Renishaw A-9926-0700 User Manual Download

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User’s guide

F-9926-0018-01-B

RPI30 parallel interface

Summary of Contents for A-9926-0700

Page 1: ...User s guide F 9926 0018 01 B RPI30 parallel interface...

Page 2: ...ries apply innovation is a trademark of Renishaw plc All other brand names and product names used in this document are trade names service marks trademarks or registered trademarks of their respective...

Page 3: ...end user is made aware of any hazards involved in the operation of their machine including those mentioned in Renishaw product documentation and to ensure that adequate guards and safety interlocks ar...

Page 4: ...w plc declares that the RPI30 parallel interface complies with the applicable directives standards and regulations A copy of the full EC Declaration of Conformity is available at the following address...

Page 5: ...18 Appendix B Safety information 19 Appendix C 21 1 SPI programming guide 21 1 1 Timing 21 1 2 Command makeup 21 2 Registers 22 2 1 Register map 22 2 2 Version Block 0 23 2 3 ADC Block 1 23 2 4 Interp...

Page 6: ...agnostics connection to allow diagnostics information to be downloaded and analysed remotely The RPI30 gives an output of both axis position and status over a LVTTL 3 0 V compatible bus The position i...

Page 7: ...he four mounting holes A B C and D which are suitable for M3 screws The position of the holes are shown within diagram opposite All dimensions are in millimetres Note Holes A and B are electrically co...

Page 8: ...or and Error Individual screens 0 V both ends Outer screen Case shell both ends Signal wiring between RLE and RPI30 Installation WARNING It is essential that the error line inputs are connected so tha...

Page 9: ...ctor pin out is shown in the table below All pins are protected to 7 V The connector on the RPI30 is a 15 way female D type The diagram opposite shows the mating D type connector Pin number Function 1...

Page 10: ...ignals should be terminated with 120ohm Pin number Function 1 Sine 2 Sine 3 0V 4 Cosine 5 Cosine 6 0V 7 Error 8 Error Analogue feedthrough connector 8 way picoblade 2 5 Diagnostics A full duplex RS422...

Page 11: ...5 18 DTA24 33 DTA7 48 DTA17 4 DTA14 19 DTA33 34 DTA6 49 DTA16 5 DTA13 20 DTA32 35 DTA5 50 DTA35 6 DTA12 21 DTA34 36 DTA4 51 Reserved 7 DTA11 22 Reserved 37 DTA3 52 Reserved 8 DTA10 23 Reserved 38 DTA2...

Page 12: ...number for JAE connector Note using RPI mating 0 connector A 9904 2256 separation between boards 12 mm RPI30 parallel bus mating connector Other separations can be achieved using other receptacles For...

Page 13: ...om the RLE and not the analogue quadrature Note Make sure the parity switch is set in accordance with the RLE manual M 5225 0568 Note The RLE will flag an error when the measurement velocity reaches a...

Page 14: ...127 all disabled Sample length 1000 1 ms Min quads 8 Max quads 5000 Offset filter length 3 14 bit AC mismatch filter length 3 14 bit User calibration Sine cosine offset 0 Sine cosine gain 43690 x1 33...

Page 15: ...age 30 V Current 45 mA Error maximum ratings Open collector error output wiring WARNING The open collector error line is not a fail safe method and therefore additional safety precautions must be take...

Page 16: ...ss selected over the SPI interface as detailed in Section 3 2 Base address 0 is reserved for simultaneous communication with all RPI30 units on the bus The bottom two lines of the address bus are used...

Page 17: ...nctionality is shown in the following table RPI30 Address location bit Register Function 4 3 2 1 0 All 0 0 0 0 0 1 Latch all RPI30 units 0 1 2 Reserved 1 0 3 Reset all RPI30 units 1 1 4 Reserved Unit...

Page 18: ...he RPI30s simultaneously Enable position data Register 1 of a particular RPI30 unit s base address holds the latched position data If this register is selected on the address bus then position informa...

Page 19: ...error 30 Beam break error 1 error Input quadrature amplitude too low 12 5 31 Bus setting changed A setting for the parallel bus has changed 32 33 Resolution setting 00 38 6 pm 07 77 2 pm 10 104 4 pm 1...

Page 20: ...in position data from axis 2 by taking enable low whilst the address bus is set to 01000b base address 2 register 1 The same timing sequence should be used to reset an RPI30 RPI30 parallel bus timing...

Page 21: ...delay The time before the Enable that the position event occurred This defines the delay due to RPI30 only Tsp 100 ns Time between sequential axis access Teh 50 ns Minimum period that Enable must be h...

Page 22: ...ignal strength 50 Position data format 36 bit two s compliment Propagation delay actual position is sampled before latch enable signal 135 ns Propagation delay variation 5 ns Maximum update rate 1 axi...

Page 23: ...ntroller demand position and the axis feedback position exceeds an expected limit the axis motion must be stopped 6 Guards viewing windows covers and interlocks may be used to prevent user access to h...

Page 24: ...line must be monitored If the error line goes low the position feedback signals may be incorrect and the axis of motion must be stopped Power supply out of range The correct power supply voltage is 5...

Page 25: ...the first 8 bits clocked out on SDO are the command from the previous SPI operation After power on or a hard reset command they are all set to 1 0xFF SPI link timing diagram Min Max Units SCLK freque...

Page 26: ...3 R Angle offset Position 3 0 R Low bytes 1 R High bytes Output control 4 0 1 R W Parallel Bus Address 2 R W Parallel Bus Direction 3 R W Parallel Bus Resolution 4 R W Parallel Bus Test output 5 R W...

Page 27: ...d only registers containing the serial number in the form of 10 ASCII characters Table 3 3 shows the alignment of serial number characters to an array in C Register sub 23 16 15 8 7 0 2 C 2 C 1 C 0 3...

Page 28: ...l Cos Cal After calibration correction 1 Sin Raw Cos Raw Raw ADC data 2 Sin Raw Max Sin Raw min Min max of raw data reset by Reset ADC command 3 Cos Raw max Cos Raw min 4 Sin Cal Max Sin Cal min Min m...

Page 29: ...registers containing the full internal 44 bit position sign extended to 48 bits in two registers it isn t affected by the RPI30 emulation resolution setting The high bytes register 1 is latched on rea...

Page 30: ...us Resolution Sub 3 Read write register containing the parallel bus resolution settings It is loaded on power up from the EEPROM In order to change the value the Enable bus settings change command mus...

Page 31: ...CRC error occurred when reading settings from the EEPROM can t be cleared 6 W AC mismatch correction out of range AC mismatch 10 correction limited to 10 7 W Offset correction out of range Offset cor...

Page 32: ...0 Writing anything to this register causes the calibration offset and scale registers to be updated from the user calibration in the EEPROM 2 8 2 Write settings to EEPROM Sub 1 Write only register to...

Page 33: ...0 nominal value is 1 2 23170 0 7071 2 9 5 Velocity Sub 5 Read only register containing the number of quads traversed in the sampling period 24 bit signed integer 2 9 6 Status Sub 6 Read only register...

Page 34: ...e bypass bit Setting the hold bit disables the updating of the phase correction and the current value is used Setting the bypass bit takes the phase correction out of the signal path the output of the...

Page 35: ...tial filter 2 10 6 Phase filter length Sub 6 Future functionality 2 11 Data logger Block 10 The data logger collects 28672 samples of 6 bytes The samples can be either ADC data selected from any of th...

Page 36: ...The address automatically rolls over to 0 at the end or if the previous address was out of range 2 11 3 Sample rate divider Sub 3 The sample rate divider is a 24bit unsigned integer The sample rate i...

Page 37: ...bytes such that the sum of all 6 bytes is 0 Byte Value Notes 0 0xAA Header 1 Command Command byte 2 Data byte 2 Bits 23 16 3 Data byte 1 Bits 8 15 4 Data byte 0 Bits 7 0 5 Check sum Negative of the su...

Page 38: ...packets consisting of 8 samples The download is initiated by setting bit 0 the number of packets in bits 1 and 2 and the start address in bits 8 19 The entire contents of the RAM can be downloaded in...

Page 39: ...orrection offset for Sin 11 Offset 1 byte 1 12 Offset 1 byte 2 13 Offset 2 byte 0 24 bit signed integer Correction offset for Cos 14 Offset 2 byte 1 15 Offset 2 byte 2 16 AC byte 0 24 bit signed integ...

Page 40: ...sample 1st sample in block starting at address at the start of the packet Contents depends on whether ADC data or position data was logged 4 Data 0 byte 1 5 Data 0 byte 2 6 Data 0 byte 3 7 Data 0 byt...

Page 41: ...New Mills Wotton under Edge Gloucestershire GL12 8JR United Kingdom T 44 0 1453 524524 F 44 0 1453 524901 E uk renishaw com www renishaw com For worldwide contact details please visit our main web sit...

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