Each of the two high-speed channels on the U14 module are independently configurable as SSI, MDT, or Quadrature. These channels must be configured before being used for such tasks as assigning to axis inputs. To configure the channels, open the U14 properties:
In the Project Pane, expand the Modules folder.
Double-click the desired U14 module, then choose the Configuration page.
Each channel can be configured to operate in one of the modes listed in the table below. See the sections below for instructions on configuring the channels for specific uses.
SSI/MDT Input
Allows the channel to be used as an SSI or MDT input to be assigned to a control or reference axis.
Quadrature Input
Allows the channel to be used as a A-quad-B quadrature encoder or pulse input to be assigned to a control or reference axis. One I/O point per channel (Reg/Z0 for channel 0 or Reg/Z1 for channel 1) can be used as a reference or home input for high-speed count latching.
SSI Monitor Input
Allows the channel to monitor the SSI data transfer between two other devices. The channel's clock and data are both set as inputs. This channel can then be assigned to a control or reference axis.
SSI Echo Output (Channel 1 only)
Automatically outputs the data from channel 0 onto channel 1. Channel 0 must first be configured as an SSI input. Channel 1 behaves as an SSI device, with a clock input and a data output. The data format and number of data bits will be the same as channel 0. The external clock may be in the range 25 kHz to 8 MHz.
Configure Channel as a Quadrature Axis Input
For each channel that will be used as a quadrature input, do the following:
Choose Quadrature Input, then click OK.
Wire the quadrature input as described in the U14 Wiring topic.
Assign the input to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, set the following axis parameters:
|
Required |
|
Application-specific |
If the input is in the middle of a daisy-chained signal, consider especially setting the Quadrature AB Termination and Quadrature Z Termination to disable termination. See U14 Wiring for details.
Scale the axis feedback as described in the Quadrature Scaling topic.
Configure Channel as an SSI Axis Input
For each channel that will be used as an SSI input, do the following:
Choose SSI/MDT Axis Input, then click OK.
Wire the SSI input as described in the U14 Wiring topic.
Assign the input to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, set the following axis parameters:
|
Required |
|
Application-specific |
Scale the axis feedback as described in the SSI Scaling topic.
Configure Channel as an MDT Axis Input
For each channel that will be used as an MDT input, do the following:
Choose SSI/MDT Axis Input, then click OK.
Wire the channel as described in the U14 Wiring topic.
Assign the input to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, set the following axis parameters:
MDT Blanking Period (typically only necessary for very old sensors)
Scale the axis feedback as described in the MDT Scaling topic.
Configure Channel as an SSI Monitor Input
For each channel that will be used as an SSI Monitor, do the following:
Choose SSI Monitor Input, then click OK.
Wire the SSI input as described in the U14 Wiring topic.
Assign the input to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, set the following axis parameters:
|
Required |
|
Application-specific |
Scale the axis feedback as described in the SSI Scaling topic.
Daisy-Chaining an SSI Device to Multiple Controllers
Daisy-chaining refers to wiring an SSI device to multiple controllers. When wiring a daisy-chained SSI system, the SSI input should be on one end of the daisy chain with the SSI device on the other end, and any SSI monitor inputs in the middle of the daisy chain. The wiring must be done in a sequential fashion, that is, the wiring goes from the SSI device to the first controller, then from that controller to the next controller, etc. Apply termination only to the SSI master. See U14 Wiring for more details.
Configure a channel on the master U14 as an SSI Axis Input as described in the Configure Channel as an SSI Axis Input section above. Termination is applied by default (see the SSI Termination parameter).
For the remaining monitoring U14 modules, configure a channel as an SSI Monitor Input as described in the Configure Channel as an SSI Monitor Input section above. Verify that the SSI Termination parameter is set to disabled for each monitor input.
SSI Echo Mode retransmits on channel 1 the SSI data that is received on channel 0. This is useful for situations where the RMC must be the SSI master so that it is guaranteed to get the SSI data every loop time, and some other device wants to query the RMC for the same data, but possibly at a different rate or not as consistently.
Channel 1 behaves as an SSI device, with a clock input and a data output. The data format and number of data bits will be the same as channel 0. The external clock may be in the range 25 kHz to 8 MHz. Channel 0 must first be configured as an SSI input.
To configure SSI Echo Mode:
Configure channel 0 as an SSI axis input as described above in the Configure Channel as an SSI Axis Input section.
For channel 1, choose SSI Echo output, then click OK.
Channel 1 will automatically output the same data that channel 0 receives. The data format and number of data bits will be the same as channel 0. The external clock may be in the range 25 kHz to 8 MHz.
See Also
U14 Module (RMC200) | U14 Wiring
Copyright © 2024 Delta Computer Systems, Inc. dba Delta Motion