Schneider Electric Interface extension option board. User Guide
Schneider Electric Interface extension option board
The Schneider Electric Interface extension option board, model VW1-RZD101, is a valuable addition to the RECTIVAR 4 series 74/84 range of digital variable speed controllers. It enables advanced functionality such as multi-drop serial link communication and digital speed regulation, expanding the capabilities and versatility of the speed controllers.
- Multi-drop serial link: This feature allows the speed controller to communicate with multiple devices over a single RS485 serial link using UNI-TELWAY or MODBUS protocols. This enables integration into larger control systems and remote monitoring and control capabilities.
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12
12
12
12
12
12
12
12
A B C
12
12
R ®
4
Three phase digital variable
speed controllers for DC motors
Interface extension option board
VW1-RZD101 user's manual
Contents
Presentation - Mounting
Multi-drop serial link
UNI-TELWAY protocol
Digital speed regulation
Presentation
Frequency generators
Binary reference input
Dialogue extension
Page
3
4 to 7
8 - 9
10 to 18
19
20 - 21
22
23
1
Presentation - Mounting
Mounting
Designed as an option for the RECTIVAR 4 series 74/84 digital variable speed controllers, the interface extension option board enables processing within the speed controller, of the following complementary functions :
- RS485, UNITELWAY or MODBUS multi-drop serial link
- digital speed regulation, via additional inputs :
• pulse encoder speed feedback
• pulse encoder speed reference
• speed reference in absolute binary code.
This option can be combined with certain special application cartridges (see corresponding user's manuals). It assumes the use of the software RTV 74/84, version 2, or any later version.
If the board is installed with a previous software, it is ignored.
The board, supplied separately, should be mounted and connected with the speed controller switched off, in the control rack under the display board.
Connect the option board's flat cable to the control board's J4 connector. Connect the supply cable from the control transformer, already provided in the control enclosure, to the option board connector. If this is not done, the connection fault for this cable will be displayed as initial fault "+5V. Option".
Display board
Fixing using the kit supplied with the board
5V control transformer flat connection cable
Flat connection cable on the control board
123
123
123
12
12
12
A : 15 pin connector for both pulse encoders, speed feedback and reference
B : 15 pin connector for absolute code speed reference
123
123
123
A B C
12
12
12
C : 15 pin connector for multi-drop serial link
Connectors A - B - C are electrically protected against incorrect fitting.
This manual is provided as an addition to the user's manual n
°
42085, which should be referred to separately.
3
4
Multi-drop serial link
RS485 - Reminders
The option board's C connector enables connection of an RS485 serial link which in turn, enables
®
This cannot be combined with the speed controller's standard point to point serial link. Communication with RECTIVAR 74/84 speed controllers is carried out via objects, bits or special words described in the user's manual for RECTIVAR 74/84, which should be referred to for this definition. The description of the protocols is given on the following pages.
- differential transmission mode,
- direct connection using 2 screened and twisted pairs
- a terminal device is required at the each end of each line (line end adaptation)
- number of stations : 28 maximum
- line length : up to 1 km
- tap-junction connection : possible up to 20 m maximum.
slave I
E
R slave 1
E
R slave N
E
R
Zt Zt
The reference potential for each interface must be connected in order to avoid common mode voltages which can be high.
0V
4,7K
Ω
E
R
+5V
4,7K
Ω
Reference potential
D (A)
D (B)
7
14
8
15
120
Ω Zt
1 nF
Line termination recommended at both ends
(for example via
TSXSC61 enclosure)
Multi-drop serial link
Addressing
The UNI-TELWAY standard C connector (sub D 15 pin female) carries :
5
6
7
8
9
3
4
Pin
1
2
13
14
15
10
11
12
Signal
ENA
N1
N3
PAR
COM
Description
Station address binary weight 2
Station address binary weight 8
Station address parity
Station address common
D (A)
OVL
N0
N2
N4
UTW
+5VL
D (B)
OVL
RS485 line
RS485 reference potential
Station address binary weight 1
Station address binary weight 4
Station address binary weight 16
Console supply
RS485 line
RS485 reference potential
The RECTIVAR speed controller's address is written in configuration (see later). The standardised terminals N0, N1, N2, N3, N4, PAR and COM are not used by the RTV 74/84.
The TSXSCA60 line continuity module and TSXSCA61 line end module or TSXSCA62 subscriber module microcontact address codings are not used.
The TSXSCA60 terminal ensures line continuity
(and enables the coding of the address on microcontact for devices without address programming : LT8, ATV5 ...).
Terminal TSXCS61 should only be used at line end : it includes the end of line adaptation (and enables the coding of the address on microcontact for devices without address programming : LT8, ATV5 ...)
5
Multi-drop serial link
Connection to
UNI-TELWAY bus
Examples
The RS485 isolated line must be adapted at both ends. Physical connection to the UNI-TELWAY bus can be carried out in two ways, which can be used in combination : daisy chain and tap junction connection.
Various accessories are available to facilitate connection of the system to the bus :
• TSXSCA60 : daisy chain connection module, for mounting directly onto connector C.
• TSXSCA61 : as above, with, in addition, assurance of line end adaptation.
• TSXSCA62 : subscriber connector for 2 systems including end of line adaptation when the connector is at the end.
• TSXCSE015 : standard cable (L = 1,5m) fitted with 2 connectors. To be used between connector C and subscriber connector TSXSCA62.
The bus comprises a screened cable with a double pair of twisted conductors. It is available in three lengths :
• TSXCSA100 : length 100 m
• TSXSCA200 : length 200 m
• TSCSCA500 : length 500 m
For more details about these connection accessories, please refer to "UNI-TELWAY REFERENCE
MANUAL".
The address of the Rectivar can only be configured by the keypad and not via the cable.
With series 7 programmable controller.
TSX SCM21.6
6
†
RTV-74/84
+
VW1-RZD101
†
TSX CSB015
TSX SCA62
TSX CSA cables
TSXCSA cable
RTV-74/84
+
VW1-RZD101
TSXCSA cable
TSX SCA61 TSX SCA60
TSX SCA62
†
RTV-74/84
+
VW1-RZD101
TSX CSE015
†
RTV-74/84
+
VW1-RZD101
TSX CSE015
TAP JUNCTION
DAISY CHAIN
Multi-drop serial link
Configuration extension
Protocols
The presence of the VW1RZD101 board causes the additional parameters to be displayed in the speed controller's basic configuration, after automatic recognition of the speed controller rating.
The indications given in the boxes below correspond to factory standards.
VW1RZD1 option…
Ind…
Recognition of the presence of the option board and its update index.
ENTER
To mains frequency and voltage recognition
After 2 quadrant function
Link protocol
Not assigned
Choice of protocol, types of serial link RS485 requests on C connector.
In the event of the answer "Not assigned", only the
0,20 mA point to point serial link can be used.
The "Serial link" fault monitors the only link chosen.
or UNI-TELWAY or MODBUS RTU or MODBUS ASCII or ASCII
Answer "Not assigned" or "ASCII"
Answer "UNI-TELWAY" or MODBUS RTU" or "MODBUS ASCII"
S.link speed
9600 bauds or 1200 bauds or 2400 bauds or 4800 bauds
Choice of the multi-drop link speed.
Adjust to the speed of the slowest device installed in the network.
Scroll down the answer and/or ENTER
Drive address
1
Display of the speed controller's address in the multidrop network from 1 to 253.
To inputs/outputs assignment
Scroll down the answer and/or ENTER
Caution : It is very dangerous for several devices to have the same address in a multi-drop network. Ensure that distinct addresses are given.
• In particular, when replacing an RTV 74/84, ensure that the old address is reconfigured. Using the previous, preconfigured EEPROM memory cartridge will ensure address memorisation.
Protocols UNI-TELWAY and MODBUS RTU or ASCII ar described in the following pages.
Point to point ASCII protocol, is described in user's manual n
°
42085.
Word formats are fixed (not adjustable) according to the protocol selected :
- UNI-TELWAY or MODBUS RTU (or ASCII)
1 start bit, 8 data bits, 1 parity bit : Odd, 1 stop bit
- MODBUS ASCII
1 start bit, 7 data bits, 1 parity bit : Odd, 1 stop bit.
7
8
Multi-drop serial link
UNI-TELWAY protocol
Structure of the data
Access to the data
The adjustment, command, control and supervision of the electronic power or protection products, is carried out via the data (or objects), peculiar to each product.
This comprises essentially :
• BITS known as Bi (i = bit number) which enables the logic commands to be carried out.
• WORDS (of 16 bits) described as Wi (i = word number) which will be used to memorise either complete numerical values (- 32768 to + 32767) or 16 independent logic states (these words are called registers).
See addresses described in the user's manual for the RECTIVAR 74/84 (42085).
The UNI-TELWAY application protocol defines standard requests, enabling the reading or writing of this data. General use requests are also available to the user for setting up, diagnostic, and communication test functions.
Some data is accessible in write as well as read : these are the bits and words corresponding to adjustments, references and commands. This data is used by the product.
However, data developed by the system are only accessible in read (signalling, fault data…).
Writing of this data is meaningless and is refused.
UNI-TE request
Identification
Protocol version
Status
Mirror
Error counter reading
Counter reset code (hexa)
H"0F"
H"60"
H"61"
H"FB"
H"A2"
H"A4"
UNI-TE request
Bit read
Bit write
Word read
Word write
Object read
Object write code (hexa)
H"00"
H"10"
H"04
H"14"
H"36"
H"37"
The table above specifies the requests accepted by the RECTIVAR RTV 74/84 speed controller.
Details of the coding is given in the UNI-TELWAY reference manual.
Object read and write requests :
These requests enable access to several words within the limits specified above. The coding of these requests can be carried out by specifying :
Question code (TXTi,C) = H'36' (read) ou H"37" (write) 60 words
Category = 0...7
Segment
Object type
= H'68' (internal word)
= H'06' for byte (8 bits) or
H'07' for word (16 bits)
Object address
Etc.
= H'xxx'
Multi-drop serial link
UNI-TELWAY protocol
Answers to the requests
Programming examples
Identification request
Response code = H'3F'
Product type = H'15'
Subtype = H'4A' (series 74) or H'54' (series 84)
Product version = H'XX' RECTIVAR software version
ASCII* chain = product symbol (e.g. : RTV84D32)
*The first byte corresponds to the length of the chain.
Status request
Response code = H'61'
Current state = H'XX' bit 0 : internal fault bit 1 : correctable fault bit 2 : non correctable fault bit 3 : not significant
State mask bit 4 : not significant bit 5 : not significant bit 6 : speed controller ready bit 7 : speed controller in LOCAL control
= H'C7' gives the significant bits of the current state
For a TSX7 with use of text block, READING of words W20 to W24 of the
RTV 74/84
1 - Using an word object type = H'07'
Text block on transmission
TxTI,C = H'0736 (category + request)
TxTi,L = 6
+ transmission table
Text block on reception
TxTi,V = H'66' (report)
TxTi,S = 11 (11 bytes received)
+ reception table
Word type Internal word segment
H'07' H'68' number of first word 20
5 words to read
5
W20 (least signif.) H'07
W21 (least signif.)
W22 (least signif.)
W20 (most signif.)
W21 (most signif.)
W23 (least signif.) W22 (most signif.)
W24 (least signif.) W23 (most signif.)
W24 (most signif.)
The data received in the reception table is shifted by one byte. The application programme has to carry out a correction (by successive shifts, for example), before using the data.
2 - Using an object type byte = H'06'
Text block on transmission
TxTi,C = H'0736 (category + request)
TxTi,L = 6
+ transmission table
Word type Internal word segment
Text block on reception
TXTi,V = H'66' (report)
TXTi,S = 12 (12 bytes received)
+ reception table
H'06' H'68'
39
11
W19 (most signif.)
W20
W21
W22
W23
W24
H'06'
11 bytes to read (most significant of W19 + 10 bytes comprising W20 to W24)
Number of the first byte (the most significant of W19 has as its address 2 x 19 + 1 = 39)
This programing enables correct framing of the words in the reception table directly.
9
Multi-drop serial link
Principle
several slaves).
MODBUS protocol enables, via the master, the interrogation of several intelligent slaves.
A multi-drop link connects together the master and slaves. Two types of dialogue are possible between master and slaves :
- the master talks to one slave and waits for its answer
- the master talks to all the slaves without waiting for an answer (principle of general distribution).
The master controls the exchanges, and only the master takes the initiative. The master repeats the question, in the event of an incorrect exchange, and announces the slave as absent if no response is received within a certain time limit. Only one device can be in the process of transmitting on the line at any one time. No slave can send a message itself without first having been invited to do so.
MASTER
Slave J
Slave i Slave K
Note : no lateral communication (that is, from slave to slave), can be carried out directly.
The master's application software must have been designed to cover this : interrogate a slave and send the data received to another slave.
10
Multi-drop serial link
Accessible data
assures the control of these exchanges.
As a result, within each slave, areas of bits are defined which will either be read or written by the master.
An input object can be read, only.
An output object can be read or written.
Slave I
Master Slave J
Input bits
Output bits
Input words
Output words
The exchanges
Slave K
The master, or the supervisor, takes the initiative in exchanges. The master addresses a slave by supplying it with four types of data:
- the slave's address
- the function required from the slave
- data zone (varies depending on the request)
- exchange control.
The link master waits for the slave's answer before transmitting the next message. In this way, any conflict on the link can be avoided. This authorises operation in half duplex.
11
Control and supervision
Multi-drop serial link
®
MODBUS protocol
Any control of exchanges between two devices communicating by asynchronous serial link includes, obviously, exception answers when exchange faults occur. Various incoherent messages can arrive at a slave. In this case, the latter tells the master that it has not understood, and the master takes the decision whether or not to repeat the exchange.
MASTER
SLAVE
†
RTV-74/84
+
VW1-RZD101
The master has access to a certain amount of data retained and controlled by the slave,. The master accesses this data via special function codes (diagnostic, events counter reading...).
- the main functions, enabling data exchange
- the additional functions for exchange diagnostic.
From the master's point of view, the definition of the "read", "write" functions are as follows :
D Code Nature of the functions
01
02
03
04
05
06
08
11
16
Reading of N output bits
Reading of N input bits
Reading of N output words
Reading of N input words
Writing of an output bit
Writing of an output word
Diagnostic (see details)
Reading of events counter
Writing of N output words
D
D
D
RTV 74/84
1 maximum
1 maximum
60 maximum
60 maximum yes yes yes yes
60 maximum
The functions noted as "D" can be used in general distribution. The message transmitted by the master must, therefore, specify a slave number = 0.
There is never an answer message in return.
12
Multi-drop serial link
Details of the functions
Code 01
Code 02
Code 03
Code 04
Code 05
Code 06
: Reading of N output bits
This function enables the reading of output bits (which can be written and read in the slave by the master).
: Reading of N input bits
Identical to the above, except that the bits are input bits (which the master can only read)
: Reading of N output words
This function enables the reading of output words (which can be written and read in the slave by the master)
: Reading of N input words
Identical to the above, except that the words are input words (which the master can only read)
: Writing of an output bit
Enables an output bit to be positioned at 0 or 1 (only accessible in write mode)
: Writing of an output word
Enables the writing of a 16 bit output word (only accessible in write mode)
The diagnostic function code 08 is always accompanied by a subcode :
Code 08/00
Code 08/01
: Echo
This function requires the slave being interrogated to send back to the master, the completemessage sent by the master.
: Reinitialisation of the channel
This function enables reinitialisation of a slave's communication and, in particular, enables its being made to quit "listen only" mode.
Code 08/03
Code 08/04
: ASCII delimiter change
In ASCII mode, the messages are delimited by line feed characters (LF = H'0A).This function enables the character to be changed.
: Change to LOM mode
This function enables a slave to be forced to change to listen only mode (LOM).
In this mode, the slave does not process the messages sent to it and never transmits an answer, other than to reinitialise a channel.
Code 08/0A : Counter reset
This function carries out the reset to zero of all the counters monitoring a slave's exchanges.
Code 08/0B : Number of messages seen on the line
This function enables reading on a 16 bit counter (increased from 0 to FFFF) which calculates the total number of messages seen on the line and processed by the slave.
Code 08/0C : Number of messages received after a checksum error (reading of a 16 bit counter)
Code 08/0D : Number of exception answers
Reading of a 16 bit counter calculating the total number of exception messages transmitted by a slave to the master (following an incorrect data link).
Code 08/0E : Number of messages addressed to the slave
Reading of a 16 bit counter calculating the total number of messages, whatever their nature.
Code 11
Code 16
: Events counter reading
This function enables two 16 bit words to be read :
- a status (always zero)
- a counter which increases on each reception of a correct message (form and contents) sent to the slave, except for exception answers.
: Writing of N output words
This function enables the master to write output words in the slave (words which can either be written or read).
13
Multi-drop serial link
®
MODBUS protocol
®
MODBUS frames
Two transmission modes can be used, one of them only being used in a system.
RTU mode
®
The frame defined for the MODBUS protocol includes neither message heading bytes, nor end of message bytes. Its definition is as follows :
Address Request Data CRC16
The data are transmitted in binary code.
CRC16 : cyclical redundancy check parameter
ASCII mode
The data link is complete and is defined as follows :
Heading Address Request Data LRC End of "CRLF"
- heading = ":" (H'3A),
- the data is in ASCII code : each byte is divided into two nibbles and each nibble is coded with an
ASCII character (O to F),
- LRC : longitudinal redundancy check parameter
- end = "CR" "LF" (H'OD and H'OA).
Details of the frames
(RTU mode)
Reading of N bits : function 1 or 2
Question
Slave n
°
1 byte
1 or 2 N ° of 1 st bit Nbr of bits
PF Pf PF Pf
1 byte 2 bytes 2 bytes
Answer
Slave n
°
1 byte
1 or 2
1 byte
Nbr of bytes Value read
1 byte
CRC16
2 bytes
PF = Most significant
Pf = Least signifigant
......
Value CRC 16
......
2 bytes
Example : reading of bit B3 of slave 2
Question 02 01 0003 0001 CRC16
Answer 02 01 01 CRC16
00 if B3 = 0
01 if B3 = 1
14
Multi-drop serial link
®
MODBUS protocol
Details of the frames
(RTU mode)
Reading of N words : function 3 or 4
Question
Slave n °
1 byte
3 or 4 n
°
of 1 st word Nbr of words CRC16
PF Pf PF Pf
1 byte 2 bytes 2 bytes 2 bytes
Answer
Slave n
°
1 byte
3 or 4 Nbr of bytes Value of 1 read
1 byte 1 byte
PF Pf
2 bytes st word
......
......
Value of last word
PF Pf
2 bytes
CRC16
2 bytes
Example : Reading of words W20 to W24 of slave 6
Question 06 04 0E 05 CR16
Answer
...............
06 04 0A xxxx xxxx CR16
Value of W20
Value of W24
Writing of an output bit : function 5
Question
Slave n °
1 byte
5 Bit n
°
PF Pf
1 byte 2 bytes
Value of bit
2 bytes
CRC16
2 bytes
Answer
Slave n
°
1 byte
5 Bit n
°
PF Pf
Value of bit
1 byte 2 bytes 2 bytes
Example : writing of value 1 in bit B3 of slave 2
CRC16
2 bytes
Question 02 05 03 FF00 CR16
Answer 02 05 03 FF00 CR16 the field "value of bit" has two possible values, excluding any other value :
- bit at 0 = 0000
- bit at 1 = FF00
15
16
Multi-drop serial link
®
MODBUS protocol
Writing of an output word : function 6
Question
Slave n
°
1 byte
6 Word n
°
PF Pf
1 byte 2 bytes
Word value
PF Pf
2 bytes
CRC16
2 bytes
Answer
Slave n
°
1 byte
6 Word n
°
PF Pf
Word value
PF Pf
CRC16
1 byte 2 bytes 2 bytes 2 bytes
Example : writing of value 3A15 in word W12 of slave 5
Question and answer
05 06 OC 3A15 CRC16
Diagnostic : function 8
Question / Answer
8 Slave n
°
1 byte 1 byte subcode
2 bytes
0B
0C
0D
0E
Subcode
00
01
03
04
0A
00
00
00
00
Question data
XY
00
X0
00
00 data CRC16
2 bytes 2 bytes
XY
XY
XY
XY
Answer data
XY
00
X0 no reply
00
Function carried out
Echo
Reinitialisation
X = new delimiter
Change to LOM
Reset counters to 0
XY = value included
" " " "
" " " "
" " " "
Reading of events counter : function 11
Question
Slave n
°
1 byte
0B CRC16
1 byte 2 bytes
Answer
Slave n
°
1 byte
0B
1 byte
00 00
2 bytes
Counter value
PF Pf
2 bytes
CRC16
2 bytes
Multi-drop serial link
®
MODBUS protocol
Writing of N output words : function 16
Question
Slave n
°
1 byte
10
PF = Most significant
N
°
of 1 st word Nbr of words
PF Pf PF Pf
Pf = Least significant
Byte
Nbr
...........
Value of 1 st word etc CRC16
PF Pf
...........
1 byte 2 bytes 2 bytes 1 byte 2 bytes 2 bytes
Answer
Slave n
°
1 byte
10 N ° 1 st word
PF Pf
Nbr of words
PF Pf
CRC16
1 byte 2 bytes 2 bytes 2 bytes
Example : writing of values 1, 2 in words W16, W17 of slave 11
Question
Answer
0B
0B
10
10
0010 0002 04 0001 0002 CRC16
0010 0002 CRC16
Exception answers
An exception answer is sent back by the slave when it cannot carry out the request it has received.
Calculation of CRC16
Formation of an exception answer
CRC16 Slave n
°
1 byte
Answer Error code code
1 byte 1 byte 2 bytes
Answer code : question function code + H'80 (the highest ranking bit is set to 1).
Error code : 1 = the function requested is not recognised by the slave.
2 = the numbers (addresses) of the bits and the words given when the request was made are not present in the slave.
3 = the values of the bits and the words given when the request was made are not permitted in the slave.
4 = the slave has started to carry out the request, but cannot continue to process it completely.
The CRC16 is calculated from all the message bytes, using the following method :
Initialise the CRC (16 bit register) at H'FFFF
From the 1 st to the last byte of the message, calculate :
CRC X0R < byte> CRC
Carry out 8 times
Shift the CRC one bit to the right
If the output bit = 1, calculate CRC X0R H'A001 CRC
End of process.
End of process
The CRC obtained will be transmitted least significant first, most signifcant next.
X0R means exclusive OR.
17
ASCII mode
Multi-drop serial link
®
MODBUS protocol
®
In this mode, the MODBUS frame has the following structure :
.....................................
• Slave n
°
Function Data
• code
.....................................
LRC
PF Pf
CR LF
Data identical to RTU mode but coded differently
Delimiters : ":" = H'3A', CR = H'0D', LF = H'0A'
Data : the data field is analogue with the RTU frames, but coded in ASCII character. Each byte is divided into 2 nibbles and each of them is encoded in its ASCII equivalent.
Example : the byte containing the number of slave 06 will be coded by the 2 ASCII characters "0" and "6", that is by H'30' et H'36'.
LRC : the module 256 hexadecimal sum of the data link contents (without delimiters) before
ASCII coding, 2's complement.
The byte thus obtained is then coded in 2 ASCII characters, as previously.
18
Digital speed regulation
Presentation
The basic RTV 74/84 is programmed to carry out the cascade of the speed and current regulation loops with an accuracy which relies on the analogue speed signal conversion resolution.
As a reminder, these conversions are at
±
2000 points with a time of 13,3 ms at 50 Hz at the reference inputs and 10 ms at 50 Hz on the speed feedback : tachogenerator or armature current.
These inputs are also filtered with a time constant of about 100 ms.
The interface extension board enables speed reference and feedback signal resolution to be increased in such a way as to optimise the RTV 74/84 microprocessor calculation capacity which is
±
32 000 points at the speed regulator inputs.
To do this, the board enables connection of the two speed frequency signals to the A connector, and the parallel link connection of a binary signal to the B connector.
• The two speed frequency signals have a static conversion of 28 800 points for 100 kHz, that is,
32 600 points less ~ 10 % for a calculation and overspeed capacity reserve. These conversions are taken into account at 50 Hz every 10 ms without filtering (every 8,5 ms at 60 Hz).
- The F1 signal (see page 20) serves as a configurable speed feedback, instead of a tachogenerator or an armature voltage reading : in particular, it is an incremental encoder, mounted on the shaft of the driven motor.
- The F2 signal (see page 21) serves as an independent speed reference for the internal ramp, replacing the ramp output : it is a frequency generator, or an incremental encoder mounted on a pilot motor.
• The BI binary signal is in pure 12 bit binary plus sign, that is
±
4000 points (page 22).
The latter can be a series of programmable controller logic outputs, or an absolute encoder driven by a master controller or encoding wheel.
This digital input is considered as an additional input to the speed amplifier, independent from the ramp but proportional to its output after a division by 4. The
±
4000 points of the BI input are therefore homogeneous to
±
8000 points at the F2 input, or 2,5V at the E1 input at full scale.
Block diagram extension
AI BI
±
4000
E1
E2
EC
Internal speed ref.
1/4
+
X
+
>
X
+
+
X
±
32000
N X I
I
F2
±
32000
F1 DT U
19
Digital speed regulation
Frequency generators
The A connector on the option board enables connection of the two frequency generators, for example, double channel incremental encoders.
The characteristics of inputs F1 and F2 are :
- maximum frequency : 100 kHz (above this there is a danger of data loss). Selection of a maximum frequency between 80kHz and 100 kHz is recommended, in other words, the 60 th of the sum of the maximum speed configuration (of the motor) multiplied by the number of pulses per encoder revolution,i.e. between 80000 and 100000 Hz.
Example : with maximum speed configured at 3000 rpm, the number of impulses per revolution of the driven motor will be between
80 000 x 60 / 3000 = 1600 and 100 000 x 60 / 3000 = 2000
A lower resolution causes a loss in proportion to the accuracy of the conversion.
- minimum frequency : 4 Hz for significant capture at low speed
- impulse signal voltage level : according to RS422,
- signal form : according to RS422,
- signal nature : A. B. A. B (0 signal unnecessary),
- reminder of standard RS422A.
• Operation in differential mode.
• Transmission signal A. A :
≤
6V output voltage
ZI = 100 to 150
Ω
.
Cable termination resistance to be
added by user.
• Transmission signal B. B : Identical.
generator
G
A cable
ZI load
A receiver
R
A
A
10k
• Speed 100 kbits/second maximum with :
minimum load impedance = 100
Ω
,
maximum cable length = 1200m.
1,2k
1k
- Due to the internal multiplication by 4 check that times between increasing and decreasing signals are equal ( cycle ratio 1).
If not, there is a risk to loose data at frequence near 100kHz
100
Speed feedback : F1
10
10k 100k 1M
- 5V supply available (including supply for BI input) : 350 mA for the RECTIVAR. Above this capacity, fit a supply external to the RECTIVAR.
- Encoders external connection by 1,5 mm 2 minimal cross section by screened pairs.
The RECTIVAR's configuration procedure offers the exclusive choice of speed feedback :
"Armature voltage"- "Tachogenerator" - "Pulse encoder", the latter choice is only avalable if the board in question has been detected as having been installed in the RECTIVAR. If this selection is made, the resolution of the encoder in pulses per motor revolution must be configured and causes the scaling up of the digital frequency conversion.
The pulse counting direction (with internal multiplication by 4) determines the speed feedback signal.
It should be noted that the "Reverse speed feedback function" enables the direction of the signal capture to be reversed, without modifying the wiring.
20
Digital speed regulation
Frequency generator
F2 speed reference
Once it has been detected that the interface extension board has been connected inside the
RECTIVAR, the configuration continues after the Speed feedback reversal as follows :
Board absent
Board present
Freq. ref. by F2 ?
No
Answer No and ENTER
Answer Yes and ENTER
No or Yes decision whether to use F2 as a direct speed amplifier reference.
This assignment disconnects the internal ramp, except for the Internal speed ref. function, where appropriate. In addition to this, the AI input can no longer be assigned for anything other than Arm. I ext. lim. or Not assigned.
However, the use of the BI input can be combined with input F2.
F2 input
8000 x 10 Hz
Scroll down the answer and/or ENTER
Indication of the maximum frequency supplied by the generator. This value will be converted to 28800 points homogeneous with the analogue reference's
10 volts.
Adjustment limit : from1000 x 10 Hz to 9999 x 10Hz by default : 8000 x 10 Hz (80 kHZ)
Change to rated speed configuration.
For the taking into account of the F2 input, even when used alone, a FORWARD or REVERSE logic signal is necessary. Reverse inverts F2's signal.
The Low speed, Faster/Slower, Reference detector, and Rounded Ramp functions are not configurable in Yes if F2 is assigned to the reference above.
Connection of the frequency generators to the A connector (sub D15 pin female, male connector provided).
11
12
13
14
15
8
9
6
7
10
Pins
3
4
1
2
5
+ 5V
NC
BN -
AR +
BR +
AR -
BR -
NC
NC
NC
Signals Description
NC
AN +
BN +
AN -
GND
Not used
Signal A from F1
0V
" B from F1
" A from F1
5V supply
Not used
Signal B from F1
Signal A from F2
" B from F2
" A from F2
" B from F2
Not used
AN, BN = F1 AR, BR = F2
Warning :
The complementary signals must be connected by the same chielded pair.
Example:
AN + with AN -
BN + with BN -
Use a screened twisted pair cable without any electrical breaks in the screen :
- Controller side : screen connected to earth pin of
SUB-D connector.
- Encoder side : leave unconnected.
Cable dimensions :
1,5 mm 2 minimum for the connection between enclosure and encoder.
0,4 mm 2 maximum for cabling the interior of the enclosure with SUB-D connector (length as short as possible).
21
Digital speed regulation
Binary reference input
BI input
The B connector on the option board enables connection of a 13 bit binary signal, an absolute encoder, for example, in parallel links.
If the board is detected in the RECTIVAR, the configuration of the special assignments of the inputs/ outputs is as follows :
After assignment of K2 relay
BI input
Not assigned
Assignment of the BI input function to :
- Summing reference on the speed amplifier
(see function at AI).
- Not assigned.
Scroll down of the answer and/or ENTER
• The Add ref. sp. ampli. function cannot be assigned to
BI and AI at the same time. If it is selected for BI, it will no longer appear in the AI assignment menu
Change to assignment of
AI input
• The Add ref. sp. ampli. function at BI is not locked by the serial link's analogue line mode. It can, therefore, be combined with the E1, E2, Ec and AI analogue reference inputs, or with frequency F2 in local mode and with writing of analogue command words in serial link line mode, except word
W28 which cannot be written if BI is assigned to this function.
BI input characteristics
- 5V TTL signal
- Command by 0V signal, i.e. external common : to speed controller 0V
- Consummation per input bit : 15 mA i.e. 195 mA for 13 bits
- 5V supply available (including supply for inputs F1, F2) : 350 mA via the RECTIVAR. Above this capacity, fit a supply external to the RECTIVAR.
Input connected to B connector (sub D 15 pin female, male connector provided).
Pins Signals Description
10
11
12
13
14
15
7
8
5
6
9
3
4
1
2
D0
D1
D2
D3
GND
+ 5V
D4
D5
D6
D7
D8
D9
D10
D11
D12
2 0 : 1
2 1 : 2
2 2 : 4
2 3 : 8
0V
5V supply
2 4 : 16
2 5 : 32
2 6 : 64
2 7
2 8
: 128
: 256
2 9 : 512
2 10 : 1024
2 11 : 2048
Sign
Use a screened twisted pair wires. The screen must be connected at the earth connection of the
SubD connector on the controller side. The other end must remain unconnected.
22
Digital speed regulation
Dialogue extension by serial link
Telemecanique encoders
• The read - write words, W0 to W29, are not modified, either in their functions, or their unit value definitions.
W27 can be switched using F2 in line mode, its resolution being
±
32000 points.
• Additional read words are used, involving :
- W48 : F1 speed feedback
- W49 : F2 speed reference resolution
±
- W51 : BI binary input, resolution
±
4000 points.
32000 points (28800 = Max speed).
• The configuration, where necessary, of the BI input can be read on the bits W59,4 to W59,7
(CBI) with decimal values identical to the similar assignments of the AI input (bits W59,0 to
W59,3).
• The configuration of the F2 input can be read on bits W60,C to W60,F with decimal values :
1 : not assigned
2 : Dir. ref. sp. ampli
Some option cartridges can increase the number of codes. A test at a value which is not zero can comprise a presence check via the serial link of the interface extension option board.
According to the need, the encoders with following references can be used:
- XCC HE7 A40
- XCC HF6 B55
- XCC HF7 B50
- XCC HH7 B55
1000 pulses/rotation,
2500 pulses/rotation,
+ 0,10V output diameter 58, diameter 58, axle ø6 axle ø10
2000 pulses/rotation, diameter 58, axle ø10
2500 pulses/rotation, diameter 100, axle ø10
See relevant catalogue.
23
42095 AOUT 1994
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