ESRS Encoder Signal Reference Simulator

Transcription

1 ESRS Encoder Signal Reference Simulator (Cat. No ESRS) Installation and Setup Manual

2 Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards. The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication. Allen-Bradley publication SGI-1.1, Safety Guidelines for the Application, Installation and Maintenance of Solid-State Control (available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication. Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited. Throughout this manual we use notes to make you aware of safety considerations: ATTENTION! Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss Attention statements help you to: identify a hazard avoid a hazard recognize the consequences IMPORTANT Identifies information that is critical for successful application and understanding of the product. Allen-Bradley is a trademark of Rockwell Automation

3 European Communities (EC) Directive Compliance If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives. EMC Directive This product is tested to meet the Council Directive 89/336/EC Electromagnetic Compatibility (EMC) by applying the following standards, in whole or in part, documented in a technical construction file: EN EMC Generic Emission Standard, Part 2 Industrial Environment EN EMC Generic Immunity Standard, Part 2 Industrial Environment This product is intended for use in an industrial environment. Low Voltage Directive This product is tested to meet Council Directive 73/23/EEC Low Voltage, by applying the safety requirements of EN Programmable Controllers, Part 2 - Equipment Requirements and Tests. For specific information required by EN , see the appropriate sections in this publication, as well as the Allen-Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity, publication This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection.

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5 Table of Contents Preface Using This Manual Read This Manual P-1 Who Should Use this Manual P-1 Purpose of this Manual P-1 Safety Precautions P-2 Contents of this Manual P-3 Related Documentation P-3 Terminology P-3 Common Techniques Used in this Manual P-4 Product Receiving & Storage Responsibility P-4 Allen-Bradley Support P-5 Local Product Support P-5 Technical Product Assistance P-5 On the Web P-6 Chapter 1 Overview ESRS Description Principal features of the ESRS ESRS Front Panel ESRS Footprint ESRS Principal Specifications Mechanical Specifications Environmental Specifications Power Supply and Fuses Power Supply Specifications Quadrature Output Index Pulse I/O Filtering Chapter 2 Installation Mounting the ESRS Enable Input External Power Supply i

6 ii Chapter 3 Operation General Indicators Controls Line Speed When Set To Unidirectional When Set To Bi-directional Acceleration Rounding Line Selection Inputs and Outputs Line Speed Ref Out Strobe Out Ext Line Speed In P Enable Voltage Enable Input Direction Output P Options Switch Setting the Option Switch Mode Selection Index Division Ratio Selection Maximum Effective Motor Speed Index

7 Preface Read This Manual Read and understand this instruction manual. It provides the necessary information to let you install, connect, and set up the Encoder Signal Reference Simulator for safe, reliable operation. This preface covers the following topics: Who should use this manual The purpose of this manual Terminology Common techniques used in this manual Allen-Bradley support Who Should Use this Manual You should read this manual if you are responsible for the installation or set up of the Encoder Signal Reference Simulator. If you do not have a basic understanding of the products listed below, contact your local Allen-Bradley representative for information on available training courses before using this product. S Class Compact motion controller 1394 GMC System module Purpose of this Manual This manual is an installation and set up guide for the Encoder Signal Reference Simulator. It describes the procedures necessary to properly install and configure it into your motion control system. 1

8 Preface P-2 Safety Precautions The following general precautions apply to the Encoder Signal Reference Simulator: ATTENTION! Electric shock can kill. Make sure the Encoder Signal Reference Simulator is safely installed in accordance with the Installation and Set-up chapters of this manual. Avoid contact with electrical wires and cabling while power is on. Only trained service personnel should open the electrical cabinet. This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E and BS-EN The system integrator is responsible for local safety and electrical codes. ATTENTION! An incorrectly applied or installed product can result in component damage or a reduction in product life. Wiring or application errors, such as undersizing or inadequate DC supply, or excessive ambient temperatures can result in a malfunction. The Encoder Signal Reference Simulator contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing, or repairing this assembly. Component damage can result if ESD control procedures are not followed. If you are not familiar with static control procedures, refer to Allen-Bradley publication , Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.

9 Preface P-3 Contents of this Manual Chapter Title Contents Preface Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended. 1 Overview Provides a general description of the Encoder Signal Reference Simulator, its features and mechanical specifications. 2 Installation Provides the steps needed to successfully mount and wire the Encoder Signal Reference Simulator. 3 Operation Provides information on using the ESRS. Related Documentation The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local Allen-Bradley office or distributor. For Read This Document Document Number Instructions for installation and set-up for the 1394 GMC system Instructions for installation and set-up for the S Class Compact motion controller 1394 Digital, AC, Multi-Axis Motion Control System User Manual IMC S Class Compact Motion Controller Installation and Set-up Manual Instructions for using the Ultra Plus 1398 Ultra Plus User Manual An article on wire sizes and types for grounding electrical equipment (North American standards) An article on wire sizes and types for grounding electrical equipment (European standards). A complete listing of current Allen-Bradley documentation, including ordering instructions. Also indicates whether the documents are available on CD-ROM or in multi-languages National Electrical Code BS-EN Electrical Equipment of Machines Allen-Bradley Publication Index Published by the National Fire Protection Association of Boston, MA. Published by British Standards Institute SD499 A glossary of industrial automation terms and abbreviations Allen-Bradley Industrial Automation Glossary AG-7.1 Terminology In order to avoid confusion, we have used the following general terms in a specific manner within this manual. We define them as follows: ESRS - Refers to the Encoder Signal Reference Simulator.

10 Preface P-4 For specific definitions of other terms used in industrial automation, see the Allen-Bradley Industrial Automation Glossary (publication number AG-7.1). Common Techniques Used in this Manual The following conventions are used throughout this manual: Bulleted lists such as this one provide information, not procedural steps. Numbered lists provide sequential steps or hierarchical information. When we refer you to another location, the section name appears in italics. The exclamation point inside of a triangle, followed by the word ATTENTION indicate circumstances that can lead to personal injury, death, property damage or economic loss. See example below. ATTENTION! Failure to observe these warnings may cause damage to the unit, unexpected and/or uncontrolled movement of peripheral equipment, and your health and safety. An important table indicates critical information. See the following example. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Product Receiving & Storage Responsibility You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.

11 Preface P-5 Leave the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store it: in a clean, dry location within an ambient temperature range of 0 to 85 C (32 to 185 F) within a relative humidity range of 5% to 95%, non-condensing in an area where it cannot be exposed to a corrosive atmosphere in a non-construction area Allen-Bradley Support Allen-Bradley offers support services worldwide, with over 75 Sales/ Support Offices, 512 authorized Distributors and 260 authorized Systems Integrators located throughout the United States alone, plus Allen-Bradley representatives in every major country in the world. Local Product Support Contact your local Allen-Bradley representative for: sales and order support product technical training warranty support support service agreements Technical Product Assistance If you need to contact Allen-Bradley for technical assistance, please review the information in this manual first. Then call your local Allen-Bradley representative. For the quickest possible response, we recommend that you have the catalog numbers of your products available when you call. See the Related Documentation section of this chapter for the publication numbers of other manuals that can help with this product.

12 Preface P-6 The Rockwell Automation Technical Support numbers are: in Europe: (+44) in North America (603) On the Web For information about Allen-Bradley, visit the following World Wide Web site:

13 Chapter 1 Overview ESRS Description The Encoder Signal Reference Simulator (ESRS) generates a digital speed reference for a motor and encoder feedback combination. In practice the ESRS would be connected to the Master Encoder input of a drive. The ESRS then generates quadrature pulses with selectable index (i.e. marker) which a drive forces its motor/encoder to follow. The ESRS operates in either unidirectional or bi-directional mode as selected by the Options switch located on the printed circuit board (PCB) of the ESRS. The rounding and acceleration functions are operational in all modes and for all inputs including STOP. Principal features of the ESRS Selectable Internal and External Line Reference inputs plus Stop. Separate Enable input, with status indication, allows for remote control. Rate of acceleration and deceleration continuously variable between 1.5 and 15 seconds. Five positions of rounding plus OFF. Powered with a single +5V or +12V DC input voltage taken from either the drive s Encoder connector or external power supply. User selectable Index pulse in the range 2 10, 2 11, 2 12, 2 13 counts. Motor speed selectable in the range 1875 to RPM. Product housed in a rugged steel box with mounting tabs. Operates in Unidirectional and Bi-directional mode. Separate square wave STROBE output, which is synchronized with the Index pulse, for triggering stroboscopes, oscilloscopes, and so forth. Analog output indication of commanded speed. 1

14 1-2 Overview Digital output indicates phase of quadrature pulse train (i.e. direction of motor rotation). ESRS Front Panel The following illustration shows the placement and labelling of major items on the ESRS front panel. Figure 1.1 ESRS Front Panel Layout

15 Overview 1-3 ESRS Footprint The following figure shows the footprint of the ESRS with fixing hole dimensions and drilling details. Figure 1.2 ESRS Dimensions

16 1-4 Overview ESRS Principal Specifications Mechanical Specifications Table 1.A Mechanical Specifications Enclosure Type Steel case with integral mounting feet on rear edge. Enclosure Size English (inch) 11.6 x 13.5 x 1.7 Metric (mm) 295 x 343 x 43 Environmental Specifications Table 1.B Environmental Specifications Operating Storage Temperature 0 to 60 o C -40 to 70 o C Humidity 95% non 60 o C Power Supply and Fuses Power Supply Specifications Table 1.C Power Specifications Input Voltage +5 or +12V DC. Both ± 5% Current Draw Overcurrent Protection Approximately 0.6A DC Overcurrent protection is provided by separate +5V (F102) and +12V (F103) PCB mounted fuses rated at T1.6A. A spare fuse (F101) is also provided on the PCB. If +5V and +12V are applied simultaneously, the ESRS selects the +12V input. The ESRS is intended to take its power from the encoder supply of the target equipment. However, the user should establish that this supply has sufficient capacity to provide the current indicated above. If necessary, an additional power supply is required see Chapter 2: Installation.

17 Overview 1-5 Quadrature Output Table 1.D Quadrature Output Number of quadrature outputs provided. Output format Output data type Quadrature output frequency One Incremental quadrature with Index pulse. RS422 TTL Levels. 0 to 275kHz. Quadrature output phase Forward is defined as A phase leading B. Reverse is defined as B phase leading A. Index Pulse Table 1.E Index Pulse Index division ratios. Selectable in the range : 2 10, 2 11, 2 12, 2 13 pulses. Index pulse type Gated The index pulse is high (Logic 1 or True) only when the selected division ratio has been satisfied and the A and B phases are High. I/O Filtering Table 1.F I/O Filtering High Frequency Filtering. Over-Voltage Clamping High Frequency filtering is provided on all power, digital and analog I/O lines as appropriate. Over-voltage clamping is provided on the power supply inputs, the quadrature and index outputs, and the EXT LINE SPEED IN input.

18 1-6 Overview

19 Chapter 2 Installation The ESRS is designed to be mounted in an electrical cabinet via the mounting tabs on its back panel. For all applications, this installation method should be observed. Before powering up your ESRS, make sure it has been configured correctly and that all peripheral equipment has been correctly connected to it. ATTENTION! Do not apply power to your ESRS when it is part of a control system without first establishing that this will not have any adverse effects. Do not make or break any electrical connections to your ESRS while power is applied. Do not change any option switch settings on your ESRS while power is applied. Failure to observe the above warnings may cause immediate and uncontrolled movement of controlled hardware, damage to the ESRS, peripheral equipment, and your health and safety. The following safety points must be observed when installing the unit: The 5V or 12V DC supply must be electrically isolated from all other supplies with higher potentials. The 0V (common) side of the 24V DC supply must be connected to a safety ground. The unit is intended for installation and use within an electrical control cabinet in a normal industrial environment. When used in an electrical cabinet, the case of the ESRS must be bonded to the cabinet via the mounting feet. 1

20 2-2 Installation Mounting the ESRS The ESRS must be properly grounded to the metal enclosure panel. The following diagram shows how to ground the ESRS to the panel. Figure 2.1 Mounting and Grounding Diagram Enable Input There are several ways in which the Enable Input can be wired. The diagrams on the following pages indicate the various connection options. The following diagram shows how to connect the ESRS to continually enable the device from the internal Enable supply.

21 Installation 2-3 Figure 2.2 ESRS Continually Enabled Power Supplied by the ESRS

22 2-4 Installation The next diagram shows how to connect the ESRS to enable the device from a source provided by the users equipment. Figure 2.3 ESRS Enabled Power Supplied by Users Equipment

23 Installation 2-5 This figure shows how to connect the ESRS to enable the device from its internal Enable supply and control with volt free contacts. Figure 2.4 ESRS Enabled via Volt Free Contacts Power Supplied by ESRS

24 2-6 Installation This diagram shows how to connect the ESRS to enable the device from a source provided by your equipment and control the Enable with volt free contacts. Figure 2.5 ESRS Enabled via Volt Free Contacts Power Supplied by Users Equipment External Power Supply The following diagrams indicate how an external power supply should be connected to the ESRS in cases where the encoder supply in the target equipment has insufficient capacity to drive it. The

25 Installation 2-7 recommended minimum current capacity for the external power supply is 1 Amp. ATTENTION! The ESRS does not contain reverse supply polarity protection. You must observe polarity when installing the unit. Reverse supply polarity can permanently damage the ESRS. This diagram shows how to connect the ESRS to a power supply adjacent to the ESRS. Figure 2.6 External Power Supply Adjacent to Encoder

26 2-8 Installation The next diagram shows the ESRS connected to a power supply adjacent to the drive or controller. Figure 2.7 External Power Supply Adjacent to Drive/Controller

27 Chapter 3 Operation General Your ESRS is fitted with a range of indicators and controls to allow easy configuration and use. This chapter explains the function and operation of these and provides additional technical data where appropriate. Indicators There are two green LED indicators provided on the ESRS front panel: OK and Enable. The OK indicator relates the status of the applied power (either +5V DC or +12V DC) and associated fuse. When the LED is lit, it indicates that power is applied and the fuse is healthy. The Enable indicator relates the status of the Enable input. When it is lit, the Enable input is active and the ESRS is enabled. Controls The ESRS provides controls for Line Speed, Acceleration, Rounding, and Line Selection. Line Speed The Line Speed control of the ESRS allows the user to set the desired line speed from the ESRS. The control is a 270 degree potentiometer accessible from the front panel of the ESRS. For tamper avoidance, the control is screwdriver operated. The function of this control is dependent on whether the Option Switch is set to Unidirectional or Bi-directional. When Set To Unidirectional When Unidirectional Mode is selected, zero speed occurs in the MIN position and maximum speed occurs in the MAX position. The direction of rotation in this mode is set by the Options switch. 1

28 3-2 Operation When Set To Bi-directional When Bi-directional Mode is selected, zero speed occurs at the center of rotation. Maximum reverse speed occurs in the MIN position and maximum forward speed occurs in the MAX position. Acceleration The Acceleration control allows the user to set the rate of motor acceleration. It is a 270 degree potentiometer accessible from the front panel of the ESRS. For tamper avoidance, it is screwdriver operated. Minimum acceleration occurs in the MIN position and maximum acceleration occurs in the MAX position. The acceleration is continuously variable between these limits. When the rounding switch in the OFF position, the motor accelerates/ decelerates linearly at the rate set by the ACCEL control. For any particular setting, the acceleration and deceleration rates are equal. Rounding The Rounding control lets you round off the acceleration at the start and end points. The Rounding control is a 6 position rotary switch with a knob mounted on the front panel of the ESRS. No rounding is applied in the OFF position. Minimum rounding occurs at the next CW position and the maximum rounding is applied in the MAX position. Within the selected range, the amount of rounding applied is proportional to the rate of acceleration. Line Selection This 3 position toggle switch lets you select whether to use an internal line, an external line or stop. INT Positioning the toggle switch at INT selects the line speed control mounted in the ESRS. STOP Toggling to the STOP position removes all line references and forces the motor to stop when the acceleration and rounding settings allow. The STOP position overrides the Enable input and stops the motor even when the Enable input is active.

29 Operation 3-3 EXT This setting selects a customer supplied line speed input via the EXT LINE SPEED IN input. Inputs and Outputs The following analog and digital inputs and outputs are provided. Line Speed Ref Out The ESRS provides an analog indication of commanded speed after rounding and acceleration have been applied. The analog output range is 0V > Vout > 10V. The output produces a voltage ranging from 0 to +10 V DC as the commanded speed varies from stationary to the selected maximum. Within the speed range selected, the output voltage is directly proportional to speed. In Bi-directional Mode, this output produces +10V DC at maximum speed for both directions of rotation. The direction of rotation is then defined by the quadrature pulse phase via the Phase Output. The impedance of this output is approximately 300Ω. Therefore to ensure low interface errors, any device connected to this output should have an input resistance of greater than 30kΩ. Strobe Out The Strobe Out is a TTL Digital Output providing a buffered signal to trigger stroboscopes, oscilloscopes, and so forth. This output provides a TTL square wave whose rising edge is synchronized to the rising edge of the Index pulse.

30 3-4 Operation The Strobe Out is a square wave. Its falling edge is centered between the consecutive rising edges of the Index Pulse. Figure 3.1 ESRS Strobe and Index Pulses Ext Line Speed In This is an analog input requiring a DC voltage within the range of -10V > Vin > +10V. You can set the commanded speed from an analog voltage within this range. Within the selected range, the motor speed is directly proportional to input voltage. In Unidirectional mode, zero speed occurs at 0V input voltage and maximum speed occurs at +10V DC input voltage. The direction of rotation in this mode is set by the Options switch. In Bi-directional mode, zero speed occurs at 0V DC input voltage. Maximum reverse speed occurs at -10V DC input voltage and maximum forward speed occurs at +10V DC input voltage. When the ESRS is set to EXT, the LINE SPEED control has no function. The input resistance of this input is 100kΩ. Therefore the output resistance of the device driving this input should be 1kΩ or less to avoid interface errors. Input clamping at ±15V is provided at this input. The input current is not limited by the ESRS when clamping occurs. Acceleration and rounding are operational in this mode. P1 The P1 connector is a 2 part 6 way mating screw that lets you make the connection to the Enable Voltage Input and Output and the Direction Output.

31 Operation 3-5 The following table shows the Pin number and its signal name. Enable Voltage This provides a current limited supply to power the Enable input. Enable Input This input, which is opto-isolated, allows control of the ESRS via an applied voltage in the range of 5 to 24V DC. The Enable voltage can be applied with either polarity (AC voltages cannot be used). Voltage must be applied to the Enable Input to make the chosen line reference available. Removing the Enable voltage has the same effect as selecting STOP on the SELECTION switch. In situations where it is required to control the ESRS via volt free contacts, the Enable voltage provided can be routed through these to the Enable Input. In cases where you supply the Enable voltage, the current required to drive this input can be determined by calculating: I ENABLE = (V ENABLE - 1.5) / 4700 Direction Output Table 3.A P1 Pin Functions Pin Number Signal Name 1 Enable Voltage, +15V 2 Enable Voltage, 0V 3 Enable Input 4 Enable Input 5 Direction Input 6 Direction Output, 0V This digital output indicates the phase of the quadrature pulse train. The switched element is a relay with contact rating of 24V DC at 0.5 A. The following table defines the functionality of the Direction Output. Table 3.B Output Direction Values Direction Output Quad. Pulse Phase ON A leads B OFF B leads A

32 3-6 Operation P2 The P2 connector is a 15 way male high density D connector. It allows you to make connection to the quadrature pulse train and index plus power (+5 and +12V DC). The following table shows the Pin Number and the matching Signal name. Table 3.C P2 Pin Functions Pin Number Signal Name 1 A+ 2 A- 3 B+ 4 B- 5 I+ (Z+) 6 Common 7 Common 8 +12V DC 9 +5V DC 10 I- (Z-) 11 Not Used 12 Not Used 13 Not Used 14 +5V DC 15 Shield The A+ and A-, B+ and B-, I+ and I- outputs are RS422 TTL level outputs. These outputs are intended to be connected to bi-directional line receivers in the target equipment. If single ended outputs are required A+, B+, and I+ outputs can be used and A-, B-, and I- are left unconnected. Options Switch The Options Switch is a 10 lever DIP switch mounted on the printed circuit board (PCB). Use this switch to set the various configurations options. With the box mounted vertically, the switch is positioned on the horizontal. Each of the 10 levers is numbered from left to right with 1 being to the extreme left and 10 being to the extreme right. A switch is in the ON position when the upper portion of the lever is depressed. It is in the OFF position when the lower portion of the lever is depressed.

33 Operation 3-7 Setting the Option Switch You must remove the side panel of the ESRS box to gain access to the DIP switches. ATTENTION! Removal of the side panel and setting of DIP switches should be performed by authorized personnel only. Proper safety precautions must be followed to reduce the risk of damage to the unit, other equipment, and health of personnel. Set the DIP switches by pressing the appropriate lever to either its ON or OFF position based on the following switch setting values. When configuring the ESRS with the DIP switches, some of the settings are cumulative. These setting combinations determine the actual configuration. Make sure all of the levers are in the correct position for the desired configuration. Mode Selection DIP switch levers 1 and 2 determine the operating mode of the ESRS. Switch 1 ON = Unidirectional; OFF = Bi-directional. Switch 2 ON = Unidirectional Mode - Forward; OFF = Unidirectional Mode - Reverse. TIP When Switch 1 is in the OFF position, for Bi-directional Mode, Switch 2 has no effect.

34 3-8 Operation Index Division Ratio Selection Switch 3 and Switch 4 are used to create 4 patterns based on their ON/OFF combinations. The patterns determine the pulse ranges, the pulses per revolution, and the counts per revolution. Table 3.D Index Division Ratio Selection Switch Settings for Switch 3/ Switch 4 Pulse Range Pulses Per Revolution Counts per Revolution OFF/OFF ON/OFF OFF/ON ON/ON Maximum Effective Motor Speed The Maximum Effective Motor Speed is dependent on the combined values for Switch 3 and Switch 4. Only one of the switches numbered 5 through 10 should be in the ON position. The default setting has Switch 5 in the ON position with switches 6 through 10 in their OFF positions. TIP Having more than one switch, in series 5 through 10, set to the ON position results in an undefined maximum RPM speed. No switches, in series 5 through 10, set to the ON position results in an output speed of zero. In either case, no damage is done to the ESRS. Table 3.E Maximum Effective Motor Speed (RPM) Selection Switch Number Switch 3 and 4 set to: OFF/OFF Switch 3 and 4 set to: ON/OFF Switch 3 and 4 set to: OFF/ON Switch 3 and 4 set to: ON/ON

35 Index A Allen-Bradley Support P-5 C Common Techniques P-4 Connecting external power supply 2-6 External Power Supply Adjacent to Drive/Controller 2-8 External Power Supply Adjacent to Encoder 2-7 Contents of this Manual P-3 Continually 2-3 Controls 3-1 Acceleration 3-2 Line Selection 3-2 Line Speed 3-1 When Set To Bi-directional 3-2 When Set To Unidirectional 3-1 Rounding 3-2 E Enable Input 2-2 Enabled Output Continually Enabled 2-3 ESRS Enabled 2-4 ESRS Enabled via Volt Free Contacts 2-5 ESRS Enabled via Volt Free Contacts Power Supplied by Users Equipment 2-6 ESRS Description 1-1 ESRS Dimensions 1-3 ESRS Front Panel Layout 1-2 External Power Supply 2-6 F Front Panel 1-2 I Inputs and Outputs 3-3 Ext Line Speed In 3-4 Line Speed Ref Out 3-3 P1 3-4 P2 3-6 Strobe Out 3-3 Strobe and Index Pulses 3-4 Installation 2-1 Mounting and Grounding 2-2 safety points 2-1 wiring Enable Input 2-2 L LED Enable indicator 3-1 OK indicator 3-1 LED indicators 3-1 O Operation 3-1 Options Switch 3-6 Setting 3-7 Index Division Ratio 3-8 Maximum Effective Motor Speed 3-8 Mode Selection 3-7 P P1 3-4 Direction Output 3-5 Enable Input 3-5 Enable Voltage 3-5 P1 connector 3-4 P2 connector 3-6 Principal features 1-1 Product Receiving P-4 Purpose of this Manual P-1 R Read This Manual P-1 Related Documentation P-3 S Safety Precautions P-2 Specifications 1-4 Environmental 1-4 I/O Filtering 1-5 Index Pulse 1-5 Mechanical 1-4 Power Supply 1-4 Quadrature Output 1-5 Storage Responsibility P-4 Support Allen-Bradley, P-5 local product, P-5

36 I-2 Index technical product assistance, P-5 support On the Web P-6 W Who Should Use this Manual P-1 World Wide Web site P-6 T Terminology P-3

37 Back Cover 1 Supersedes Publication November 1998 PN 4100-IN505A 2000 Rockwell International Corporation. Printed in the U.S.A.