Thread Rating:
  • 0 Vote(s) - 0 Average
  • 1
  • 2
  • 3
  • 4
  • 5
setting up ACC 84E and encoder endat22
#1
Hi all
I've just installed and configured a brand new UMAC on my system.
The system comprehends 2 acc 24e2s (configured as IC2 and IC3) and 2 acc84e (configured as CS10 and CS12).

First question is: the "Umac config pro2" does not see the two acc84e. Is this correct?

Second, more important: I can not configure the endat2.2 encoders.
The manual (version April 27,2010) is pretty confused and most of the tables and portions of codes have wrong addresses (it seems that the tables have been copied from the yaskawa encoder configuration and pasted without correcting the addresses).

Did anyone try to configure endat2.2 encoders on such a boards and have some hints to share?

thanks a lot
gigi
#2
Hi Gigi,

You're correct. The UMAC Config Pro2 will not show ACC-84E since this accessory was designed and built after the release of UMAC Config Pro2 and the software has no clue about the new part number.

I checked the manual and there were some errors in the addressing which were Brick style addresses and not UMAC. So I have fixed the manual and it should be updated on the manuals section of the website shortly, but meanwhile use this PDF to guide you through the setup of your EnDat encoder:


.pdf   ACC-84E - EnDat22.pdf (Size: 102.89 KB / Downloads: 62)

I have setup and used EnDat2.2 encoders with ACC-84E and it works fine.

Regards,
Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.
#3
Hi Sina

(12-01-2010, 09:24 AM)Sina Wrote: You're correct. The UMAC Config Pro2 will not show ACC-84E since this accessory was designed and built after the release of UMAC Config Pro2 and the software has no clue about the new part number.

ok, thanks a lot

(12-01-2010, 09:24 AM)Sina Wrote: I checked the manual and there were some errors in the addressing which were Brick style addresses and not UMAC. So I have fixed the manual and it should be updated on the manuals section of the website shortly, but meanwhile use this PDF to guide you through the setup of your EnDat encoder:
I have setup and used EnDat2.2 encoders with ACC-84E and it works fine.

ok, great.
So, here what I'm doing:
the first accessory 84E is CS10, dip switch configured as default (all on==close).
I made
Code:
M5000->X:$78C0F,0,24  ; first acc84, control register
M5001->X:$78D0F,0,24  ; second acc84, control register
M5011->X:$78C00,0,24  ; 1st channel - 1st acc84 control word
M5021->Y:$78C00,0,24  ; lower bit reading
M5031->Y:$78C01,0,24  ; higher bit reading + flags

I'm using an Heidenhain eqn437, endat 2.2, over a 55m extension. The encoder has 25 bit/rev + 4096 (12 bit) different revolutions, for a total of 37 bit.

I'm trying to configure (via the terminal, not on the plc1) as follow:

Code:
M5000 = $2003 ; 1MHz clock, I'm not pretty sure about triggering, but I''ve tried all the possibility
M5011 = $380025  ; read endat 2.2, 37 bit total

what I'm getting as a result is:
Code:
M5011 = $380425  ; it activates the bit#10, that should be Data Ready
M5021=0
M5031 = $80000 ; timeout error

Any idea on what I am doing wrong?

thanks to all
gigi
#4
sorry All, but I have just discovered that the all the encoders on my device has been soldered in the wrong way.
I have just replaced a connector of a brand new actuator (that has never been turned on) ... and it works!
Now I have to reset the two encoders that I powered on with data and clock pins inverted.
How can I reset them?
I tried to send the encoder the command
Code:
wx:$78c00,$2D1425
but they are not responding. Should I perform some other tasks before resetting the encoders?

thanks a lot
gigi
#5
(12-02-2010, 08:00 AM)piefum Wrote: but they are not responding. Should I perform some other tasks before resetting the encoders?

Heidenhain is telling me that probably I should reset some alarms generated by the pin-swap; the simple reset command quoted on the acc84 manual probably is not enough.
Do you have any idea on how to perform such an alarm-reset?


thanks
gigi

#6
Hi Gigi,

Sorry for the delay. I had to connect an EnDat 2.2 encoder to ACC-84E to make sure what I'm sending is correct and I'm talking sense.

The command that you have to send to reset the Encoder Error Flag is:
Code:
WX:$78C00,$2D3425
WX:$78C04,$2D3425
WX:$78C08,$2D3425
WX:$78C0C,$2D3425

This will cause the reset command to be sent to EnDat encoder in one shot trigger mode instead of continuously being sent every phase/servo cycle.
Once the command is sent to the encoder, bit 12 of these registers will clear and you'll read a value of $2D2425. At this time you can resume position reporting mode by setting your channel specific control registers to:
Code:
WX:$78C00,$381425
WX:$78C04,$381425
WX:$78C08,$381425
WX:$78C0C,$381425



Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.
#7
Hi Sina,

(12-02-2010, 12:49 PM)Sina Wrote:
Code:
WX:$78C00,$2D3425
Code:
WX:$78C00,$381425

I'm sorry but this is not working. The encoder still replies with a $80000 on the upper word. Heidenhain support tells me that the circuitry should be safe and probably there are some alarm flags set, and I have to reset them. There are some other "uncommented" reset commands?

thanks a lot
gigi
#8
Hi Gigi,

As long as the documentation from Heidenhain shows, there are only 2 reset commands avaiable: 101010 for EnDat2.1 and 101101 for EnDat2.2. Since we support both of these modes one or the other one should reset the encoder. Did you cycle power on the UMAC after sending the reset command?

Can you try resetting the encoder in EnDat2.1 mode. The encoder should respond to both commands. The command would be:
Code:
WX:$78C00,$2A3425

Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.
#9
Hi Sina

(12-03-2010, 09:20 AM)Sina Wrote: As long as the documentation from Heidenhain shows, there are only 2 reset commands avaiable: 101010 for EnDat2.1 and 101101 for EnDat2.2. Since we support both of these modes one or the other one should reset the encoder. Did you cycle power on the UMAC after sending the reset command?

I finally get the reset of the encoder. The procedure that I have adopted is quite cumbersome (reboot, reset, reboot, reset, reset, reboot....)... but it worked! Now the encoder is alive and counting correctly.

Thanks again for your kind support!!
gigi
#10
Thanks gigi for letting me know. It's good to know that it's working now.
Sina Sattari
Hardware Engineering Manager
Delta Tau Data Systems, Inc.


Forum Jump:


Users browsing this thread: 1 Guest(s)