders

The FP-QUAD-510 supports differential inputs for Phase A,

Phase B, and Index signals. You can easily accommodate encoders

with various phase relationships by swapping the signals and/or

connecting them to the inverting inputs as specific applications

require.

The Index signal must occur when both the Phase A and Phase B

signals are low, as shown in Figure 4. If the index polarity is

inverted,tryreversing the +Indexand–Indexsignalsondifferential

encoders or using the –Index input on single-ended encoders.

Figure 4. Encoder Signal Phasing

Table 1 lists the terminal assignments for the signals of each axis.

+A and –A represent the Phase A signals, +B and –B represent the

Phase B signals, and +I and –I represent the Index signals.

+Index

+5 V

GND

Encoder

+5 V

Reg

+–

–A

–B

–I

Vsup

COM

Phase A

Phase B

Index

Terminal assignments and wiringdiagramsarealsolisted under the

slide-in card on the front of the FP-QUAD-510 module.

Status Indicators

Figure 5 shows the module label and status indicators. Remove the

slide-in card to see wiring diagrams for the input signals.

Figure 5. Status Indicators

After you insert the moduleinto a terminal base (and apply power),

the green POWER indicator lights and the FP-QUAD-510 informs

the network module of its presence. When the network module

recognizes the FP-QUAD-510, it sends initial configuration

information to the FP-QUAD-510. After receiving this initial

information, the green READY indicator lights and the

FP-QUAD-510 is in its normal operating mode.

Table 1. Terminal Assignments

Signal

Terminal Numbers

Axis 0 Axis 1 Axis 2 Axis 3

+A 15913

–A 17 21 25 29

+B 2 6 10 14

–B 18 22 26 30

+I 3 7 11 15

–I 19 23 27 31

Vsup 4 8 12 16

COM 20 24 28 32

FP-QUAD-510 6 www.ni.com

Position Counter Operation

Each position counter has a 32-bit binary counter that represents

the current position of the shaft connected to the axis. Channels 0

through 3 contain the lowest 16 bits of these counters for axes 0

through 3 respectively. Channels 4 through 7 contain the

uppermost 16 bits for axes 0 through 3 respectively.

Primarily, the position counter channels increment or decrement in

response to edges encountered at the Phase A and Phase B inputs.

The following sections describe the operation of the counter

channels.

Position Counter Input Circuit

The circuit for the position counter inputs consists of a comparator

with current limited inputs to convert from a differential to a

single-ended signal. The output of the comparator is used to drive

an optoisolator. When you apply a voltage above the threshold

voltage to the input terminal, the comparator turns on the

optoisolator, registering in the ON state.

The inputs are designed to be compatible with single-ended TTL

encodersordifferentialencoderssupplyingadifferential voltageof

at least ±0.3 V.

Each encoder input has a lowpass filter that rejects frequencies

above 250 kHz to reducefalse counts due to high-speed transients.

This cutoff point allows encoder frequencies as high asone million

counts/second, because there are four counts per period, as shown

in Figure 6.

Figure 6. Quadrature Encoder Counts/Period Relationship

Phase A

Phase B

00 10 11 01

1 period = 4 counts

Reset on Index Capability

You can configure each position counter to reset each time the

index condition is met. An index-initiated reset resets both the

upper and lower 16-bit registers associated with that axis. This

is useful in applications in which only the position within one

rotation of the encoder is important to the user. In this mode of

operation, any count errors that occur are canceled when the index

condition is met.

Commands

Channels 0 through 3 (the lowest 16 bits of the position counter)

each support a control command with one action—reset. The

control-reset command resets the target counter. The control

commandignorestheindexresetsetting.Thiscommandalsoresets

the upper 16 bits of the position counter.

Velocity Data Channel Operation

The FP-QUAD-510 uses a timebase counter as a basis for

determining the rate of change of position—the velocity—for each

axis. The four velocity data registers, channels 8 through 11,

contain 16-bit velocity data for axes 0 through 3 respectively. The

data in each register represents the velocity of the axis in number

of counts per microsecond. A positive number indicates motion in

the forward direction, and a negative number indicates motion in

the reverse direction. Each register can be independently

programmed with one of eight velocity ranges as shown in Table 2.

Each range is based on a different timebase length and has a

different resolution.

Note While the ranges available reach speeds of

160 counts per microsecond, the module inputs are still

limited to 1,000,000 counts per second (1 count per

microsecond) maximum. The higher ranges are used to

measure velocity over shorter timebases. With these

ranges, the velocity data is averaged over a much shorter

time period and, therefore, is more instantaneous.

However, the data from these ranges has a coarser

resolution. The slower ranges have a finer resolution, but

the data is an average velocity over a longer period

of time.

FP-QUAD-510 8 www.ni.com

The velocity range is the maximum velocity that can be measured

for a given timebase. The velocity register uses a 15-bit counter,

whichgives a maximumnumberofcounts of 215, or 32,768. So,the

velocity range for a given timebase is calculated using the

following formula:

where Vrng is the velocity rangein counts per microsecond andTis

the timebase in microseconds.

The velocity resolution is the velocity accuracy for a given

timebase and is determined using the following formula:

where Vres is the velocity resolution in counts per millisecond and

Tis the timebase in microseconds.

Index Status Channel Operation

TheFP-QUAD-510includesfourdiscreteinputchannels,channels

12 through 15, which containthe status of the Indexsignal for axes

0 through 3 respectively. This signal is latched to a 1 when the

condition at the axis inputs is Phase A = 0, Phase B = 0, and

Index = 1. This bit remains latched until it is read, at which point it

is cleared automatically.

Table 2. Velocity Ranges

Length of Timebase

(in µs) Velocity Range

(in counts/µs) Velocity

Resolution

204.8 ±160 4.883 counts/ms

409.6 ±80 2.441 counts/ms

819.2 ±40 1.221 counts/ms

1638.4 ±20 610.4 counts/s

3276.8 ±10 305.2 counts/s

6553.6 ±5 152.6 counts/s

13107.2 ±2.5 76.29 counts/s

26214.4 ±1.25 38.15 counts/s

Vrng 32768±T

------------------=

Vres 1000

------------=

Note If the axis is stopped with the index condition true,

then reading the status bit causes the bit to reset to 0.

However, since the index condition is still true, the bit is

immediately latched back to 1.

If the Reset on Index attribute (see Position Counter Operation) is

selected, then the index status bit does not need to be read between

successive index pulses in order for the position counters to reset.

The position counters respond to index pulses as programmed

regardless of the state of the index status bit.

Isolation and Safety Guidelines

Caution Before you connect any circuits that may

contain hazardous voltages to the FP-QUAD-510,

read the following information.

This section describes the isolation of the FP-QUAD-510 and its

compliance with international safety standards. The field wiring

connections are isolated from the backplane provided by the

terminal base with an optical and galvanic isolation barrier

designed and tested to provide protection against fault voltages of

up to 2,500 Vrms. In addition, the FP-QUAD-510 provides double

insulation (compliant with IEC 1010-1) for working

common-mode voltages of 250 Vrms. Safety standards (such as

those published by UL and IEC) require the use of double

insulation between hazardous voltages and any human-accessible

parts or circuits.

Never try to use any isolation product between human-accessible

parts (such as DIN rails or monitoring stations) and circuits that

may be at hazardous potentials under normal conditions, unless the

product is specifically designed for such an application, as is the

FP-QUAD-510.

When you use a product like the FP-QUAD-510 in applications

with hazardous potentials, follow these guidelines to make sure

your total system is safe:

• The safety isolation of the FP-QUAD-510 is from input to

output, not between channels on the same module. If any of the

channels on a module are wired at a hazardous potential, make

sure that all other devices or circuits connected to that module

are properly insulated from human contact.

•Donot share the external supply voltages (V and C on the

terminal base) with other devices (including other FieldPoint

devices), unless those devices are isolated from human contact.

FP-QUAD-510 10 www.ni.com

• As with any hazardous voltage wiring, make sure that all

wiring and connections meet applicable electrical codes and

common sense practices. Mount terminal bases in an area,

position, or cabinet that prevents accidental or unauthorized

access to wiring that carries hazardous voltages.

• The isolation of the FP-QUAD-510 is certified as

double-insulated for normal operating voltages of 250 Vrms.

Do not use the FP-QUAD-510 as the only isolating barrier

between human contact and working voltages of more than

250 Vrms.

Channel Operation Summary

Table 3summarizesthefunctionalityof each of theFP-QUAD-510

channels as accessed through FieldPoint Explorer or other

software.

Table 3. FP-QUAD-510 Channel Operation Summary

Channel

No. Channel Description Type Range

0Axis 0 Position LSW Count Input 0–65535

1Axis 1 Position LSW Count Input 0–65535

2Axis 2 Position LSW Count Input 0–65535

3Axis 3 Position LSW Count Input 0–65535

4Axis 0 Position MSW Count Input 0–65535

5Axis 1 Position MSW Count Input 0–65535

6Axis 2 Position MSW Count Input 0–65535

7Axis 3 Position MSW Count Input 0–65535

8Axis 0 Velocity Analog Input 8 ranges

9Axis 1 Velocity Analog Input 8 ranges

10 Axis 2 Velocity Analog Input 8 ranges

11 Axis 3 Velocity Analog Input 8 ranges

12 Axis 0 Index Active Discrete Input Boolean

13 Axis 1 Index Active Discrete Input Boolean

14 Axis 2 Index Active Discrete Input Boolean

15 Axis 3 Index Active Discrete Input Boolean

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