AV6A
3
WIRING INSTRUCTIONS
CAUTION
Remove power before wiring.
Interconnecting cables specified in the wire selection chart are
based on typical applications. Refer to the system drawing for
specific cable requirements where applicable.
Physical properties of cable such as abrasion, temperature, tensile
strength, solvents, etc., are dictated by the specific application and
communications bus. Do not use unshielded cable. Ground one end
(only) of the shield to earth ground.
Do not run encoder wiring parallel to power cable wiring for
extended distances, and do not wrap encoder cable around power
cables.
TROUBLESHOOTING:
If the controller indicates a loss of encoder fault, check the encoder
power supply at the encoder. If power is present at the encoder,
check polarity. If the wiring appears correct and in good shape,
test the wiring by replacing the AV6M. If the controller still shows
encoder loss/fault, then the wiring is faulty and should be repaired or
replaced.
An oscilloscope can also be used to verify output of the HS6A
encoder at the encoder connector itself and at the drive/ controller
cabinet. Depending on the communication method, signals will vary
but the oscilliscope should show the output signals varying. Keep in
mind that SSI and Profibus DP are master-slave systems and require
the controller to signal the encoder to transmit position.
Read each section for specifics about each bus and troubleshooting
tips.
SSI TROUBLESHOOTING
For SSI, monitor the clock input line to ensure the controller is
triggering the encoder to send position. The clock should obey the
signal requirements shown in the SSI signal section, and should
appear as a rapid set of transitions on the clock line. The encoder
data transmit lines should change state as data is clocked out. Note
that the varying binary patterns representating position can produce
pulses of varying width--this is normal.
PROFIBUS-DP TROUBLESHOOTING
Viewing on oscilliscope: for Profibus DP, the transmit and receive
signal pairs should change state rapidly as the controller transmits
messages to the encoder and the encoder replies. Transmission
rates vary, but these messages can be extremely short and typically
require scope triggering to spot them.
For Profibus DP, ensure termination resistors are in place (or
switched on) at each end of the cabling system, and that no
termination resistors are in placed or activated in the middle of
the system. Remove the connections to the master controller and
all devices, or power down all devices. Measure the resistance
between the communication wires. The value should be ~1/2 of the
termination resistor value on the network. If the resistance is greater
than the limit, a termination resistor is missing from the network. If
the resistance is less than the limit, there are incorrect termination
resistors switched on or connected to the system.
CANOPEN TROUBLESHOOTING
For CANOpen: disconnect the power connection, then ensure there
are no short circuits between any of the signal or power wires or
shield.
Viewing on oscilliscope: for CANOpen the transmit and receive
signal pairs should change state rapidly as the controller transmits
messages to the encoder and the encoder replies. Transmission
rates vary, but these messages can be extremely short and typically
require scope triggering to spot them.
For CANOpen, ensure termination resistors are in place (or switched
on) at each end of the cabling system, and that no termination
resistors are in placed or activated in the middle of the system.
Remove the connections to the master controller and all devices,
or power down all devices. Measure the resistance between the
communication wires [Example CANOpen-measure between CAN_L
and CAN_H]. The value should be ~1/2 of the termination resistor
value on the network. For CANOpen, this value should be >50 ohms,
<65 ohms. If the resistance is greater than the limit, a termination
resistor is missing from the network. If the resistance is less than
the limit, there are incorrect termination resistors switched on or
connected to the system.
Flange Option “6” includes a two-color diagnostic LED. Red
indicates an error, Green indicates run status. During normal
operation, the encoder LED should be continously green. Flash
patterns indicate activity as follows:
RED - Error
Flickering - (Autobitrate/LSS services are in process)
Blinking - Configuration error
1) Flash - CAN bus frame error
2) Flashes - CAN guard timing or heartbeat error
3) Flashes - Sync message timeout
4) Flashes - PDO message timeout
ON - CAN Controller is in bus off state
GREEN - Run
Flickering - (Autobitrate/LSS services are in process)
Blinking - Encoder is in preoperational mode
1) Flash - Encoder is in stopped mode
3) Flashes - Software download in progress
ON - Encoder is operating normally with no errors
Nidec-Avtron recommends the use of a simple no-cost debugging
tool such as PCAN View.
Ensure the device is set to the proper baud rate (connection cap, or
for units with no connection cap, via software)
Ensure the device is set to the proper node address (connection cap
or for units with no connection cap, via software)
The encoder will power-up in the pre-operational mode.
The message it will issue is:
ID: 0x07nn 0x00
If you cannot see this message, try power cycling the device.
Note that CANOpen units with a hardware connection cap are
typically set to 20K default baud rate. Not all master devices
support 20K, so the power-up message may not be displayed.
Check the baud rate and node address on the connection cap.
ANALOG TROUBLESHOOTING
For analog output, a multimeter can be used to measure the output
signal. Disconnect the encoder outputs (but maintain the power
connection) to ensure no interference from field wiring and measure
the output voltage or current directly at the encoder depending
on the output style selected. Rotating the shaft should produce a
change in output value.
For analog output: If the output is within the expected range
but does not seem to change, the analog value may have been
accidently scaled to a tiny fraction of a revolution or such a huge
number of turns that the output change cannot be detected.
Connect both Set End Point 1 and Set End Point 2 to +Vs for 1
1 second or more, then connect them to ground or no connection.
The encoder will be reset to use the full scale factory default with
the output and position set to the mid-point of the full scale. Now
monitor output voltage or current while rotating. You should observe
a voltage or current change. Now follow the instructions in the
analog section to properly reset the analog minimum and maximum
values.
