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-II-
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Compumotor Division
Parker Hannifin Corporation
PIN 88-010473-01 B
 CONTENTS

TABLE OF CONTENTS
TABLE OF C:ONTENTS ............................................................................ 1
List Of Figures ................................................................"." ........... ;..........................~
List Of '"ables ...........................................................................................................",
How To Use This Manual ............................................................................................v
Assumptions ....................................................... "........................................v
Contents of This Manual. ....................................... "......................................v
Installation Process Overview .....................................................................................vi
Developing Your Application ........................................................................~
Conventions ....................................................................."......................................VI
Using Commands ..........................................................".............................vi
Highlighted Text ..........................................................................................vi
Related Publications ................................................................... ".............................vi
CHAPTER 1. INTRODUCTION .................................... " .......................... 1
Product Description .................................................................................................1
Product Features ............................................................... "....................................1
Theory of Operation ................................................................................................1
CHAPTER 2. GETTING STARTED ............................... " .......................... 5
What You Should Have ...........................................................................................5
Decoder Resolution .....................................................................................5
Configuring the System ...............................................................................6
Decoder.................................................................................................................6
Decoder DIP Switch and Jumper Locations ..................................................7
Decoder Default Settings ............................................................................9
Description of DIP Switch Functions.............................................................9
Decoder RS-232C Interlace ...... ".................................................................11
Decoder RS-42214S5 Interlace ....................................................................13
Decoder AX-A Indexer/Drive Interlace ..........................................................14
Decoder JSI Controller Interface ..................................................................1 5
-1 Decoder ................................................................................................16
Decoder .......................................... ".................... "....................................17
CHAPTER 3. INSTALLATION ............................................................... 19
Environmental Considerations ................. "...............................................................19
Mounting ................................................................................................................19
Panel Layout Guidelines ..............................................................................19
Decoder Mounting ......................................................................................20
Encoder Mounting .......................................................................................21
System Connections ..................................................... "........................................21
Wiring Guidelines .........................................................................................21
- Cabling ............................................................."........................................22
Power Supply .......... :·...............................................................................................22
CHAPTER 4. APPLICATION DESIGN ..................................................... 23
Interlace Modes .................... _.................................................................................23
Application Considerations ...........................................................................24
AL Operation with a PLC .......................... "..............................................................24
Parallel Output Control ................. "................................................................24
Explanation of Parallel Output Examples ...................................................................25
S-Bit Data Output .......................................................................................................26
Interpreting 8-Bit BCD Output......................................................................28
Interpreting 8-Bit Binary Output ....................................................................29
16-Bit Data OUtput ...................................................................................................3 0
Interpreting 16-Bit BCD Output. .....................................................................31
Interpreting 16-Bit Binary Output .................................................................32
- II AL ENCODER USER GUIDE

Host Computer Operation .......................................................................................33

Serial Interface Considerations ....................................................................33
Operating the Serial Interface .......................................................................33
Using Multiple Units on an RS-232C Interface ................................................33
Daisy Chaining Three Decoders .....................................................................34
Using Multiple Units on an RS-422J485 Interface ..................................... _.....36
Multi-Dropping Three Decoders ....................................................................37
USing Multiple Units in Parallel Output Mode ..................................................38
CHAPTER 5. SOFTWARE REFERENCE .................................................... 4 1
Command Descriptions ..............................................................................................41
Command Listing ......................................................................................................43
CHAPTER 6. HARDWARE REFERENCE .................................................. 51
AL System Specifications .........................................................................................51
Mechanical .................................................................................................51
Speed ........................................................................................................51
Electrical ....................................................................................................51
Environment ...............................................................................................52
Decoder Box Pin Out ..............................................................................................53
AL Dimensional Drawing ...........................................................................................54
Decoder Box Dimensions ........................................................................................55
Decoder Box DIP Switch and Jumper Settings ................................................60
Numbe'ring Code Table ............................................................................................61
CHAPTER 7. MAINTENANCE & TROUBLESHOOTING ............................... 6 3
Troubleshooting .......................................................................................................63
RS-232C Communications .............................................................................63
RS-422J485 Communications ......................................................................66
Recommended RS-4221485 Interface Devices .............................................66
Electr!Cal Noise ..............................................................................................66
Error Code Descriptions ...........................................................................................71
APPENDICE:S ••••••••••••••••••••••••••••••••••••• tt . . . . . . . . . . . . . . . . . . . . .' • • • • 73
jl • • • • • • • • • • • • • • • • • • • • • •

Command Summary ................................................................................................73

Recommended Third-Party Vendors .........................................................................73
Warranty ....................................................................................................................74
GLOSSARy" ............................................................. 77
11 • • • • • • • • • • • • • • • • • • • • • • • • • • •

lNDEX ....................................................................... 81
11 • • • • • • • • • • • • • • • • • • • • • • • • • • •
 CONTENTS 1\1

LIST OF FIGURES
Figure 1·1. Absolute Encoding Disk .................,.......................................................2
Figure 1-2. Cross·Section Sensing Circuit .,..............................................................2
Figure 1-4. Encoder Block Diagram ................. ".......................................................3

Figure 2-1. ·1 Decoder Box ................................................................................: .....7

Figure 2-2. Decoder Box DIP Switch and Jumper Location." ......................................8
Figure 2-3. Jumper Default Settings ........................................................................11
F'lQure 2-4. RS-232C Serial Communication .............................................................11
Figure 2-5. RS·4221485 Full·Duplex Selial COmmunication .......................................13
Figure 2-6. AX·A Wiring ........................ ".................................................................15
Figure 2-7. JSI Wiring ........................... ".................................................................16
Figure 2-8. 8-Bit Parallel Wiring ................................ "...............................................17
Figure 2-9. 16-Bit Parallel Wiring ................... ".......................... "...............................18

Figure 3-1. Panel Layout .............................. "........... "............................................. 19

Figure 3·2. Minimum Width Decoder Box Mounting ...................................................20
Figure 3·3. Minimum Depth Decoder Box Mounting ..................................................20

Figure 4-1. Byte Pattem For Output Data ................... ,......,........................................24

Figure 4-3. Timing-8-Bit Parallel OUtput ........................ "........................................27
Figure 4-4. Timin~16-Bit Parallel OUtpuL ..............................................................30
Figure 4-5. RS-232C Daisy Chain Configuration ................ "......................................34
Figure 4-6. AL Multi·Drop Wiring ........................................ "......................................36
Figure 4-7. Location of RN8 and RN11 Resistor Packs (Decoder Board) ....................39
Figure 4-8. Muhiplexing Configuration .....................................................................40

Figure 6-1. Decoder Box Pin Out ............................................................................53

Figure 6-2. AL Encoder Dimensions ............................. ,...........................................54
Figure 6-3. Decoder Box Dimensions (Minimum Width Mounting) ..............................55
Figure 6-4. Decoder Box Dimensions (Minimum Depth Mounting) .............................56
Figure 6-5. Serial Interface ............................. "........................................................57
Figure 6-6. Parallel Control Inputs ............................................................................58
Figure 6.7. Parallel Outputs ....................................................................................59
Figure 6·8. Jumper Default Settings ........................................................................60

Figure 7-1. Disabling the Handshaking Function ......................................................65

Figure 7-2. NoiSE: Suppression Devices ...................................................................67
Iv AL ENCODER USER GUIDE

LIST OF T'ABLES
Table 2-1. Decoder Box Power &Options Summary ...................................................5
Table 2-2. Ship Kit list (-1 Decoder box) ....... ,...........................................................6
Table 2-3. Decoder Box Default DIP Switch Settings ................................................9
Table 2-4. Special Configuration DIP Switch Settings .........................................:......1 0

Table 4·1. Mathematic Byte Table (Binary Output) .....................................................26

Table 4-2. Mathematical Byte Table (BCD Output) .....................................................26

Table 6-1. Decoder Box Default DIP Switch Settings ................................................60

Table 6·2. Numbering Codes ....................................................................................61

Table 7'·1. Error Code Descriptions .............................................................................71

vi AL ENCODER USER GUIDE

Installation Process To ensure trouble··free operation, you should pay special

. Overview attention to the environment in which the AL equipment will
operate, the layout and mOlUlting, and the wtrtng and
grounding practices used. nlese recommendations are
intended to help you easily and safely integrate AL equipment
into your manufacturing facUity. Industrial environments
often contain conditions that may adversely affect solid state
equipment. Electrical noise, atmospheriC contamination, or
installation may also affect the operation of the AL System.
Before you attempt to install this product. you should
complete the following steps:
1. Review this enUre manual Become familiar with the
manual's contents so that you can quickly find the
information yeu need.
2. Develop a bastc understanding of all system components.
their functions, and interrelationships.
3. Complete the basic system configuration and wiring
instructions Un a Simulated environment, not a
permanent inStallation) provided in Chapter 2, Getting
Started.
4. Perform as many bastc moves and functions as you can
with the preUmtnary configuration. You can only
perform this task if you have reviewed the entire manual.
You should try to simulate: the task(s) that you expect to
perform when you permanently install your application
(however, do not attach a load at this time). This will gtve
you a realistic preview ofwhat to expect from the complete
configuration.
S. After you have tested all ef the system's functions and used
or become familiar with all of the system's features.
carefully read Chapter 3. Installation.
6. After you have read Chapter 3 and clearly understand
what must be done to properly install the system, you
should begin the installation process. Do not deviate from
the sequence or installation methods provided.
7. Before you begin to tune and customize your system. check
all of the system functions and features to ensure that you
have completed the installatien process correctly.
The successful completion of these steps,will prevent
subsequent performance problems and allow you to Isolate
and resolve any potential system dtfficulties before they
affect your operation.
 CONTENTS v

How To Use This The manualls deSigned to help you InStall. develop. and
maintain your system. Each chapter begLns with a list of
Manual specific objectiVes that should be met after you have read the
chapter. nus section is Intended to help you find and use the
in!onnation in this manual.

Assumptions 1bJs user guide assumes that you have the sk111S or
fundamental understanding of the following in!ormatton.
• IBM (or IBM-Compatible) computer experience
• Programmable logic controller (PLC) experience
• The d.J.fferences between BCD and binary output
• Basic electrOniCS concepts (voltage. switches. current. etc.)
With thiS bastc level of understanding. you wU1 be able to
effectiVely use this manual to Install. develop. and maintain
your system.
Contents of This This user gUide contains t.he fonowing in!ormaUon.
Manual
Chapter 1: TIlis chapter provides a descr1ptlon of the product and a brief
Introduction account of Its specific features.
Chapter 2: 1b1s chapter contains a detailed 11st of the items you should
Getting Started have received with your AL shipment It will help you to
become familiar with the system and ensure that each
component functions properly. You will learn how to
configure the system properly in thiS chapter.
Ct1lapter 3: ThiS chapter prov1des InStrucUons for you to properly mount
Installation the system and make all electrical connecUons. Upon
completion of this chapter. your system should be completely
installed and ready to perform basic operations.
Chapter 4: 1b1s chapter will help you custOmize the system to meet your
Application application needs. Important application considerations are
Ollslgn discussed. Sample applications are provided.
Chapter 5. This chapter discusses the X SerIes commands that an:
Software applicable to the AL. It Is dMded into two sections. The first
Reference secUon explains command syntax and parameters that affect
command usage. The second section contains an alphabetical
lJst.lng of all commands. with a syntax and command
description for each cozmnand. Examples are provided for
each command.
Chapter 6: This chapter contaJns in!ormaUon on system spec1flcations
Hardware (dimensions and perfonnance). Th.ls chapter may be used as a
Refbrence quick-reference tool for proper switch settings and I/O
connections.
Chapter 7: 1'h1s chapter describes Compumotor's recommended system
Maintenance & maintenance procedures. It also provides methods for
Troubleshooting Isolating and resolving hardware and software problems. A
lJst of diagnostic codes 15 Included In this chapter.
 CONTENTS vII

Developing Your Before you attempt to develop and implement your

Application application. there are sever-ell tssues that you should consider
and address.
1. Recognize and clarify the requirements of your
application. Clearly define what you expect the system to
do.
2. Assess your resources and lJm1tatlons. Thts wm help you
find the most efilclent and effective means of developing
and implementing your application.
3. Follow the gUidelines and instructions outlined in this
user guide. Do not skip any steps or procedures. Proper
installation and implementation can only be ensured If
all procedures are completed in the proper sequence

Conventions To help you understand and! use this user guide effectively. the
conventions used throughout this manual are explained in
thiS section.
Using Whenever you enter a command on your keyboard. you must
Commands enter a carnage return (cr] to prompt the system to process the
command. If you are using an IBM computer. an IBM-
compatible computer. or a terminal. you can send a carriage
return by pressing the Enter key. This will activate
processing. In this user guide. you will not be reminded to
enter the carriage return. Generally. aU system responses
provide a fer} and Une feed [lfl. The system only recognizes
upper-case charocters.

Highlighted Text Italics are to be llsed to set off important material. Refer to the
example below.
Example: Outputs 1 and 2 are user programmable. Do not use
outputs 3 and 4.

Related The followmg publications may be helpful resources.

Publications Parker Compumotor Motion. Control Catalog
Schram. Peter (editor). The NatiDnal Electric Code Handbook
murd Edit1DnJ. QuinCy. MA To receive this publicatiOn.
contact the National Fire Protectlon Association
(Batterymarch Park. MA 02269)
 CHAPTER 1. INTRODUCTION 1
----------------------------------,~~~

CHAPTER 1. INTRODUCTION

Chapter Objectives The informatlon in this chapter will enable you to:
• Understand the product's bastc functions and features
• Understand lbasic motion control concepts and apply
them to your application

Product Description An absolute encoder Is a feedback device that provides dJgttal

position information corresponding to a mechanical
location. This value may lbe offset and scaled which will be
discussed in later sections. Thts information ts independent
of the previous ,ralue and will output a discrete numeric
position. The AL encoder Is sold with the -1 Decoder only.
Throughout this manual, the -1 Decoder will generally be
referred to as stmply the decoder.

Product Features The AL absolute linear encoder provides the following

features:
• High-resolution-up to 10.000 discrete positions/in
• Microprocessor decoding el1mJnates user decoding
• Four communication methods
BCD (8- or I6-blt words)
Binary (8- or IS-bit words)
RS-422/485 (ASCn Dectmal or Hexadecimal)
RS-232C (ASCII Decimal or Hexadecimal)

• Programmable resolutions
• Multiple encoders may be multi-dropped via RS-422/485
• Microprocessor monttolr8 for errors and sensor failure
• Compatible with AX-A microstepp1ng indexerI drive (only
when used With a !ow-l1esolution -1 EncoderJ

Theory of The AL linear encoder 15 a. l'Otary absolute encoder that has Its
Operation shaft replaced with a pinion and rides on a rack. The output
data is obtained when Ught shines through a disk and is
detected by a photo-transistor. Figure I-lis a top view ofthJs
disk (whe1":' the IJght sou.rces will be atmed). The disk is
constructed of metal and is arranged in concentrtc tracks.
Each track has an independent LED. and photo-transistor
parallel to the disk. ThiS encoder disk has each track phased
in a binary ratio to the next. The inside tracks are coarser.
and the outs1de track has the finest resolution.
2 .AL ENCODER USER GUIDE

Figure 1-1. Absolute EncodJ.ng Disk

Figure 1-2 provides a cross-seCtional view of the LED and

sensors 111 relation to the disk. The only moving device Is the
disk. which 15 attached to the pinion shaft. As each LED
passes an opentng on the disk. it causes current to flow to the
output cirCuit. The output C1n:u1t is then 111 a high state. The
lights that are blocked by the track have no current flow to the
output cirCuit. which causes a low state. The output circuit
then assigns a number for these high and low states. A high
signal is assigned with a one (1) and a low signal is asSigned
with a zero (0). Each high or low (lor 0) value per lJght 15
referred to as a bit Most encoders use ten tracks on the
encoding disk to obtain ten. bits of pOSitional data. With the
AL. redundancy encoding is employed. which el1m1nates
uncertainty between pOSitiOllS. In this case. only mechanical
motion 15 allowed! to change the position. This 15 commonly
referred to as redundant gray code. This form of encoding has
been developed by Compumotor using the disk shown 111
Figure 1-1.

LED 10--.., ~:}~~SENSOR 10-1

LED 9 -........ SENSOR 9 - 0
LED 8--.. SENSOR 8 -0
LED 7--... SENSOR 7 -0
LED 6 -........ SENSOR6 -0 Output
LED 5--.. SENSOR 5 -0 Circuit
LED 4 -........ SENSOR4 -0
LED 3-----.-, SENSOR 3 -0
LED 2 - - SENSOR 2 -1
LED 1--... SENSOR 1 -0

Shaft
....__ Encoder
Disk

Figure 1-2. Cross-Section Sensing Circuit

 CHAPTER 1. INTRODUCTION 3

The redundant gray code data from the AL encoder head IS

.provided to the AL's output electrOniCS (decoder box) for
lntenace to the user's control system (e.g .• AX-A. JSI.
computer. PLC. or tennlnal). With the AL. this CIrCuit's maJ.n
function Is to decode the redundant gray code to a more useful
output fonnaL The microprocessor-based decoder performs
error checking. resolutlon scallng. and data formattIng.
Figure 1-4 shows a block dlagram of encoder syStem.

Encoder Head --
.... Decoder Interface
.....----,--
•• 1 Decoding

.1
SerIal
Scaling R8-232C
• 1 Error Check RS-4221485
Data Latch Parallel
. 1 Multiply Binary
BCD
16 Bit
8 Bit

Figure 1-4. Encoder Block Diagram

The encoder signals are transferred to this remote location in

a redundant gray code fonn for a partlCular pOSition The
processor decodes thlS infonnauon and confonns the
position output to the user-selectable format. After this
process. you can use this data Via a parallel or serial interface.
Error checking is a continuously updated feature for encoder
status. -
Data such as pOSition scale factor. device address, offset,
output format. and resolution are maintained in non-volatile
electrically erasable progranunable read-only memory
(EEPROM). The scale factor allows you to obtain data In
englneertng unlts. You can use deviCe addresses lfmore than
one unit 15 interfaced via the serta11nterface. The serial
Interface allows up to you to multi-drop up to 16 Wllts. or
daisy chain 4 units from 1 port. If you use more than one
decoder in parallel output mode (S-bit or 1S-bit). you can
multiplex the parallel outputs. Multiplexing allows you to
share common data and control signals between decoders.
You may multiplex as many unlts as your PLC can handle.
You can use the offset to define a home posit1on away from a
known location. A summary of the couunands that deflne the
output data is provided In Chapter 5, Software Reference.
 CHAPTER 2. GETIING STARTED 5

CHAPTER 2. GETTING STARTED

Chapter Objectives The informatiOn in this chapter w1l1 enable you to:
• Verify that each component of your system has been
delivered safely
• Become familiar with system components and their
interrelationships
• Ensure that each component functions properly by bench
testing
• Configure the system properly

What You Should You should inspect your /U., System upon receipt for obvious
Have damage to its shipping container. Report any such damage to
the shipping company as soon as possible. Parker
Compumotor cannot be held responsible for damage Incurred
in shipment.

-1 Decoder Power Interface Options

(120VAC) 1. RS·232C
2. RS·422/485
3. AX·A Indexer/Drive
4. Digital Servo Controller (JSI)
5. 8·Bit Parallel
6. 16·Bit Parallel
-
Table 2-1. Decoder Box Power & Options Summary

Decoder Decoder resolution is factory-set at one of the following levels

Resolution based on your order (these llevels are based on data being read
in the BCD format):

• 2.000 positions/in (part # AL-l-XX-l)

• 10.000 positions/in (part # AL-2-XX-l)

If you are reading data in the binary format. the decoder

resolution is factory-set at the following resolution:
• 2.048 posttlons/In (part # AL-l-XX-l)
• 32.768 positions/in (part # AL-2-XX-l)

To operate the AL Encoder with the AX-A interface. you must

have a -I Decoder wtth a resolution of 2.000 poeltloDa/1D.

To operate the AL Encoder with the JSI Controller you must

have a decoder resolution of 10.000 positions/in.
If you received or ordered a decoder that is not compatible
with your system. contact. Parker Compumotor.
~~6__~A~L=EN~C~O~D~E~R~U~S~ER~G~UI~D~E _______________________
Configuring the Read the following sections carefully for detalled lnfonnatIon
System on how to properly integrate the AI.. Encoder into your system.

Decoder The decoder box (refer to FIgure 2-1) provides several features.
• Two programmable outputs
• Switch-selectable options
• General status LEDs
The folloWIng items should be present and In good condition.

Part/Quantity Description
- Part •

At Unear Encoder Assembly (1)

-
Rack/spar assembly calibrated with enclosure ~8073-XXX
without encoder.(XX • • of travel)

AL Encoder Head wllntegral Pinion This head will include a 10' armored cable if you 72-00S1 78-1 0
(1 ) are using a rack under 64-. A 20' armored cable n-OOS178-20
will be included if you are using a rack greater
than 64-. This cable M,iff already be installed
into the pinion head.

AL Series User Guide (1) 88-010473-01 A

AUIL Mounting Guide (1)

-- 88-009072-01 Y

. Table 2-2. Ship Kit Ust (-1 Decoder box)

The red status 11ght goes on when the encoder Is at the absolute
zero position. This LED will not lllum1nate for any other
fault condition.
The parallel outputs are optically Isolated for reliable
perfonnance. Each output. 15 an open collector with an
Internal pull-up reSistor (+SVDC). This output should be
referenced to the OP'I'Cr (pin # 24) for the interface
interconnect.
Output 1 is activated whenever the encoder position reaches
Its absolute zero posftlon. You can program Output 2 (using
the 810 command) to actiVate at any pOSItion. Refer to Chapter
5, Software Reference for more Infonnation on the 810
command_
The interface options for this unit are enabled and configured .
with internal DIP switch and Jumper sett.Lngs. This section
contains the proper DIP Switch and Jumper settings for the
various interface modes and a Simple test routine that you can
run to ensure that the system 15 operating properly.
_ _-----------=:C::..:..H..:..:..A.:.:..P.....:...;TE=.::R~2. GETIING STARTED 7

COMPUMOTOR
ABSOLUTE ENCO E

015 UNE
014 NEUT
013 GNO
012
011
010
DI
RX
Tx ~
;en
08
07
De
GND W
Tx·
Tx+ ~
..
05 Rx· :.
04
D3
•
Rx+ CJI
A+
02 .. A·
. 01 B+
B-
" . A1
DO
AO
DR
DV
DE
o POWER
OUT1
OUT2
o STATUS
:i OPTo-
:: ANLG
. GND
o
ENCODER
INPUT

I Parkeij

Figure 2-1. -1 Decoder Box

Decoder DIP To properly configure the decoder Cor your appUcatlon. you
Swll'ch and must set the DIP switches andJumpers correctly. To gain
access to the DIP switches and Jumpers Collow the steps
Jumper described In Figure 2-2 •
Locations
 ",. ~8_~A.;.;;L~E~N..;...CO..;...D.;..-E_R_U;.....S_E_R-.;G_U_ID_E_ _ __

Remove four screws from the sides of front panel. Remove two screws from the back of the unit.
1 2
COMPUMOTOR
1 --I.~ ABSO-l1TE e..c:ODEFIL .....1 - - - 2

1-+-II-~ ..

A
V
0·· ·
..

3----.... I
J
....
..1 - - 4

Gently pull the front panel and the attached boards Fac;ng the front pan.', tho DIP sw;tche,
3 from the encoder housing. 4 are to the left and the jumpers to the right.

COMPUMOTOR
Front Panel DIP Swltche. ABSO..lJ'TE E/ICOO Jumpers
Decoder Housing

~ .t.
/
-:;:.:

o
o
I
Side VIew

1!='lgure 2·2. Decoder Box: DIP Switch and Jumper Location

 CHAPTER 2. GETTING STARTED I

Decoder Default Refer to DIP switches marked 53 on the board (near the top of
Settings ~e board).

Switch II OFF ON
--
51 RS·232C* RS-4221485
52 Full Duplex* Half Duplex
53 CCW IDlrectlon* CW Direction
54 a-Bit Parallel 18·81t Parall.l·
S5 Blna,y (Hex)* BCD (Decimal)
S6 AL Encode'-
S7 Blnlry Mod.- Mode Select
sa Blnl'y Mod.- Mod. Select·

-Factory-de flu It •• ttlng

-
Table 2·3. Decoder Box Default DIP Switch Settings

DescrIption 01 The following section describes the funcUon of each decoder

DIP SwItch box DIP switch.
Functions

Switch 1 This sWitch allows you to select one of the two forms of serial
communication available with this product-RS·232C (OFF)
or RS-422/485 (ON). These fonns of communication are
ElectrOniC Industry Association (EW standards for
eqUipment that employs serial binary data exchange. For
more infonnation on the standards associated with these
modes of communication. contact:
ElA Eng1neering Department
Standard Sales
2001 Eye Street N.W.
Washtngton. D.C. 20006
(202) 457-4966

• Switch 2 'Ib1s switch allows you to select full duplex (OFF) or half-
duplex (ON) transmission (ThLs switch should be ON only if
you are usilng RS-422/485 convnwticattons or AX·A mode).

Full Duplez mode allows you to transmit and receive data

simultaneously via a four-Wire fac1l1ty.

BaH Duplez mode allows you to transmit and receive data. but
not Simultaneously In both dJrecUons. This mode of
transm1ss1on 15 performed over two Wires and 15 often
referred to as two-way alternate transmission.
Switch 3 nus switch allows you to detenn1ne the encoder's dIrecUon.
When the switch is OFF. the encoder count increases when the
encoder head moves In the CCW direction while you are facing
the pln1on. When the SWItch is ON. the encoder count
increases when the encoder head moves In the CW d1recUon
while you are facing the pinion. This swttch does not affect
incremental encoder output. U you change this switch setting.
you wUl change (complemertt) t11e output encoder posttlon.
10 AL ENCODER USER GUIDE

SwItch 4 This switch allows you to seXect one of the two fonns of
parallel cornmunJcation available with this product-8-blt
(OFF) or IS-btt (ON).

Switch 5 This switch allows you to select the form of your output data-
binary (OFF) or BCD (ON) for the parallel1nterface.
For the serJallnterface. you may select the Hexadecimal
output format If'you turn 55 OFF. You may select the Decimal
output format by tumJng 55 ON. If S5 Is OFF (with a sertal
interface). you may also select Decimal output with the SP
(Define Data Output) command. This command overrtdes the
DIP Switch setting. With a ser1al1nterface. DIP Switch 55 Is
only operable when the SP command Is set to g. Table 6-2
(Chapter 6. Hardware Reference) shows the relationships
between decimal,. BCD. binary. and hexadecimal numbers.
Switch 6 ThIs SWitch Is set for you (at 1the factory) to match the type of
encoder that you purchased. For AL Encoder. this switch must
always be on.
Switches 7 & 8 These Switches allow you to operate your system 1n a special
confJgurauon (AX-A Drive and JSI Controller compatibUlty).
Refer to Table 2-4 Cor the appropriate DIP switch settings to
make your system compatible with these products.

S7 Si8 Function

OFF OFF Standard Product

ON OFF Reserved
ON ON JSI Controller
OFF ON AX-A Drivellndexer

Table 2-4. Spedal Configuration DIP Switch Settings

Jumper Location The Jumpers add or remove vartous termination reSistors

depending on the particular interface configuration. The
Jumpers can be moved up or down or left or right on the pins.
Figure 2-3 shows the deCaultjumper settings. Modifications
to this setting. depending on your configuration. are discussed
later In this user gUide.
 CHAPTER 2. GETTING STARTED 11

-1 Decoder Jumper Settings

.]
JU4

o.scrlptlon of symbol.:

,. • ·1
Jumper IFll"S

Figure 2-3. Jumper Default Settings

Decoder RS· This interface communicates serially (with Ascn

232C Interface charactersl. The 3-w1re interconnect and proper DIP Switch
settings are shown in Figure 2-4. Do not change theJUTTlper
setttngs (maintain. factory default setttngs).

Host Computer
-1 Decoder or Terminal
Pin" Function
,, .....
~

32 AX TX
33 1)( AX
34 GND GND
..... ··... ...•...•...... ....
~ ~ ~
SHIELD

DIP Switch S3 Configuration

51 52 53 S5 56 S7 58

x z z z I x x
Z = Switch setting based on configuratIon, refer to Table 2-3.

Figure 2-4. RS·232C Serta1 Communication

12 AL ENCODER USER GUIDE

RS;-232C To verify that your RS-232C llnk is operating properly, follow

Verification the procedure described below. To perform these steps. you
will need a tenn!nal or you may enable your computer to
emulate a dumb terminaL Several emulation packages (e.g.
Pro-CommTM) are available that will allow you to use your
computer as a texmlnal. Only upper-case ASCII characters are
valtd.

1. Be sure that power Is not applied to the system. Remove

the cover from the AL decoder and set the DIP switches
(refer to Figure 2-4). Put the cover back on the unit before
proceeding.
2. Connect the Interface from the decoder box to the
computer/terminal usJ.ng the tnstructions shown in
Figure 2-4.
3. Plug the encoder head's IS-pin D connector into the
decoder box and use the suppUed 120VAC input cable to
power up the unit. The green power LED should lJght up.
4. Enable your computer/tenninal to operate at the
followmg specifications:
• Baud Rate: 9,600
• Data Bits: 8
• Start/Stop Blt(s): 1.
• Partty: None
• Full Duplex
1 5. After you power up the l.IlIlit, press the space bar on your
keyboard to detennLne if the computer /termlnal is
operat1ng properly. It your cursor moves on the screen
after you press the space bar. you are receMng an echo.
An echo lncUcates that conununication is occurring from
the computer/tenntnal to the decoder box and from the
decoder box back to the computer/ term1nal. If you receive
an echo, proceed to step 8.

6. If no echo 15 received, switch the wires labeled Rx and Tx

on the decoder box and press the space bar again. If an
echo Is received, proceed to step 8.
7. If the computer/tenn1nal Is stlll not receMng an echo,
refer to Chapter 7, Maintenance lit TroubleshootJ:ng.
8. After ver1l)1ng that you have received an echo, type: "PR.
You should receIVe the following response: "_nnnnnnnn'
((It • an error code. _. a space. and n = a dlgtt from 0 - 9. A -
F whICh represents the tCUrTent absolute encoder position
In hexadec1mal). Jfyou do not rece1Ve a report such as
this. re-enter the command shown above. After any reset.
the first character In the "PR command's response will be
a 1. lCyou are st1lJ unable to obtain the appropriate
response. refer to Chapter 7, Malntenance &
Troubleshooting.
9. Move the encoder shaft manually and repeat Step 8. The
position report should change. If the position report does
Indicate a change in position, the system is operaUng
properly. Rtifer to Chapter 5. Software Reference. Jor
further command deScrfpUon tnj'onnattDn.
 CHAPTER 2. GETIING STARTED 13

Decoder RS- This Interface communicates serially (with AScn

4221485 characters---only upper case characters are valid). The 4-wtre
Interconnect and proper DIP Switch settlngs are shown In
Interface Figure 2-5.

Host Computer
·1 Decoder or Terminal
Pin" Fundion
.......'"
35 TX-
36 TX+
..........
.-
,,-
o
0
0
0
0
•

··, --<.........."" RX-

RX+
·
···.-
0

,,-
37 AX- ,,- ~ - .......... TX-
38 RX+ ,,-
·: ..·· - ,,-
~. TX+
. . . . . . . . . . ,................................ ill' . . . . . . . . . . .
SHIELD I

DIP Switch S3 Configuration

51 52 53 54 55 S6 57 58
z--
I~ z I - I
x
::FI x z z x x
Z = Switch setting based on configuration, refe' to Table 2-3.

Figure 2-5. RS-422/485 Full-Duplex Serial Communication

You should be aware of the following Information if you use

the configuration setting shown In Figure 2-5.
• The RS-422/485 interface does not provide character
echoes.
• If more than one unit lis multi-dropped. remove jumpers
JU3 and JU4. You should do this to aU WItts that you.
intend to multL-drop. except one. One unit m the
configuration should maintain the default jumper
settings Uumper settings only). Refer to Chapter 4.
Appl1cation Design for more informatlon on multl-drop
configurations.
14 AL ENCODER USER GUIDE

RS·422/485 To verify that your RS-422/-4f85l1nk is operating properly.

Verification follow the procedure descrtbe.d below. Compumotor
recommends that you use a Qua-Tech model 05-201/05-202 if
you are uSing an RS-422/485 interface with an IBM or IBM
compatible computer.
1. Be sure that power is not appUed to the system. Remove
the cover from the AL decoder and set the DIP switches
(refer to Figure 2-5). If you are using only one un1t with
this Interface, leave the Jumpers at their factory default
settJngs. You w1ll have tc~ change all of the other units'
Jumper settings. Put the cover back on the unit before
proceedJng.
2. Connect the Interface from the decoder box to the
computer/temunal using the instructiOns shown In
Figure 2-5.
3. Plug the encoder head's IS-pm connector Into the decoder
box and use the supplied 120VAC input cable to power up
the unit. The green power LED should light up.
4. Enable your computer/tenninal to operate at the
following specifications:

• Baud Rate: 9.600

• Data Bits: 8
• Start/Stop Blt(s): 1
• Partty: None
5. After you power up the unit, type the folloWing command:
"PA. You should receive the follOWing response:
"_nnnnnnnn (0 • an error code, _. a space, and n = a
d1g1t from 0 - 9 which represents the current absolute
encoder position). If you do not receive a report such as
th1&, re&enter the command shown above. If you are st111
unable to obtain the appropriate response, refer to
Chapter 7. Maintenance & lroubleshooUng.

6. Move the encoder shaft Inanually and repeat Step 5. The

poslUon report response should change. If the position.
report does Indicate a change In positiOn. the system is
operating properly. Refer to Chapter 5, Software
Reference. for jurther command deScription frl{onnation.
Decoder AX·A The AL encoder can Intenace with Compumotor's AX-A
IndexerlDrlve IndexerI Drive m1crosteppfng package. This Intenace
Interface requireS Incremental and absolute encoder data. The 7-w1re
Interconnect and proper DIP Switch settJngs are shown In
Figure 2-6. To apercu this cor]/iguratfon. JIOU must remow
the.Jumpersftom .JU3 and .nT4. 'I1le.Jumper on JU2 must be
jumper IocGtforL
""ormation
kept In place. Rlifer to FfIJure 2-3,far detaIled on
 CHAPTER 2. GETTING STARTED 15

AX-A Encoder
-1 Decoder Connector
Pin , Function ......
· . Function Pin'

34 GND - '
.......... ·· ., Common 2
35 TX-

-
5EI- 10
-'
~ __
36 TX+ ....,-~-----~~----,--<: 5EI+ 9

·· ·· -
,
39 A..· ..........
-'
~ ---<: CHA+ 3
,
· --<-
···,, ···,
40 fir
..........
.- CHAo 4
,,- CHB+
41 B+ -' ·· ·· ; - 5
42 S-
-' ·· ···· .......... CHB- 6

·~ ... Lumuuummmu<
.· SHIELD 11
DIP Switch S3 Configuration
51 52 53 54 55 56 57 58

::J Z
x x x
I Iz x
x
I Ix
=Switch setting based on configuration, refer to Table 2-3.
x

Figure 2-6. AX-A Wiring

AX-A Before proceeding. be sure that power Is not appUed to the

Vel'lfIeation system. Remove the decoder box Cover and set the switches as
shown In Figure 2-6. After setting the switches. put the cover
back on the decoder To verify that the AL and the AX-A are
operatlng properly together. follow the test procedures
provided in the AX-A User GUide.

Decoder JSI The AL encoder can interface with Compumotor's JSI Digital
Controller Servo Controller. The Interface between these units Is
Interface performed Ulrough the 8-bit parallel mode. The 14-wtre
interconnect and proper DIP Switch settings are shown In
Figure 2-7. Jwnper settings do not affect this conJiguralJDn.
16 AL ENCODER USER GUIDE

-1 Decoder JSI Controller

Pin' Function
9 07
10 06
11 05 2
12 D4 10
13 03 3
14 D2
15 01
16, D0

17 A1
18 A0
19 DR
20 DV
21 DE

2-4· OPTQ- ,,
,
, .... ....... -........... .
~~

1~Pln D Connector

DIP Switch S3 Configuration

51 52 53 54 55 56 57 sa
x x x
::FI z z IzIz z [ I
Z =Switch setting based on configuration, ref.r to Table 2-3.

Figure 2-7. JSI Wiring

JSI Verification Before proceeding. be sure that power Is not appUed to the
system. Remove the decode-I box cover and set the switches as
shown In Figure 2-7. After settlng the switches. put the cover
back on the decoder. To veJ1fy that the AL and the JSI are
operaUng properly together. follow the test procedures
provided in the JSI User Guide.

Decoder 8·Blt 1bJs TIl.. lnterface allows you to transfer data at a higher rate
Parallel of speed than the sertal1nterface options (RS-232C and RS-
Interface 422/485). The 14-Wlre Interconnect and proper DIP Switch
setUngs are shown In Figure 2-8. Maintain tllefactory default
jwnper settlngs.,
 CHAPTER 2. GETIING STARTED 17

-~ Decoder Host Controller

8-Blt Interface
Pin' Function ......
.
......... '
' . - ",-

··
INPUT 7
····
9 07 .JI' ..........
10 06 - ........ INPUT 6
.JI'
··· ·,,
11 05
12 04
13 03
--
..........
.......
.JI'
,

··,,,
,
·,
··
- ~
...........
........
.JI'
INPUTS
INPUT 4
INPUT 3
14 02
.JI'
·· ..........
.JI'

- :·
........ INPUT 2
--'
",-
15 01 ........ INPUT 1
16 D0 .JI'
··,,, - --'
....... INPUT 0

,,
17 A1 .JI'
.........
··· :
"
- --'OUTPUT 1
18 A0 , <:OUTPUT0
19 DR
.JI'
·,, ,"
" .JI' OUTPUT 2
-' ,, ,
20 OV · ",-
INPUT 8
21 DE .JI'
· ,
, .JI' OUTPUT 3
:
·
24 OPTQ- > ~....j............~ GNO
5HIELO
I
DIP Switch S3 Configuration

51 52 53 54 55 56 57 58

::J z z I IxI I -Ix

z z
Z: Switch setting based on conflgurallon, ref., to Tabl.2-3.
z x I
Figure 2-8. 8-Blt Parallel Wlring

8.. Blt Parallel Before proceeding, be sure that power Is not appUed to the
Verification system. Remove the decoder box cover and set the switches as
shown In Figure 2-8. After settlng the switches, put the cover
back on the decoder. To vertfy that the 8-Bit parallel Interface
is operattng properly, refer to Chapter 4, ApplJcaUon Design.

Decoder 16-8/t nus TIt. interface allows you to transfer data at a hJgher rate
Parallel of speed than the 8-bit parallel Interface. More Interface
Interface wires are requlred for this Interface. The 21-w1re
Interconnect and proper DIP Switch settings are shown In
Figure 2-9. Maintain theJactory defaultJwnper settings.
 18 AL ENCODER USER GUIDE

·1 Decoder PC Parallel Interface or

Programmable Controller
Pin" Function ,,.,._ ., ..
· . ~
1 015
··, ···
........
~
INPUT 15
2 014 ~
·· ......... INPUT 14

···
.........
3 013 ........
. ~
,·, ~
INPUT 13

····,
4 012
·, INPUT 12

-
...",

5 011
......... " ,,-
........ INPUT 11
6 010
··· ~

···
, ........ INPUT 10
7 D9
~
......... ·,, , .",
INPUT 9
8 as
...",
........
.-
·· ,,
~

91 07 ··
,
,,
,
- ~
........ INPUT 8

··
INPUT 7
101 D6
~
· ",
INPUT 6
11 05
~
· ··, ........
",
.- , ·, INPUTS
12 D4
......... ",
INPUT 4
...",
·· ,, .........
1:3: D3 ",
......... ·· ·, - ",

...",
INPUT 3
14 02
15 01
~
......... ·· ·,, ",
INPUT 2
INPUT 1
·· ,
~
,,
.........
16 00 -- INPUT 0
·,,· ···
.r ~

11 A1
.........
.-
......... ·, ··,,
, - ~ OUTPUT 0

···· ·,
19 DR ~
" , OUTPUT 1
200V ~
" , INPUT 16
21 DE .- ·,, ·, ~ OUTPUT2
· ,, ·
24 OPTQ- > ;:
1. ...
-
J.......................
<---GN-O-",
<>-S-H-I-E-LO
.......- - ,

DIP Switch S3 Configuration

S3 54 55 87
z-
S1 S2 S6 S8

::,1 z z z
x]
I z Ir.',,,- I x x
Z. Switch setting based on configuration, to Tabl. 2-3.

Figure 2-9. 16-Bit Parallel W1r1ng

16-811 Paralle' Before proceeding. be sure that power Is not appUed to the
Verification system. Remove the decoder box cover and set the switches as
shown In Figure 2-9. After setting the swttches. put the cover
back on the decoder. To verifY that the 16-bit parallel
interface Is operatlng properly. refer to Chapter 4,
Application Design.
 CHAPTER 3. INSTALLATION 19

Chapter 3. INSTALLATION

Chapter Objectives The information in th1s chapter will enable you to:
• Mount all system components properly
• Connect all electrical system inputs and outputs properly
• Ensure that the complete system is tnstalled properly
You must complete the steps fn Chapter 2. Oetting Started that
pertain to your appUcaum before you perform the steps in
this chapter.

Environmental FlUid should not penetrate llnto the unit through the shaft.
Considerations You should prevent direct fluid flow onto the unit by altering
the flow of flUids. You can accompUsh this with a splash
guard or some other protective device.

Mounting Refer to Chapter 6, Hardware: Reference for all encoder and

decoder box mounting dlmensions.
Panel Layout
4~
Guidelines
6"
"

Mounting cabinet
(Front View )

Figure 3-1. Panel Layout

20 AL ENCODER USER GUIDE

Decoder Th15 ctrcultry 15 microprocessor based and fully digital (all

voltages are within TIL levels). For this reason, the unit
Mounting should be enclosed within a panel with other control devices .
. Electrtcally noisy devices should be suppressed. or housed in
separate enclosures.
The electron1cs box 15 panel-mounted with two JDounting
brackets. Chapter 6, Hardware Reference. provides mounting
hole dimensions. You may mount the decoder box in two
ways: m1nimum width or mInimum depth. Refer to Figures 3-
2 and 3-3.

Figure 3-2. M1nJmum Width Decoder Box Mounting

--

Figure 3-3. M1n1mum Depth Decoder Box Mounting

 CHAPTER 3. INSTALLATION 21
------------------------------------~~~~

Since there are no high-power devtces In thIS circuitry. the

box gives off very little heat. However. the unit is not over-
temperature protected and must be kept In an ambient
environment below 50°C. To maintain this temperature. you
may need to vent the enclosure (fan cooling may be necessary
II the Internal temperature reaches the upper lJm1t). Logfc
deufces may perJonn unpredictablu 1/ they becQme too hot.

Encoder Refer to the mountJng instructIOns provided In the AL/IL

Mounting Mounting Guide. which was Included with your product
shipment. All AL Encoder mounUng informatIOn Is provided
In that manual.

System This section contains directions and procedures to complete

Connections all of the AL's electriCal connections. Refer to Chapter 2.
Getting Started for speclflc 1/0 locations.

Wiring Proper grounding of electrtcal equipment IS essential to

Gu/d'ellnes ensure the safety of personnel. You can reduce the effects of
electrical noise due to electromagnetic Interference (EMU by
grounding. All Compumotor equipment should be properly
grounded. A good source of infonnatlon on grounding
requirements is the National Electrtcal Code pubUshed by the
National Fire Protection AsSOCiation of Boston.
Massach usetts.
In general. all components and enclosures must be connected
to earth ground through a grounding electrode conductor to
provide a low In1pedance path for ground fault or nolse-
Induced currents. All earth ground connections must be
continuous and permanent. Compumotor reconunends a
single-pOint grounding setup. Prepare components and
mounting surfaces prior to Installation so that good electrtcal
contact is made between mounting surfaces of equipment and
enclosure. Remove the paint from equipment surfaces where
the ground contact will be bolted to a panel and use star
washers to ensure soUd bare metal contact
For temporary installation. or when you cannot Implement
the grounding method descrtbed above. connect the GROUND
termJnal on the AC power connector to the earth ground.
Whenever possible. route high-power SIgnals (Le .• motor and
power) away from logic signals (Le .• RS-232C. RS-422/485.
parallel output) to prevent electrical noise problems.
Drive and Motor Refer to the manuals provided With the drtve and motor you
Wiring are uSing wtth the AL Encoder to properly Wire the
motor to the drive. Ensure that you have perfonned this
wiring step successfully by following any test routines or
ver1flcaUon procedures that your motor/ drtve Jnstallatlon
recommends.
22 AL ENCODER USER GUIDE

Cabling The cable from the encoder head to the decoder box is
constructed of 15 conductor #28 gauge flat wire. These wires
are nottwtsted. but they are shielded. The shield is terminated
at the decoder box end and is not connected at the encoder end.
The standard lengths are 10' and 20'. The maximum length
the decoders is 20'.
If you mount the AL In an environment that contaInS fluids,
always route the cable down from the encoder. This prevents
fluid flow on the cable from penetrating Into the encoder
hoUSing. The same precaution should be used at the decoder
box end. For further encoder mounttng InStructions. refer to
the AL/IL MOWlt:tn.g Guide.
If the requirements of YOW' applicatlon prohibit you from
routing the cable downward, loop the cable to prevent any
direct fluid flow. You may have to order a longer cable.
Any modifICations to the cable will void the warranty! Please
consult Compumotor prior to making any changes.

Power Supply For most appUcatlons. the JPOWer supply ground should be
allowed to float with reference to earth (no connection to
earth ground). Refer to Chapter 6, Hardware reference for
further deta.1ls.
 CHAPTER 4. APPLICATION DESIGN 23

Chapter 4. APPLICATION DESIGN

Chapter Objectives The information In this chapter will enable you to:
• Recognize and understand Important considerations that
you must address before you bnplement your appUcation

• Understand the capablllUes of the system

• Customize the system to meet your requJrements
You must complete the steps In Chapter 2. Getting Started. and
Chapter 3, Installation, that pertam to your application
before you perform the steps tn this chapter. You only need to
follow the examples that app'" to JIOUT application. You mOIl
skfp examples that do not OW'" to JIOUr application.

Interface Modes There are two Interface modes that allow you to obtain the
encoder's position-serial and parallel. The serial Interface
Includes RS-232C and RS-422/485. The parallel Interface
Includes 8-bit and 1S-bit output. Prior to uSing either
interface, you must define certain parameters within the unit
for the application.
These parameters configure the fonnat of the information to
be provided to the control system. You must define all of the
commands that are available for configuration with the
serial Interface. These commands Include configuration for
the follOwing functions:

• Report fonnat
• POSition scaling
• Position offset
• Output interface
Factory default values. which should be suitable for most
appUcations. are provided These default values. as well as
the conflguration command descriptions. are provided In
Chapter 5, Software Reference.
ACteryou configure the encoder, you must save an parameters
In non-volaUle memory. This chapter provides detailed
procedures for using the Interface modes that are appUcable to
the decoder box. The lnformatlon Is dMded Into two modes of
operation: PLC (paralleU and host-computer (serial)
operation.
 , 24 AL ENCODER USER GUIDE

Application Electrical noise, which Call cause an Incremental system to

Considerations m1scount, is a minor problem with the AL. You can el1m1nate
any noise-induced errors by reading the encoder position
again. ThiS provides proper position output (as long as the
noise 15 not severe).

It Is always good practice to take precautions to'prevent

problems from 0CCW'11ng. One precauti.onDJll measure is to tie
the shield to only one end tnstead of both ends. Connecting
shields at both ends causes a ground loop and may cause
problems for the mICroprocessor when current jlDws tn the
logfc ground (GND).

AL Operation with a
PLC
Parallel Output This interface can output eight (00-07) bUs, or sixteen (DO-
Control 015) bits of data. The full-position output of the AL Encoder 15
32 bits. ThJs data is read tn segments.

All data should be read from the Ieast-stgniflcant segment to

the most-s1gn1ficant segment. Figure 4-1 clartftes the data's
position. The figure shows each portion of the data In bytes .
. I

Actual position In Inches: 142.6789

(befor. formatting and scaling)

I T__T_'_=:~:rLSBI
01 42. 67 89

....
- - - - - - - = - : B y t . 3 (MSB)

Ftgure 4- L Byte Pattern For Output Data

There are three types of data output segments-words. bytes
and bits, There are two bytes in each word and eight bits in
each byte. Figure 4-2 shows the difference between these
segments.

Word. There are two bytes per

word and eight bits per
byte.

Byte.

rn
Bits 111111111111111111

Figure 4-2. Output data types

 CHAPTER 4. APPLICATION DESIGN 25

F1gure 4-2. Output data types

Each output can sink or source up to 15 rnA of current. with an

output voltage level of +5VDC. The output data can be
provided In binary or BCD rannat. The output format Is
hardware selectable with the DIP switches Inside the decoder
box. The state of address inputs AD and Al determine which
segment or poslUon data Is to be read.
All Inputs are normally high and are pulled up to +5VDC. To
activate the inputs. the Input must be grounded. Outputs are
normally in a hlgh-fmpedance state with leakage current
under 20sJA. The rouowfng secUons provide the step-by-step
processes required to read data In the the following ronnats.
• 8-Blt Parallel Output
• IS-Bit Parallel Output
You only need to read t1te section that applieS to your
application.

Explanation of The examples In this section lllustrate how to operate the AL

Parallel Output to obtain position data in BCD and binary fonnat for 8-bit
and IS-bit output. These examples are based on a random
Examples pOSition value.
You must enable the ALlor one oj the output modes (BCD or
Binary). The decoder's DIP switch settings must correspond
to the settfngs shown in Chapter 2. Getting Started.
26 AL ENCODER USER GUIDE

To use the data provided from the encoder. you must convert
the decoder's output Into position information. Tables 4-1
and 4-2 illustrate the mathematical relationship of each byte
being read Un BJna.ry and BCD;). The tables also provide the
ratio for 8-bit and 16-bit output. The control system should
read each byte shown In the tables and perfonn the math
functions shown for accurate and meaningful position data.

Binary Output

Ul1 16-BIt
BYTE Representation WORD Representation

1st (lSB)
-
0-255 units x 1165,535 1st (LSW) 0-65,535 units x 1/65,535

2nd 0-255 units x 11256 2nd (MSW) 0-4,095 units x 1

3rd o- 255 units x 1 (mask error CXlde &

sign bit)

4tl'1 (MSB) 0-15 units x 256

(mask error code "

sign bit)
-
Table 4-1. Mathematic Byte Table (Binary Output)

BCD Output

U!1 16-BIt
BYTE Representation WORD Representation
-
1st (LSB) 0-99 units x 0.0001 1st (LSW) 0-9,999 units x 0.0001
2nd 0-99 units x 0.01 2nd (MSW) 0-999 units x 1
3rd 0-99 units x 1 (mask error code &
sign bit)
4th (MSB) 0-9 units x 100

(mask error code &

sign bit)

Table 4-2. Mathematlcal Byte Table (BCD Output)

a-Bit Data Output This section explains the process of reading a position In 8-bit
segments. Wire and configure your decoder (DIP switches and
jumpers) as described in Chapter 2. Getting Started (8-Bit
Parallel Interface). Use DIP Switch 55 to select the binary
(OFF) or BCD (ON) output fCllmat. To read a pOSition (4 bytes)
from the AL Encoder. refer to Figure 4-3 and follow the steps
below.
 CHAPTER 4. A~PLlCATION DESIGN 27

, i ,
i ..........Jr-
~ ~

DE l~
-
j
(
!
t I

A1

DV

High
00·07
Impedance

Figure 4·3. Tim1ng-8-Blt Parallel Output

If you are using only one AlL Encoder. ground the Device
Enable (DE) input. The Device Enable function controls when
the output goes in or out of a hlgh-unpedance state. mus
input must be grounded to allow you to read output data from
the devtce.) If you multiplex: more than one unit. the Device
Enable input will select which outPut the system w1ll read.
The Data Request (DR) output must remain active durtng the
enUre data transfer (all four bytes). Al and AD select which
segment to read. The Data Valid (DV) output provides a signal
to you when the data 15 stable or ready.

- Step 1 Request the first byte Ueast s1gn1flcant byte-LSB). Brtng

address selects AO and Al hJgh. Ground the Data Request (DR)
and DevICe Enable (DE) outputs.

Step 2 Wait for the Data Valid (DV) output to go low. nus usually
takes approxtmately 1 ~s.
Step 3 Read the 8rst byte.
Step 4 Request the second byte. Leave the DR and DE outputs
grounded Leave Address Select AD high and ground AI.
Step 5 Wait for the Data Valid (DV) output to go low.
Step 6 Read the second byte.
Step 7 Request the third byte. Leave the DR and DE outputs grounded.
Leave address select Al grounded and ground AD.
Step 8 Wait for the Data Valid (DV) output to go low.
28 AL ENCODER USER GUIDE
.~~~--------------~--~~~~----------, ------------------------
Step 9 Read the third byte.
Step 10 Request the fourth byte (most significant byte-M5B). Leave
.the DR and DE outputs grounded. Leave address select AO
grounded and bring AD high .
Step 11 Walt for the Data Valid (DVJ output to go low_
Step 12 Read the fourth byte_
Step 13 Bring all of the Inputs high.

The last three most stgn!flcant bits (M5B) of the fourth byte
contain error code Information. Refer to Chapter 7.
Maintenance lit TroubleshooUng for a description of the error
codes.
71Je 4th Byte must always be read. Thts contains not only the
error code. but also the direction fndtcatton. Thts byte will be
frozen as long as the data request is active.
If you are using a SIngle-tum encoder. only the first and
second bytes contain the encoder's actual position. You must
read the third and fourth bytes to obtain error codes.

Interpreting 8-Bit Tum DIP SWitch 5 (55) on t.o select the BCD output fonnat
BCD Output After the system reads each byte. refer to Table 4-2 (SCD
Output) for the mathematic table that corresponds to each
byte for the control system.
When you read BCD or b1nary parallel output. the serial
Interface will be disabled. You must complete the parallel read
cycle (4 bytes) before you can establish the ser1allnterface. In
this appUcation. you must complete the read cycle and bring
the DR. DE. AI. and AO mputs to the 5 VDC level before
establishmg the seriallnted-ace .

The encoder position at the time of the read is 0049.3556

Inches. The step-by-step process that you must follow to read
this poSition Is provided below.
Step 1 Read the four bytes of data as described earUer in this section.
Step 2 Interpret each byte as follows.

1ST BYTE (LSB) PoalUon Byte Value S 6

BCD Vllue
I I
1 1
Termlnll Numbera "07 ~ "105 04 "
D3
1
D2
1
01 "00
2ND BYTE PoalUon Byte Value 3 5
BCD Vllue
I
1 1 , I ,
Termlnll Number. " "
07 OS OS 04 "
D3 D2 "
01 00
3RD BVTE PoalUon Byte Value 4 9
BCD Vllue
I I
1 0 1 1
Termlnll Numbera "
D7 OS OS "04 D3 " "
D2 01 00
 CHAPTER 4. APPLICATION DESIGN 29

4TH BYTE (MSB) POlltlon Byte Value NctEnor + o

_-1- I I
BCD Value
Terminal Number. o07 0C6 "OS "D4 " " " "00
03 D2 01

!'»~ !9_. 35 5&

Lr 111 Byte (LSB)

2nd Byte
.....- - - - 3 r d Byte
' - - - - - - - 4 t h Byte (MSB)

The value above w1l1 be frozen unUl the Data Request Input
returns to its hlgh or off'state. Notfce that D4 15 used for the
=.).
Sfgn bit (0 :: +, 1 Also, 110 blts are used for the decimal
polnt. The location of this pOlnt 15 tmaglnary and should be
sfgnlfied within the device that Is reading the encoder data.

Interpreting 8-Blt Tum DIP switch 5 (55) ofT to select the blnaIy output format.
Binary Output Refer to Table 4·1 for the multipUcatlon table to establish
corresponding data.

The encoder posltlon at the time of the read 15 0049.3556

Inches. The step-by-step process that you must follow to read
thls posltion Is provided below.
Step 1 Read the four bytes of data.
Step 2 Interpret each byte as follows.
1ST BYTE (LSB) Position Elyte Valul 56

Binary Value
I
0 1 1 1
Tlrmlnal Number. "
07 06 05 D4 03 "D2 " "D001

2ND BYTE Po.ltlon Bytt Valul 35

Binary Valut
I
0
Tlrmlnal Numb.r. "
07 ID6
1
05 " " "
D4 03 D2
1
01
1
D0
3AD BYTE Po.ltlon Iyte Value 49
Binary Vllut 10 1 1
I
Tlrmlna' Number. "
D7 ID6 05 D4 " "D2 "
03 01
1
D0
4TH BYTE (MSB) POlltlon Iyte Valul +0
Blnlry Value 10
I
Termlnll Number. "
D7 ID6 " " " " " "
05 D4 [Q D2 01 D0

!'»~ ~~. 35 58

LI 1It Byte (LSB)

2nd Byte
3rd Byte
4th Byte (MSB)
30 AL ENCODER USER GUIDE

The value above w1ll be frozen until the Data Request Input
" returns to Its high or off state. Notice that D4 15 used for the
= =
sign bit (0 +. 1 -J. Also. IlO bits are used for the declmal
POint. The location of thls polnt Is Jrnaglnary and should be
sJgn1fled within the device that Is reading the encoder data.

16-Bit Data Output nus sectJon explainS the process of readlng a position In 16-
bit segments. Wire and configure your decoder (DIP switches
and Jumpers) as described In Chapter 2. Getting Started
(Decoder 16·BU Parallel Interface). Use DIP switch S5 to
select the blnaIy (OFF) or BCD (ON) output fonnat. To read a
position (two two-byte segments-also referred to as a word)
from the AL. refer to Figure 4-·4 and follow the steps below.

DR

DE

1st Word 2nd Word

A1

DV
100~s 1~s

00·015

Figure 4-4. TJm1ng-16-Bit Parallel Output

If you are ustng only one AL Encoder. you can tie the Device
Enable Input low. The Device Enable function controls when
the output goes In or out ofa htgh-Jmpedance state. If you
multiplex more than one unJIt. the DevIce Enable Input w1ll
select which output the system w1ll read. The Data Request
output must remain active durtng the enUre data transfer (all
four bytes). Al selects which word to read. The Data VaI1d
(DV) output Indicates when the data Is stable or ready.
 CHAPTER 4. APPLICATION DESIGN 31

Step 1 Request the least slgn.lflcant word (LSW) by brlngIng Address

Select Al high. Ground the Data Request (OR) and Device
Enable (DE) outputs.

Step 2 Wait for the Data Valid (DV) C)utput to go low. nus usually
takes approxtmately J OOs,ts.

Step 3 Read the tsW.

Step 4 Request the most slgnJ.flcant word (MSW) by leaving the DR
and DE outputs grounded and groundIng Address Select AI.

Step 5 Wait for the Data Valid (OV) output to go low.

Step 6 Read the MSW.
The three M5Bs of the second word contain error code
lnfonnation. Refer to Chapter 7. Maintenance &
Troubleshooting for a description of the error codes.
1lle second word must always be read. ThIs contaLns not only
the error code. but also the dtrectfDn fndicatlon. This word
will befrozen as long as t~ Data Request is active.

If you an: uSing a single-tum encoder. only the flrst word

contains the encoder's actual pos1tion. You must read the
second word to obtain error codes.
Ifthts interface is with a PLC. use a I6·blt TI'L input module
with a m1n1mum of two TIL-compatlble outputs to control
output operaUon. If you are using an IBM PC. use a TIL-
compauble I/O card with 16 inputs and at least two outputs.
Compumotor recommends that you use a MetraByte™
parallel1nterface card (pIn PIOI2). For more infonnatlon.
contact Metrabyte™ at (617) 880-3000.

Interpreting 16- Prior to lmplementing a blnary output read. you must

Bit BCD Output properly configure the unit. Tum DIP switch 5 (55) on to
select the BCD output fonnat After the system reads each
byte. refer to Tables 4-1 (Binary) and 4-2 (BCD) for
multiplication t&bles to be established for corresponding
data. The !6-bit output is used. The encoder posltion at the
time of the read is -54.5802 Inches. The process to read the
position is as tallows:
When you read BCD or bInary paraDel output. the sertal
Interface w1ll be disabled You must complete the parallel read
cycle (2 words) before you can establish the seriallnteri'ace. In
this appUcatlon. you must complete the read cycle and brtng
the DR. DE. AI. andNJ Inputs to the 5 VDC level before
estabUshtng the ser1al Intelface.
Step 1 Read both words (MSW and LSW).
Step 2 Interpret each word as follows.
;·32 AL ENCODER USER GUIDE

1st Word 5 -~ 8 0 2
I0 I I I
" " " " " "" ""
1 1
BCD Value
Terminal " 1
01S 014 013 012
1
011 010 09 08 07 06 05 04 03 D2 01 "
00

2nd Word
.
No error - 0 5 4

BCD Value
I I I I 1 1
I
0 0 0
Terminal " 1
D1S 014 013 012 "011 010
" 09"
0
08 "
07
1
DEi "
05 04 "
D3 D2 "01 00

..0 49 • 35 56

--, I I 111 Byte (LS8)

2nd Byte
3rd Byte
4th Byte (MSB)

No bits are used for the decimal POint. This location 15

imaginary and shouTd be fixed within the device reading the
data.

Interpreting 16· Tum DIP switch 5 (55) oIT to select the binary output fonnat.
Bit Binary Output After the system reads each byte. refer to Table 4-1 (Binary)
for the multiplication table that corresponds to the data.
Assuming the encoder position at the time of the read 15
-54.5802 inches. the process to read the position is as
follows:
St:ep 1 Read both words, (MSW and LSWJ.
Step 2 Interpret each word as follows.
1st Word
- -'
5802

Binary Vllue 0 0 0 1 0 1 1
I
0 1 0 1 0 1 0 1 0
Terminal 015 014 013 012 011 010 09 OS 07 06 05 04 03 D2 01 00

2nd Word No error 054

Blnlry V.lu. 0 0
I1 0
I 0 1 1 0
1 1
Termlnll "
015 014 013 012 011 " 010 " "
D9 OS 07 "
06 05 04 "
03 02 01 00

~5~. 5802

~--------~2ndWo~(MSYij

No bits are used for dec1mal point. This location is tmaglnary

and should be fixed within the devtce reading the data.
 CHAPTER 4. APPLICATION DESIGN 33

Host Computer If you use the AL encoder with a host computer. two Interface
options are available. The decoder provides a DIP switch
Operation selectable Interface for either RS-232C or RS-422/48S.

Serial Interface This section presents the advantages and cUsadvantages

Considerations associated with serial communications.

Ad/vantages • Wlrtng required IS minimal (usually from 3 - 5 wires).

• If you use RS-422/485. the length ofwtre from decoder box

can be up to 4.000 feet. If you use RS-232C. length ofwtre
can be up to 50 feet.

• Greater capabilities available with status commands.

• Cable IS much easier to shield for reliable transmission.
• Simple wtrtng Implementation required for multiple unit
connection.

Disadvantage • Transfer of data IS l1:mJi.ted. Only one bit can be

transmitted every 100 In1croseconds.

Operating the The host must be a dumb terminal.. or have software that
Serial Interface allows the computer to emulate a dumb terminal (such as Pro-
CommTM). Before proceeding. enable the host computer for the
following protocol:

• Baud Rate: 9.600

• Data BIts: 8
• Start/Stop Blt(s): 1
• Partty: None
AU commands must be Issued in upper-case characters.

Using Multiple If you Intend to use more than one decoder (i.e., a daisy chain
Units on an RS- configuration). verify that each unit IS communicating
232C Interface properly (as spedfied in Chapter 2. Getting Started). Ensure
proper communications with each unit before you configure
your daisy chatn.

When you use multiple decoders with a single RS-232C

Interface, you can Include a maximum of four decoders in
your datsy cham configuration. Each decoder conftgured on
the daisy chain must have a untque deuU address. You can
assign a unique device address with the SN (Define Device
Address) command. The factory default address aSSigned to
every decoder is 0. Refer to Chapter 5, Software Reference for
more information on the SN cOmmand. 1bJs section
provides a step-by-step procedure for asstgntng unique device
addresses for your decoders. Do not attempt to assign device
addresses at this time. Refer to Figure 4-5 for an example of
proper daisy chatn wiring.
34 AL ENCODER USER GUIDE

RS-232C Interface ,
'.
Rx

Tx

GNO GNO

Url11 Unit 2 Unit 3

Ftgure 4-5. RS-232C Daisy Chain Configuration

Daisy Chaining To perfonn this example. you must have three decoders. You
Three Decoders will wire the units to the single RS-232C tnterface one at a
time to assign unique device addresses for each unit. At the
conclusion of this procedure, you will be able to complete the
daisy chain configuration.
Step 1 After ver1fy1ng that each decoder is functioning properly. wire
one of the units to the host computer (as per the tnstruct10ns
tn Chapter 2. Getung Started) apply power to the all of the
units. Enter the following command on your keyboard to the
decoder box.

0SN1
This command changes the: device address of this unit to 1.

Step 2 To save thiS unique address setting to non-volatJIe memory.

enter the following command:

1SS
This unit now has a unique device of 1. Remove power from
the system. D1scormect this unit from the RS-232C interface
and wire another one of the units to the interface. Re-apply
power.

Step 3 To assign a unique deviCe ad/dress to this unit. enter the

following command:

eSN2
nus command changes the device address of this unit to 2.
Step. To save this unique address setttng to non-volatJIe memory.
enter the following command:

2SS
This unit now has a unique device of 2. Remove power from
the lyatem. D1scormect the unit from the RS-232C interface.
At this POint. all three of the decoders have a unique devtce
address (0. 1. and 2--the decoderuou did not cIlcJnQe mtdntafns
the dPJault address settInQ q/.
 CHAPTER 4. APPLICATION DESIGN 35

Step 5 Refer to Figure 4-7 and wire 1the daisy chain configuration as
shown.
Step 6 Apply power to the three decoders and the computer/tennJnal.
Press the space bar on your keyboard.. If the cursor on the
screen moves, you are receiving an echo. This indicates that
the RS-232C communication Un}( is working properly (from
computer/terminal to decoder and from decoder back to
computer/termJnal). If yow' cursor does not move when you
press the space key. check: your wtrtng connections (refer to
Figure 4-7 and repeat this step. If the problem persists, refer
to Chapter 7, MaJntenance & Troubleshootlng.
Step 7 After you have successfully received an echo. enter the
following commands (you wtll receive a response after each
command):

"PR
1PR
2PR
The PR (Position Report) command provides a position
report. You should receive a position report for each decoder
with these commands. If you do not receive the position
reports. check your wir1ng.
Step 8 Manually move the encoder shaft position of the encoder with
the unique deviCe address of 0. To see the change in position.
type the following commandl:

"PR
The position report for this unit's pOSition should differ from
the position report you receIVed for this unit in Step 7.
Step 9 Manually move the encoder shaft position of the encoder with
the unique device address of 1. To see the change in position.
type the following command:
1PR
The position report for this unit's position should ditIer from
the pOSition report you rece:lved for this unit in Step 7.
Step 10 Manually move 1the encoder shaft position of the encoder with
the unique devtce address of 2. To see the change in pos1tJon.
type the following command:
2PR
The position report for th.ts unit's position should dJffer from
the position report you received for this unit In Step 7.
The successful completion of these steps ver1fy that all of the
decoders configured on your daiSy chaJn are operating
properly. If you encounter problems, check your wtnng and
tIy this procedure agaJn (from Step 1). or refer to Chapter 7.
Maintenance & Troubleshooting.
 i.36 AL ENCODER USER. GUIDE' .

Using Multiple Jfyou use more than one decoder (lee. multi-drop). verify that
Units on an RS- each unit is communicating properly (see Chapter 2. Getting
Started). Ensure that each unit is communicating properly
422/485 before you conflgure your multt·drop system.
Interface
When you use multiple units with the RS-422/485tnterface.
you can multi-drop up to 16 units to one host sertal port. Each
decoder wired on a multt-drop corifiouratton must have a
unique deutce address. You can assign a unique device address
with the SN' (Define Device Address) command. The factory
default address IS 0. Refer to Chapter 5. Software Reference
for more 1nIonnation on the SN command. This section
provides a step-by-step procedure for assigning unique device
addresses for your decoders. Do not attempt to assign device
addresses at this ttme. Refer to Figure 4-6 for an example of
proper multi-drop W1r1ng.

-1 Decoders
Unit #1

1000* 1000*

1000· 1000*
x+ mllllllllllllllll!ll!ll
~~~ -
---.... ----------......--........-..-.........--- ...
---------------- ~t,lo
Unit #2
Host Interface
Rx-
Rx+
x-
x+

*The reSistors shown In this diagram are

Unit #3 factory-Installed within (Internally) the
Rx- decoders and Iinterface cards. No
Rx+ additional wiring or Installation Is required.
x-
x+

•
•••
•••
.. ••

I:~ ~ III
Unit 11' •

fX'x+

Figure 4-6. AI.. Multi-Drop W1r1ng

 CHAPTER 4. APPLICATION DESIGN 37
----------------------------~~~~

Multi-Dropping To perform this ex:ample" you must have three decoders. You
Three Decoders will wire the units to the single RS-422/485 interface one at a
time to assign unlque device addresses for each unit. At the
conclusion of this proceciure. you will be able to complete the
multi-drop configuration.
Step 1 After vertfytng that each decoder 15 functioning properly, WIre
one of the units tOI the host computer (as per the instructions
in Chapter 2, Getting Started) apply power to the all of the
units. Enter the following comrrumd on your keyboard to the
decoder box:.

"SN1
ThJs command changes the device address of this unit to 1.

Step 2 To save this un1que address setting to non-volatlle memory.

enter the followtng command:
1SS
.This unit now ha!; a unique device of 1. Remove power from
the system. Disconnect this unit from the RS-422/485
interface and ~ another one of the units to the interface.
Re-apply power.
Step 3 To assign a unique device address to this unit, enter the
follOwing command:

"SN2
This command changes the device address of this unit to 2_
Step 4 To save this unique address setting to non-volatlle memory.
enter the following command:
2SS

This unit now haiS a unique device: of 2. Remove power from

the system. Dlc;connect the unit from the R&422/485
interface.
At this point, aU three of the decoders have a unique devtce
address (0. I, and 2-dwr tf«oder)lOU did not cItantIe maintains
the dld"ault addnss setdntl qf4
Step 5 Refer to Figure 4·8 and Wire the multi-drop configuration as
shown.
Step 6 Apply power to the three decoders and the computerIterm1nal.

•
38 AL ENCODER USER GUIDE

Step 7 After you have successfully received an echo, enter the

folloWing commands (you w1ll receive a response after each
command):

0PR
1PR
2PR
The PR (Position Report) command provides a position
report. You should receive a position report for each decoder
with these commands. If you do not receive the position
reports, check your WU1ng.

Step 8 Manually move the encoder shaft pOSition of the encoder with
the unique dev1CC~ addn::ss of 0. To see the change in pOSition,
type the follow1lng command:

0PR
The position report for this unit's pOSition should differ from
the position report you received for this unit in Step 7.

Step 9 Manually move the enc:oder shaft pOSition of the encoder with
the unique device addn-..ss of 1. 1"'0 see the change in poSition,
type the following command:

1PR
The position report for this unit's posttion should differ from
the position report you received for this unit in Step 7.

Step 10 Manually move the encoder shaft pOSition of the encoder with
the unique device addn$S of 2. To see the change in poSition,
type the follOwing command:

2PR
The posU1on report for this unit's position should differ from
the position report you received for this unit in Step 7.
The successful completion of these steps verify that all of the
decoders c:onfigured on youI"' multi-drop configuration are
operating prope:rly. If you encounter problems, check your
wtrtng and try this procedure again (from Step 1), or refer to
Chapter 7. Maintenance & Troubleshooting.

Using Multiple If you intend to use more than one decoder in parallel output
Units In Parallel mode (8-btt or 16-bitJ, you can rnultiplex the parallel outputs.
Multiplexing allows you to share common data and control
Output Mode s1gnals between decoders. ThJs reduces the number of inputs
and outputs that your lPLC uses. You may multiplex as many
units as your PLC can handIe. For example, tryour PLC has 16
available inputs (DevIce Enable) and outputs (Data Valid), you
can multiplex 16 units:. You are l1m1ted only by the capability
ofyourPLC.
You can read only one decoder at a time. Each decoder must
have its own distinct input and output on the PLC. Refer to
your PLC's user gUide for spect1lc information on I/O
capabilities and progranuning.
 CHAPTER 4. APPLICATION DESIGN 39

Before you begln to wtre your multiplex configuration. you

must remove resistor packs RN8 and RNII from an but one
decoder in the multiplex configuration (the last unlt). For
example.1fyou multiplex 5 units. you would remove resistor
packs RN8 and R:Nll from units 1 - 4 and keep them in unit 5.
Removing these resistors prevents the output tr:ansistors from
saturating due to low Impedance. Refer to Figure 4-7 for the
location of these l"eslstollS.

..-

-
~

..........

- N
~

D
This is not a camplete drawing of the board. The important infc)rmation is the location of resistor packs
RN8 and RN 11 (the shaded areas in this diagram). Do not fflmOve or manipulate My other oomponents
on this board.

Figure 4-7. Location of RNa and RN 11 Resistor F'acks (Decoder B()ard)

40 AL ENCODER USER GUIDE'

Figure 4-8 illustrates the w1rtng conflguraUon for

muIUplex:1ng. Before w1r1ng the units. be sure that each unIt
compUes with the recommendations previously d.1scussed
(distinct I/O on PtC andl removal of resistors on all but one
unit).

Encoder.1

CONTROL
BUS

Encodert2

Encoder 13

Device Enable or Select Input

fII'BiZI.I Represents thl parallel outputs (8-bl1ts or 16-blts) from the decoder
_ Represents thl controllnputa and olutputa tCiI the decoder

Figure 4-8. Multiplexing Conflgurauon

The decoder also has a Data VaUd (DV) !Output. The PLC can handshake with the decoder
using the DV output and the Device Enable (DE) Input of the decoder.
 CHAPTER 5. SOFTWARE REFERENCE 41

Chapter 5. SOFTWARE, REFERENCE

Chapter Objectives The information in this chapter will enable you to:
• Use this chapter as a reference for the function, range.
default. and sample use of each command

Command The AI.. allows you to communiCate over the sertal interface
with several software commands.
Descriptions
-
050 (!)Oefine Offset P1osition 0VALID
0set-up Software Version

0SYNTAX ®UNITS Q)RANGE ~DEFAULT ®ATTRIBUTES

aSOnnnnnnnn n - offset o- 255, A 0 Immediate
Independenty Saved

@EXECUTION TIME <2 ms OSEE ALSO SS

@RESPONSE TO aSOnnnnnnnn IS NI A
- -
1. Mnemonic This box: contains the command's mnemonic code and the
Code command ~e. l'11e command types are described below.

2. Type This portion of the box: l:ontaJlns the command's type. The
four command types are listed below.
StltU. Status commands respond (report back) with information.
Set-Up Setup commands, def1n.~ setup conditions for the application.
Setup commands, 1ncluc1e the following types of commands:
• HOm1ng (Go home acceleration and velocity. etc.)
• Input/Output (Ltm1ts. scan time. in-position time. etc.)
• Tuning (Servo or position tracking)
• General (Set sw1tch~:s. retum to factory settlngs. etc.)
Programming Programming ccmmands affect programming and program
flow. For example. trigger. output. all sequence commands.
quote. time delay.9, pause and continue. enable and front-
panel loop and end loop. line feed. carnage return. and
backspace.

3. Full Name This field contains the full command name.

42 AL ENCODER USER GUIDE

4. Valid This field contains the n.."VisJon history of the command. It

Revision includes the revision of software when the command was
Level added or modified. If the revision level of the software you are
using is -equal to or greater than the revision levell1sted in
this field. you an: using the proper version of the software.

5. Syntax The proper syntax. for the command lS shown here. The
specific parametel"S associated with the command are also
shown. Definitions of the parameters are described below.

a nus indicates that a device address must accompany the

command. OIlly the deviCe specified by this parameter
receives and e.xecutes the command. If this parameter. or
any other pal"umeter appears within brackets <a>. It is
optional.
n ThlS represents an integer. You may use an integer to
specify a vartety of values (acceleration. velocity. etc.).

6. Units This field descr1b~~s what unit of measurement the parameter

in the command syntax represents.

7. Range This is the range of valid values that you can specify for n (or
any other parameter specified).

8. Default The default setting for the cOlll11lB1Ild is shown in thlS box. A
command will perform Us function with the default setting if
you do not provide a value.

9. Attributes ThlS box indicates if the command lS immediate or bq6ered.

The system executes immediate commands as soon as it
receives them. Buffered commands are executed in the order
that they are receIVed with other buffered commands. You can
store buffered commands in a sequence and save them in
permanent menlory.

The lower portion of the: box explains how you can save the
command-Independently Saved or Never Saved

You must enter an ss (Save Parameters) command to

maintain para.'lleters th,at are independently saved. A
command that l~ never sewed is never placed in the system's
permanent memory.

10. Execution The execution ttme is the span of tlme that passes from the
Time moment you issu.e a command to the moment the system
begins to execute it.

11. See Also Commands that are related or sfm1lar to the command
described are Jisted here.

12. Response A sample status l::otmIl2!Ild Is given (next to RESPONSE TO)

and the systeID respon..CIe is shown in the adjo1n1ng box. This
~ wlll onw be prTJC1i4ed If the ~ p1'OI1Ides a response to
the comnu:auf. If no nspoose is provl.cfed. this ~ wm not be
Included with the command description.
Special If you are USing Sl decoder, you may press the Enter key
Prog'rammlng (can1age return-ler}) or the space bar ( _ ) on your keyboard to
Note serve as a .1.delJmiter:.
 CHAPTER 5. SOFTWARE REFERENCE 43
,----------------------~~~~

Command listing

- --
AR Automatic Position Report VALID
I Status Software Version Y
i

SYNTAX UNITS RANGE ATTRIBUTES

IDEF:ULT
<a>ARn n - enable 0 or 1 Immediate
or disable Never Saved

EXECUTION TIME <2 rM l SEE. ALSC) SS, SP

Description This command enables/disables the automatic serial

position report. When enabled. the position will be updated 15
times each second. If you enter O. you will disable the
function. If you enter 1. you will enable the functiOn. You can
only use this command while you are In the ser1al mode (RS-
232C & RS-422/4,S5). If your application requireS daJsy
cha1n1ng. you must cUsable the Automatic Report function
(position reports do not contaln addresses). Once you enable
this function. it reports. posItion information continuously
unUl you issue aAU to disable the function.
Example Command Description
!ZIARl Enables automatic position report

-
PB Binary Position Repo'rt VALID
Status

SYNTAX
aPBn
UNITS
revolutions
RANGE
N/A
I DEFAULT
N/A
Software Version Y

ATTRIBUTES
Immediate
Never Saved

EXECUTION! TIME <2 ms I SEE ALSO

- PIt, P

RESPONSE TO aPB IS 0000000001100010001000111001

--
D.. crlptlon When you enter this command. the AL reports the encoder's
current position In binary format. This position wtll be offset
and scaled by pl"Ogrammed parameters. The positlon report
will not appear in ASCn format. therefore. you must read the
response as a binary report. If the AL is searching for ASCll
characters, the unit's ~ponse will be In the form of ASCll
characters that correspond to the binary pattern.
Example Command ~
!ZIPB 000000000110001000111001
(represents 0.6239 inches)
44 AL ENCODER USER GUIDE

PR Position Rep ort VALID

Status Software Version Y

SYNTAX UNITS RANGE -IDEF~ULT ATTRIBUTES

aPR N/A N/A N/A Immediate
Never Saved

EXECUTION TIME <2 rns I SE~ ALSO FB

RESPONSE TO aPR IS 0_0545802

-
Description This command reports 1the current absolute position. Upon
execution. the AL provides formatted and scaled encoder
position information over the: se:rtal port. The encoder's
position IS reported with seven digits. The last four digits
represent the fraction of a revolution that the encoder IS
located at. The first three digits represent the absolute
number of encoder turns. The report IS gwen in one of the
following formats. depending on how you set the SP
command:
S P f/J Response is in hexadecimal fom,at
SP 1 Response is in decimal format (no decimal point)
SP 2 Response is in decimal format (decimal point automatically inserted)

Example Command Response

f/JPR o 0545802
(0-. an error code, _. a space, and the seven-digit
number represents the current absolute encoder
position). The space will contain a minus sign [-I if you
creatEl a position offset (so command) and the
encoder rotales beyond the new zero point in the
decreasing counts direction.

RP Report Set-Up Parameters VALID

Status

SYNTAX
aRP
UNITS
N/A
RANGE
N/A
I DEFAULT
N/A
Software Version Y

ATTRIBUTES
Immediate
Never Saved
EXECUTION TIME <2 m.s 1s~~ ALSO
-
N/A

Ducrlptlon 1bJs command reports the current set-up parameters. The

report IS sent via. the s:ertal port in ASCII dec1ma1 format
only.
 CHAPTER 5. SOFTWARE REFERENCE 45

Example Command Decoder Response

ellP SN",0
SP.I~0
5E=01
AR.. 00
50-00000000
5F-I~05000
5l-t~0000000

(these represent default settings)

-
RV Revision Level VALID
Status Software Version Y

SYNTAX UNITS RANGE

- DEFAULT ATTRIBUTES
allVn N/A N/A N/A Immediate
:
Never Saved

EXECUTION TIME <2 InS l S~E ALSO PR

RESPONSE TO aRV IS RV 92-9109-01A

- -
Description The IlV (RevisIon) command! provides the current software
revision level. 'The response is given in the follOwing fonnat:
RV 92-9109-01.n (n = the level of the revision, the preceding 8-
digit number is the p~LI1. number). The rev1s1on level indicates
when the software wa.<; written. You may want to record thiS
information in your own records for future use. This type of
information is especially useful when directing questions
about software to Parker Compumotor's Applications
Department.
Example Command Descrjption
I2'IlV Indicates the software revision level for this unit

SE Enable Error Checking VALID

Set-Up Software Version Y
-
SYNTAlC: UNITS RANGE DEFAULT ATTRIBUTES
aSDn n - enable a or 1 1 Immediate
or disable Never Saved

EXECUTION TIME <2 InS I S~~E AL,SO SS

D. .crlptlon This command enables/disables the error checldng functJon.

If you enter 1, you w1lll enable error checking. If you enter O.
you will disable error checldng" The error code is the most
stgn1f1cant (ftrs~t) d1g11t of the pOSition report in serial mode,
and the two most stgn1flcant bits (first two) in parallel mode.
Four possible error codes may be reported. These error codes
are described in Chapter 7, TroubleshOOting & Maintenance.
.46 AL ENCODER USER GUIDE

Exampll Command oescription

.SZl Enables error checking

SF Define Scale Factor' VALID

Set-Up Software Version Y

I
SYNTAX UNITS RANGE DEFAULT ATTRIBUTES
=!F'"~,-: r:~ n - 0.001 00001 - 29999 5000 Immediate
Never Saved

EXECUTION TIME <2 InS .1 SEE ALSC) ss

Description nus command scales
-
the encoder position output tIl desired
units. nus 15 multiplied by the present position before a
positlon output is, reported. There 15 an imaginary dec1mal
after the first number.
EXllmp11 Command Description
.SFQlSQIQIQI Defines the scale factor as 0.5
Sr2Q1Q1Q1Q1 Defines the scale factor as 2.0000

SL Define Output 2 PoslUon VALID

Set-Up Software Version Y

SYNTAX UNITS RANGE DEFAUL'T ATTRIBUTES

aSLnnnnn n - 0.01 000001 - 99999 0 Immediate
Independently Saved

EXECUTION TIME <2 ms I SEE ALSO ss

Dllcrlptlon The decoder has B dead band value of 0.01 mches. nus
command defines, a posjltlon where Output 2 Is turned on. Thts
command indicates to a remote controller that the AI.. has
reached its home poslt1c1n. Output 1 is used in the same
manner as the status lED (Output 1 and the status LED will be
on if the encodelr reache:s the absolute zero position). You
cannot control Output II wtth the 81. command. It has a dead
band value of 0.01 inches. Uthe encoder cable ts not
connected. the decoder wal Interpret the encoder's posftlon as
zero (0J and aLu.mtnate the status LED.
Example ~mmand pescrtDtion
• S1. • • • Ql1 Defines Output 2 as active at position 040.01 .
0u1put 2 will remain active between encoder
position 040.0100 and 040.0199.
 CHAPTER 5. SOFrwARE REFERENCE 47

SN Define Device Address VALID

Set-Up Software version Y

SYNTAX
aSNn
UNITS
n - device
RANGE
0 to 9, A - F
~0
ATTRIBUTES
Immediate
address Independently Saved

EXECUTION TIME <2 ms I -N/A

Description
SEE ALSO
--
This command defines the device address of each unit. Use
this command when more than one unit 15 connected to same
sertal port. These addresses are vaUd for daisy chain and
multi-drop configurations. The maximum address capability
15 16 units (0 - 9. A - F). Only four units may be configured on
an RS-232C daisy chain. however. the units may be asslgned
any valid address (i.e .• the addresses do not have to be
sequent:.t.al-l. 2. 3. 4).
Exampll Command Description
IZISN5 Defines new address as 5 (address was
previo1usly 0)

-
SO Define Position Offset VALID
Set up

SYNTAX
aSOnnnnnnn n a
UNITS
position
offset
0
RANGE
- 255, A
I DEFAULT
0
Software Version Y

ATTRIBUTES
Immediate
Independently Saved

EXECUTION TIME <2 ms I -

SEE, ALSO 55

Description
-
This command has an imaginary dectmal point after the
third digit. It allows you to establish an absolute zero pomt
without turning the shaft. until position zero is present. The
system compares the value that you enter to the actual
position before you entl~red the command. The difference
between the two represents the offset. If you enter A after the
command. the offset will be reset to 0. The offset value that
you enter after IBSO becomes the new encoder position
corresponcUng to the present mechaniCal encoder position.
The offset value that you enter cannot be greater than the
current encoder lnlue or 2.550.000. Values beyond this range
wtU elicit tnualUi data .from the system.
Example Command ~Jigtign
IZISOIZl Defines present position as zero
'48 AL ENCODER USER GUIDE.

- --
SP Define Position Offset VALID
Set-Up Software Version Y

SYNTAX UNITS RANGE

--
DEFAULT ATTRIBUTES
aSPn n - data o (binary/hex), 0 Immediate
output format 1 (BCD/decimal), or Independently Saved
2 (enable decimal)

EXECUTION TIME <2 ms I SEE ALStO S5

Description This command defines the format of position output data.

Zero (") defines the data format to be binary for parallel
output and ASCn hexadec1mal fo:r sertal output. If you enter
1, you will deflne the data format as BCD for parallel output
and ASCn dectmal for serial output. If you enter 2. the
dectmal POint wiJI be enabled! at the fourth place from right.
You must tum DIP swttch 5 off. If you are reading from the
parallel output (BCD or binary). set this command to Its
factory default setting (SP2). The setup should be performed
With DIP Switch 3.
Example Command Description
QJSPQJ Enables serial output format as ASCII
hexadecimal

-
S8 Save Parameters VALID
Set-Up Software Version Y

SYNTAX
aSS
UNITS
N/A
RAN~
N/A
DEfAULT
N/A
ATTRIBUTES
Immediate
Never Saved

EXECUTION TIME <2 InS I SEI: ALSO N/A

Description Saves all currently defined set-up parameters in non-volatile

memory. All commands previously entered Will be lost if you
do not execute ti11s command.
Enmpl. Command ~
QJSS Saves an current set-up parameters
 CHAPTER 5. SOFTWARE REFERENCE 49
------------------------~~~~~~.

-
Z Software Reset VALID
Set-Up Software Version Y

SYNTAX UNITS
-
RANGE DEFAULT ATTRIBUTES
z N/A N/A N/A Immediate
Never Saved

EXECUTIONI TIME <2 ms I SEE ALSO N/A

D•• crlptlon The Z (Reset) command is equJvalent to cycling power to the

decoder. This command returns alltntemal settings to their
default values. unless they were modifled and saved with the
55 command. This command does not require a device
address.
Example Command Descljptjoo
z Rese1ts any and all deCOders on the system
 CHAPTER 6. HARDWARE REFERENCE 51

Chapter 6. HARDWARE REFERENCE

Chapter Objectives The infonnatlon in this chapter will enable you to:
• Use this chapter as il quick-reference tool for most system
specificatlons (dimensions & performance)
• Use this chapter as a quick-rt>Ierence tool for switch
settings and proper 11/0 connectlons

AL System This section provides pertinent technical data for the AL

SpeCifications Encoder.

Mechanical
Resolution 0.0005"-2,000 steps pelr inch or 0.0001"-10,000 steps per inch
(if you are read1nl~ data in BCD fannat)
2.048 (0.00048") or 32,7'68 (0,00003" positions/inch. Ufyou
are reading data in binary fonnat)
Accuracy ±O.OOI (25 microns) bidtrecUonalindependent of length
Reputability ±O.OOOI (2.5 microns)
Starting Force 8.0 ozs. (225gms.]1
(Assumes preload of 1 - 2 Ibs for pinion)
Inertia 0.0005 OZ-in2 (0.5487 gJn-cm)1

Weight of 1.0 lb (0.45 Kg)

Encoder Housing

Housing Material Aluminum

Rack Material #416 hardened and ground statnless steel

Speed
SIIW Spied 50 ipS
Maximum WipS .
Operating Speed If you run the WIU at hiQher speeds, you wtIl not be able to read
the least stgnt/kant bit

Electrical

Input Powlr 120VAC ±lO%, O.SA

Output Tn.-compatible
Characteristics Binary (8 or 16 bit words)
BCD (8 or 16 bit words)
RS-422 (9,600 baud)
RS-232C (9.60) baud)
52 AL ENCODER USER GUIDE.

Cable Length 10' standard from the encoder head to the decoder box
(Compumotor supplled fbr Models AL8 - AL64)
20' max1mwn from the encoder head to the decoder box
'(Compumotor supplied for Models ALBO - AL144)
Maximum cab[e length ts 4.000' using RS-422

Update Time 2ms

Environment
Op.ratln"
Temperature

Stora"e
Temper.ture

Humidity o to 95% (Non-Condensing)

 CHAPTER 6. HARDWARE REFERENCE 53
,----------------------~~~~~

Decoder Box Pin

Out

COMPUMOTOR
ABSOLUTE EN CO ER

/; UNE

iE~
(MSB) Bit 15 --+I
Bit 14 :1:NEUT 20'1 AC Input Power
Bit 13 ~1 GNDI
Bit 12
Bit 11 ~l: . ='---+~: g:~~::::~
Bit 10
Bitt
Blta
BIt7
BItS
Hr
:.'. 01
D6
---+RS-232C R.celv.
- - - + RS-232C Tran.mlt
- - + RS-232C R.f.rence
---+-RS-4221485 Transmit-
---+.RS-4221485 Transmit.
BItS
BIU
BIU
BIU
Bit 1
05
04
D3
02
01
.Channel A.
'Channel A·
---+·Channel B.
I
---+·R5-4221485 Rec.lve-
---+.R5-4221485 Rec.lve.

Increm.ntal Outputs

(lSB) Bit" DO ----I-Channel B-

Addr••• Input 1 (Segm.nt Sel.ctlon) A1
Addre.s Input'" (Segment Stlectlon) AO
Reque.t Input for Data DR
Output for Data R.ady DV ( ) POWER
Device Stl.ct Input for Multiplexing DE
Programmabl. Output
Programmabl. Output
OUT1
OUT2 o STATUS
OPTo-lsolator Ground
Analog Vol1tage Output (Reserved)
Analo:] Reference (Reserv.d)
.;; OPTo-
ANLG
GND
o
ENCODER
INPUT

Parkeij

FIg1.1re 6-1. Decoder Box Pin Out

 54 AL ENCODER USER GUIDE

AL Dimensional
Drawing

~ ___________________________________ ~A~ ___________.________________________ ~

'.00
UOS.2) I

r--- . .
l __ _

".,' "'. 0
0'"
oN
5/11 Dli. T.... I.I
C'Bare 15/12
1. SO
(31.10)
1 0-

Opel 0:1 lit I ght

Hand Cable Exl t
I( .27 (C. IS) h

O. 30 t. 000 111-32 I( .:SO DP

(ni,·I2) (50. I)---,~ Tapped Holes (4)
_ ::.9 ~
111_
-.
o. ••L
.t
=_-::I
- -_~

I
::: I l1li-32 lhru (2)

,..

2.00
(50 .• )
I. JT
(5 ... 10)
..-
....
D-
VI
.,.0

Figure 6-2. AL Encoder Dimensions

 CHAPTER 6. HARDWARE REFERENCE 55

Decoder Box
Dimensions

16.22 Raduis
('1" mounting screws)
4 Places

0.47 (11.94)

COMPUMOTOR
ABSOLUTE ENCODER
UNE
:./lil:
NEUT
GND
ill!!;·
..

:iiL
..
RX
Tx
GND
Tx-
;
:f. TI+
...
. .
.:.
Rx-

;:::::.
Rx+
A+
I
~
':::' A-
~:::: :: B+
B- 9.50
(241.30)

10.44
(256.18)

o POWER

o Sl'ATUS

o
ENCODER
INPUT

[]parker II

2.13
(54.10)

2.80
...
(71.12)
·Dimensions in bold text represent inches
··Dimensions in parentheses represent rnillimeters

Figure 6·3. Decoder Box DlmensiclIlS (Minimum Width Mounting)

- 56 AL ENCODER USER GUIDE"

11..22 Raduis
(.10 mounting screws)
4 Places

0.47 (11.94)

.
J:u
.·1---,--....
2.131 1
(54.10)

4.5~
(114.30)

-Dimensions in bold tex1 represent inches

--Dimensions in parentheses rGI)resent Imillimeters

Figure 6-4. Decoder Box Dimensions (M1nJmum Depth Mounting)

,_ _ _ _ _ _ _-.;;...;CH~A...;.;.P...;.T.;:;.;ER~6. HARDWARE REFERENCE 57

Decoder
Schematics

·1 Decoder

R31

~ ':~o
~~ ________,~l____~

10 Q
1

•
CONN18
18 PIN PHOENIX

MCS4!540&
,V1'....
.& I3 C.
-12 ..,.... C29
"\7 .1uF

Figure 6-5. Serial Interface

158 AL ENCODER USER GUIDE

OPTO·

S
"Ne
Ji
I
•• 0 un8
.~I
~~!
ILoa
.... w II~~ •

,..
ILlla
""I
•• 0 U23C

.~
ILoa

-c
RH6 U23C

••0

ILoa

'~e
•
•......., ~

'\DV(
IRy

: ?:C "Jt
."IWI_
uaaB FlH3
111Il0l4
•
··e
1"V'V'--
11( ~50
O~JT 1
OuT2 7.

...... UZIC AH3

OPTC-(
I I(- 'r
.......
"tiC PTO

-
·L~

Figure 6-6. Parallel Control Inputs

 .,;

CHAPTER 6. HARDWARE REFERENCE 51

.
... ~r·
~~
~~

•• 0

-( .."'.' '
-( '~fI
1 .. J
•

__.J-( I~:' .•
--I-,VH C .. I
- L .IIMo I.
_~J ee a.!,
--&..l-

-L' -(

•1
-J~"'~ ••

...
...
:::=f -(
Ie
J~~I
I - .
- ( JLs~ I
ID I CONN 26
HI
"i7
Ie :1 1..
,-
.[
I§

I~:' I .......
--,-"" 7, ,. I

-a.J• •(
7C
:~~I
I
-L~ "
....LJ-r( I~~I C
~'=:-' se

.....L.J.'[ IL'.' I
-'-~
~,.
.,~• I~:' .oo

,.j,...ua. I I.

_".J- . r( :~!'
c
~;'(
....
.......,
, ,. (
I~:'
II ~

I~II .
I
• I

Fl&ure 6-7. Parallel Outputs

60 AL ENCODER USER GUIDE
---------------------------------------------------------------------
Decoder Box Setting Descripti()n: Switch:3
DIP Switch and
Jumper Settings
Switch. OfF ON

S1 RS·232C- R~485
S2 FIllII Duplu- Half Duplex
S3 CCW Direction- CW Direction
S4 8·Bit Parallel 11·81t Parallel-
SS Ilnlry (Hex)- BCD (0ec:imaI)
S6 Siftgletum Multi-tum
S7 Ilnlry Mode- Mode Select
sa 81nlry Mod.- Mode Select-

·Flctory-d.faun HUlng
-
Table 6-1. Decoder Box Default DIP Switch SeWngs

-1 Decoder Jumper Settings

I.·,.,
JU4

....I'-
o.ecrlpt/on of aymboI8:

..
Jumper (JUt)
~:!1 Pins

Figure 6-8. Jumper Default SettIngs

 CHAPTER 6., HAF~DW'ARE REFERENCE 61

Numbering Code Decimal Digit BCD Code Binary Code Hexadecimal Code
Table
0 0000 0000 0
1 00011 0001 1
2 001 C2' 0010 2
3 0011 0011 3
4 0100 0100 4
5 0101 0101 5
6 011 C2l1 0110 6
7 0111 0111 7
8 1000 1000 8
9 1001 1001 9
10 10000 1010 A
11 1 0001 1011 B
12 10010 1100 C
13 1 0011 1101 0
14 1 0100 1110 E
15 1 0101 1111 F

, Table 6-2. Numbering Codes

 CHAPTER 7. MAINTENANCE & TROUBLESHOOTING 63

Chapter 7. MAINTENANCE & TROUBLESHOOTING

Chapter Objectives The information in this chapter w1ll enable you to:
• Ma1ntaln the system's components to ensure smooth.
efficient operation
• Isolate and resolve system hardware problems

• Use this chapter as a qUlck-reference tool for a descrtption

of system error codes

Troubleshooting This sectlon covers the :step-by-step procedure to identify and

resolve system problems. Troubleshooting Is broken Into two
sections cavertng, sertallnterface mode only. Each section
provtdes suggestions to help you Identify the source of the
problem and elfm.lnate the problem.

RS-232C Enter Pl' to determtne: if the AL reports the set-up

Communications parameters. If no echo 15 even received. switch wires going
into decoder box labeled Hz and Tz. Enter the command
agaln. If you still do not receive a response. remove the
decoder box cover and make sure encoder cable 15 flrmly
cormected to encoder d.rcuit. You will not have to remove the
cover. since the cormection 15 external (outside of the decoder
box).
If you are havtng problems communicating with the indexer.
try the following procedure to troubleshoot the
communications interface.
1. Make certaflll the transmit of the host 15 wired to the
receive of the: pertpheral. and receIve of the host Is wired to
the transmIt of the pertpheral. ny swUching the receive
and transmit wires on either the host or peripheral if you.
faU to get any communication.
2. Some serial ports require handshaking. You can then
establish three-wire communication by cormecttng RI'5 to
CIS (usually pins 4 and 5) and DSR to D1R (usually pins 6
to 20).

3. Configure Ule host and penpheral to the same baud rate.

number of data bIt.4J. number of stop bits. and parlty.
4. If you ncetve double characters. for Instance typing A and
receMng u.. your computer is set for half duplex. Change
the setup to fuD duplex.
5. Use DC common Ol~ Signal ground as your reference. not
earth ground.
64 AL ENCODER USER GUIDE

6. Cable lengths should not exceed 20 ft. unless you are using
, some fonn of Jine drnrer, optical coupler, or shield. As
with any control signal, be sure to shield the cable to earth
ground at one end onlly.
7. To test your tenninal or terminal emulation software for
proper three-wire communicatJon, unhook your
peripheral device and. transmit a character. You should
not receIVe an echoed character. If you do, you are m half
duplex mode. ICOIUlec:t the host's transm1t and receive
lines and send another charact.er. You should receive the
echoed character. If ][1ot, consult the manufacturer of the
host's serial Snterface for proper pm outs.
If the computer is looking for handshaking signals. you may
need to install jumper wires at the: terminal end to disable
this function. Since the pm-out from various computers are
different. refer to your computer's operator's manual for
instructions on how to disable the handshaking function.
Most computers. however. use the pins shown in Figure 7-1 to
install jumpers. For more detaUed information on this topIc,
refer to RS-232C Made Easy. published by Prentice -Hall, Inc.

After you have checked your computer, enter [cr] QJRP. The
system should respond with set-ulP parameters. The reason
for entering a [cr] before the command is to clear the buffer
before you enter the command.
 CHAPTER 7. MAINTENANCE &TROUBLESHOOTING 65

COMPUMOTOR
ABSOLUTE ENCO ER HOlt Computer
Connector

. 015 '.: UNE

014 . NEUT Tx t.
013 .': GNO Ax'
012 RTSi4
011 '. RX--IIiiIl--+--" CTS 5
010 . Tx --;;,.-.....,.._.... OSR I
Dt .':': GNO -ii---+----II--~ND 7
.": Tx- DCD8
: ~ IDTR20
• 08
07
.: De
: 05 ::.:. Ax+
04
.. 03
..•• 02
: A+
.: .: : A- B
..•• 01
DO
..... A1
.... AO
... OR
·OV @POWER
DE
OUT1
OUT2
eSTATUS
OPTc)'
ANLQ
GNO
o
ENCODER
INPUT

Parke~

Figure 7-1. Disabltng the Handshaking Function

If you sun do not recetved an echo, use another computer to
complete this tes,t (determine If'the sertal port Is not
compatible with the system or If'It Is malf'unCtlontng). If this
Is not possible, contact our Application Department at (BOO)
358-9068.
if you recebJe echDed d'UlTaCters, but no parameters are
reported.. the address plrecedlrlg the RP command may be
something other than 0. The only way to find the proper
address is to try aU of 11te numbers in range l0RP • FRPJ.
66 AL ENCODER USER GUIDE-·

RS·4221485 lCyou are using a decoder. verify that the DIP switches are
Communications properly set (as shown In Chapter 2. Getting Started). Double
. check the system connections· (review Chapter 3.
Installation). 1)pe the following command:

SRP
The response to tlhis command will help you to detenn1ne if
set-up parameters are reported. If no data is reported. there
may be a compatibility problem with the Interface circuit that
you are us1ng. Since there 15 no ec~ho with RS-422/485. the
next: step is to verify that the Interface ctrcu1t Is operating
With the following parameters:
• Baud Rate:: g.6CX)
• Data Bits: 8
• Start/Stop Blt(s): 1
• Partly: None
if you receive echoed characters. but no parameters are
reported. the address preceding the RP command may be
something other than 0. The only way to.find the proper
address ts to try all of tJfte numbers in range l0RP - FRP).

Recommended Some customers have made speCial Interface boards that were
RS·4221485 not compatible wtth RS-422/4S5 standards. A lJstJng of
Interface Interface product'S that have been used successfully by a
variety of AL users 15 plrovided below.
Devices
l. RS422/485 to RS232C converter·B & B model 422CON.
Phone number: (S15) 434-0846.
2. IBM RS422/485 Inlterface board - guo-Tech model DS
2fJlfDS.2fJ2. Pholll: number: (216) 434-3154.

If communieation problems arise. contact Compumotor's

ApplIcation Engineering Department at (SOO) 35S-906S.

Reducing This section d1scUS5eS the sources and methods of suppressing

Electrical Noise electrical noise.
System To ensure trouble-free operation, you should pay spedal
_ Installation attention to the environment In which the AL will operate.
R.commendatlons the layout and mounting. and the wiring and grounding
pracUces used. 'Ibese recommendations are intended to help
you easily and safely IJrltegrate AI. Into your facility.
Industrial environments often contain conditions that may
adversely affect solid-state equipment. Electr1cal noise.
atmosphertc contaminaUon. or Installation may also affect
the operation of the AL, Encoder.
 CHAPTER 7. MAINTENANCE & TROUBLESHOOTING 67

EI.ctrlcal Nols. When an AL lls operated bl an environment where there Is an

excess amount of electrtcnl noise. special care must be taken
to el1m1nate sources ofposstble noise Interference. PotenUal
sources of electrtcal noise Include inductive devices such as
solenoids. relays. motors. and motor starters when they are
operated by a hard contact. For further infonnatlon on
avold1ng electrical noise. refer to the techn1cal4ata sectlon of
the Compumotor Motton Control Catalog.
Noise suppression devtces may be necessary when sources of
electr1cal noise are connected to the same AC power source or
are in close prax1mlty to electronIc equipment. You may also
need to install noise suppression devices lfyou have multlple
drives attached to the same AC power source. FIgure 7-2
shows some recormnended suppression devices for most small
loads. For best results. blStall these devices as close as
possible to the Inductive load.

~ DIODE VARISTOR (MOV)

AI::: i ~ -
E:D F::CI ~
1. Can be saved for For DC circ:uit only Can be used for
beth AC and DC both AC and DC
circuits circuits

2. Us. 500·1000
onm forRand
0.1 • 0.2 mictaF
@200V

Figure 7-2. Noise Suppression Devices

Enclosur. You should install the AL in an enclosure to protect it against

Considerations atmospheric contam1nants such as oU. mOisture. and dirt.
The Natlonal Electrical Manufacturers Association (NEMA)
has established standards that define the degree of protection
that e1ect.r1cal enclosures provide.. The enclosure should
confonn to NEMA. Type 12 standards If the intended
envtronment Is flndustrial and contains airborne
contaminants. Proper layout of components is required to
ensure suffiCient coollng of equlpment Within the enclosure.
68 AL ENCODER USER GUIDE·

Sources of Noise-related dlfficulties can range in seventy from minor

EI.ctrlcal -Hoi .. posltion1ng errors to damaged equipment from runaway
motors crashing through Umlt switches. In mJcroprocessor-
controlled equipment. the processor constantly retrieves
instructions from memory In a controlled sequence. If an
electrical disturbance Otturs. It may cause the processor to
misinterpret Instl'uctlon or access the wrong data. The can be
catastrophic to th.e program and force you to reset the
processor. Most Compulmotor Indexers are designed to with a
watchdog tlmer tllat shuts down the system If the program 15
Interrupted. Thlls prevents the most damaging faUures from
occurring.

Since elecb.1calln.oise is not Visible. It is very d1fflcult to

detect. You can be certa1n. however. that noise Is generated
from the following sources:
• Power line disturbances
• Externally conduct~:d noise
• Transmitted noise
• Ground loops,
The following electrlcal devices are particularly apt to
generate unwanted ele(!trtcal noise conditions:
• Coll-drtven devices (conducted and power lJne noise)
• SCR-f1red hl~aters (transmUted and power line noise)
• Motors and motor dnves (transmitted and power line
noise)
• Welders: electrtc (transmUted and power lJne noise)
Power line cUsturbances are usually easy to resolve due to the
wide vartety of line filtertng eqUipment that is available to
the motion control industry. Only the most severe electrical
noise problems w1ll require you to use an Isolation
transformer. You w1l1 have to use line filtering equipment
when other dev1c:es connected to the local power Une are
switching large amounts of current (espedal1y if the
SWitching OCCUrsl at a high frequency).
Any device that has collIs Is likely to cUsrupt the power line
when It Is switched off. Surge suppressors. like MOVs (General
ElectI1c) are capable of lJm1tlng this type of electI1cal noise. A
series RC network across the collis also an etrecuve means oC
elJm1natJng the problem (resistance: 500 to 1.000 Q;
capacitance: 0.1 to 0.2~. Coll··driven deviCes UnductJve
loads) include relays. solenoids. contactors. clutches. brakes.
and motor starters.
 CHAPTER 7. MAINTENANCE & TROUBLESHOOTING 69

Externally ExternaUy-conducted noise is similar to power line noise, but

Conducted NoIse the disturbances are created on signal and ground wires that
are connected to the Indexer. This kind of noise can get into
logic circuit ground or Into the processor power supply and
scramble the program. The problem In this Instance Is that
control equipment often shares a common DC ground wire
that may be connected to several devices (such a~ a DC power
supply. programmable controller. remote swltches. etc.).
When a source of noise Uke a relay or solenoid IS attached to
the DC ground, It rnay cause disturbances w1t.h1n the Indexer.
To solve the noISe problem caused by DC mechanical relays
and solenoids. you must cormect a diode backwards across the
coU to clamp the 1lnducecl voltage lIdck that the coU wUl
produce. The diode should be rated a four Urnes the con
voltage and ten times th~: coU current. Using soUd state relays
IS another way to ellm1nate this problem. See Figure 7-2.

Multiple devices on the same ctrcult should be grounded

together at a single point:.
Furthermore. power suppUes and programmable controllers
often have DC common tied to Earth lAC power ground). As a
rule, it IS preferable to have the Indexer signal ground or DC
common floaUng with respect to Earth. nus prevents sources
of electrical noise that are grounded to Earth from sending
noise into the indexer. When you cannot fioat the signal
ground. you should make the Earth ground connection at only
one point.
In many cases. opticallsolaUon may be required to
completely ellm1nate electrical contact between the Indexer
and a noisy enV1lronment. SoUd state relays provide thiS type
of Isolation.
Transmitted Nols. TransmItted noise is picked up by external connecttons to the
Indexer. and In sc:vere cases can attack an Indexer with no
external connecUons. The Indexer enclosure wU1 typically
shield the electronJcs from this. but openings In the enclosure
for connections and front panel controls may "leek.· As With
all eleCtrical eqUipment" the Indexer chassIS should be
scrupulously connected to Earth to mln1m1ze thIS effect.
When high CUITent contacts open. they draw an arc. producIng
a burst. of broad !!I~pectrum radio frequency noise that can be
picked up on Indexer l1Inlt SWitch or other wtr1ng. High
current and high voltage wires have an eJect:rtcal field around
them. and may Jnduce loolse on sfgnal wtnng. espedally when
they are Ued In the same W1l1ng bundle or conduit.
When this ldnd of problem occurs. It IS ttme to think about
shieldJng signal cables or Isolating the stgnals. A proper
shield surrounds, the Signal wtres to Intercept electriCal fields.
but this shield must be tied to Earth to drain the Induced
voltages. At the very least. w1res should be run In twtsted
pairs to l1m1t straight lJIne antenna effects.
70 AL ENCODER USER GUIDE

Most CompumotOI" cables have shields tied to Earth. but In

some cases the shields must be grounded at tnstallation time.
Install1ng the Indexer In a NEMA electrical enclosure ensures
protecUon Crom thls kind of nolse. unless noise producing
equipment Is also mounted Ins1de the enclosure. Connections
external to the enclosure must be shielded.
Even the worst noise pnlblerns. In environments near 600A
welders and 25kW transmitters have been solved ustng
enclosures. conduit. opUcallsOlaUon.and stngle point ground
techniques.
Ground Loop. Ground Loops are the most mysterious noiSe problems. They
seem to occur most often In systems where a control computer
Is using RS-232C communication. Symptoms like garbled
transmissions and lntelrmlttent operation are typical.
The problem occu.rs In s~stems where multiple Earth ground
connections exiSt. particularly when these connections are
Car apart.
Suppose a Model 2100 lis controlling an axiS. and the l1mJt
switches use an external power supply. The 2100 is controlled
by a computer In anothc:r room. U'the power supply Common
Is connected to Earth. the potentllal exists for ground loop
problems. 1b1s is because most computers have their RS-
232C Signal common tie:d to Earth. The loop starts at the
2100's lJm1t switch ground. goes to Earth through the poser
supply to Earth at the computer. From there. the loop returns
to the 2100 through RS·232C stgnal ground. If a voltage
potentlal exists between power supply Earth and remote
computer Earth., ground current will now through the RS-
232C ground creating unprediCtable results.
The way to test felr and ultimately elJminate a ground loop Is
to lift or cheat earth ground c01Ul.eCtions in the system until
the symptoms disappear. '..
Oef.atlng Nol •• The best tlme to handle electr1cal noise problems is before
they occur. When a motion system Is in the desJgn process. the
designer should consider the folloWing set of gUidelines for
system wtrtng b.l order of importance:
1. Put surge suppression components on aD electrical coJls:
Resistor/capacitor mters. MOVs. Zener and clamptng
diodes.
2. Shield all remote c()DnecUon, use twisted pairs. Shield
should be tied to Earth at. om: end.

3. Put all mJcroelecb1cal components In an enclosure. Keep

noisy dev1ces outside. watch Internal temperature.
4. Ground signal common WI.J1ng at one pOint. Float this
ground from Earth If possible.
5. ne all mechanical grounds to Earth at one POint. Run
chassis and motor grounds to the frame. frame to Earth.
 •

CHAPTER 7. MAINTENANCE & TROUBLESHOOTING 71

6. Isolate remote signals. SoUd state relays or OPTO

Isolators are recommended.
7. Filter the poser line. Use common RF ruters. Isolation
transformer for worst case.
A noise problem must be ldent.1fled before it c~ be solved.
The obvious way to approach a problem situation Is to
elJm1nate potenUal nolc;e sources until the symptoms
disappear. as In the case of ground loops. When this Is not
practical. use the above gulde11nes to shotgun the Installation.
Reference. Infonnation about the I~qulpment referred to may be obtained
by call1ng the numbers Ustedl below.

• Corcom line ruters. (312) 680-7400

• OPTO-22 optically 1solated relays. (714) 891-5861

• Crydom optically t.solatedl relays. (213) 322-4987

• Potter Brumfleld optically Isolated relays. (812) 386-1000
• General Electrtc MOVs (315) 456-3266
• Teal Electronics Cc)rporation-spec!al1zlng In power 11ne
products-(800) 888-TEAL.

Error Code
Descriptions

Error Description
- Cours. of Action
Coe:,

"
1
No error present. System is
functionino orooerlv.
Not ready for read. Reset Check your AC power Une and ensure that it
must have OCCU rred. Is clean. If the power Rne is O.K., apply power
and try readina the oosition aaain.
- 2 EEPROM failure. Under Try saving the parameters using the SS
this condition, the AL win COlnmand. Cycle power after you complete
automatically default to factory thet save and the error should not re-appear.
parameters. If parameters If the problem persists, you may have a
cannot be saved with the SS EEPROM problem. call the factory.
command, the EEPROM has

3
failed.
Data error. Positional read - Check for noise in the encoder. (Refer to the
will need to be repeated. " noise reQJction procedures explained In this
this persists, noise or a bad chapter).,
com nent ma~ be the cause._
5 Fine resolution data erroli'. Tf)' to read the position again. If you receive
Position read will need to be tI'1s error on at regular basis, caD the factory.
repeated. This usually occurs
when the electronics are not
tuned to the encoder head.
-
Table 7-1. Error Code Descriptions
 APPENDICES 73

APPENDICES

,------------------------------
Command
Summary

CQmmand Description Default Setting

AR Auto position report in ASCII 0/Auto report disabled
PB Report present position in binary
PR Report present position in ASCII
RP Report present parameter settings
RV Report software revision level
SD Set Direction of system 0/1ncreasing output CCW
SE Set (enable) error check 1/Error check enabled
SF Define scale factor 1/Scale factor multiplier
SL Define position for Output 2 511.99/Set Output 2 position
SM Define RS-4221485 fulVhalf duplex 0/Full Duplex
SN Define device address 0/Address 0
SO Define position offset 0/0 Offset
SP Define positional data format 1/0utput format ASCII decimal
SS Save set-up parameters in EEPROM
Z Hardware and software reset

All parameters must be saved wuh the ss command or tJ1ey will be lost after power is cycled.

Recommended Vendor Product(s) Address

Third-Party
Vendors Metrabyte Models PI012, 440 Myles Standish Blvd.
COM48S, DUAL 422 Taunton, MA 02780
Phone: (508) 880-3000

Datastorm Pro-Comm™ P.O. Box 1471

Technologies Columbia, MO 65205
Phone: (314) 449-9401
 •

APPENDICES 77

GLOSSARY

Absolute Positioning Binary Coded Decimal is an A range of input signals (steps) for
A positioning coordinate reference encoding technique used to which there is no system response
wherein all positions are specified describe the numbel'S; 0 thro~lgh 9 or correction. •
relative to some reference, or with four digital (on en off) siglnal
-tlome- position. This is different line.. Popular in machine toCl~
from ina-emental programming, equipment. Detent Torque
where distances are specified The minimal torque present in an un-
relative to the current position. Bit energized motor. The detent torque
Abbreviation of Binary Digit, Ithe of a Compumotor or step motor is
Absolute Programming smallest unit of memory equal to 1 typically about onl percent of its
Refers to a motion control system or 0. static energized torque.
employing position feedback
devices (absolute encoders) to Block Diagram DTE
maintain a given mechanical A simplified schematic representing Data Communications Equipment
location. components and signal flow Ithrough transmits charaders on pin two and
a system. receives on pin three of a 25 pin 0
Acceleration connector.
The change in velocity as a function Byte
of time. Acceleration usually refers A group of 8 bits treated as a. whole, Duty Cycle
to increasing velocity and with 256 possible combinations of For a repetitive cycle, the ratio of on
deceleration describes decreasing ones and zeros, each combination time to total cycle time.
velocity. representing a unique piece of Duty Cycle- On Time +
information. Charaders are stored (On Time + Off Time)
Accuracy as bytes.
A measure of the difference Efficiency
between expected position and Closed Loop The ratio of power output to power
actual position of a motor or A broadly applied term relating to input.
mechanical system. Motor any system where the output is
accuracy is usually specified as an measured and compared to thl Encoder
angle representing the maximum input. The output is then adjusted A device which translates
deviation from expected position. to reach thl desired condition. In mechanical motion into electronic
motion control, the term is used to signals used for monitoring position
Addr .. s describe a system "wherein II or velocity.
Multiple devices,. each with a velocity or position (or both)
separate address or unit number, transducer is used to generate Friction
can be controlled on the same bus. correction signals by compa.rison to ';\ resistance to motion caused by
The address allows the host to desired parametenl. surfaces rubbing together. Friction
communicate individually to each can be constant with varying speed
device. Daisy-Chain (Coulomb friction) or proportional to
A term used to describe the linking speed (viscous friction).
AmbIent Temperature of several RS-232C devices In
The temperature of the cooling sequence such that a single data Full Dupll.
medium, usually air, immediately stream flows through onl device The terminal wm display only
surrounding the motor or another and on to the next Dalsy-chained received or echoed characters.
device. device. usually ar.. distinguished
by device address••, which .erve Half Duplex '
ASCII to indicate thl desired de.tination In half duplex mode, a terminal wiD -
American Standard Code for for data In the strealn. display every character
Information Interchange. This code transmitted. • may also display the
assigns a number to each numeral Data Bit. received character, resulling in
and letter of the alphabet. In this Since thl ASCII ch8l'lCt1f 1« double character displays.
manner, information can be consists of 128 characters,
transmitted between machines as a computers may transrnl only lIVen Hind Shaking Slgnll.
series of binary numbers. bils of data. However, most RST: Request To Send
computer. support an eight bit (;TS: Clear To Send
Saud Rate extended ASCII character NL OSR: Data Set Ready
The number of bits transmitted per DTA: Data Terminal Ready
second. Typical rates include 300, DCE lOB: Input Data Buffer
600,1200,2400,4800,9600, Data Communications Equipment OOB: Output Data Buffe,
19,200. This means at 9600 transmits on pin throe and receive.
baud, one character ( -10 bits) can on pin two of .25 pin 0 conMCtor. Holding Torque
be sent nearly every millisecond. Sometime. called static torque, _
Diad Band specifies the maximum extemal
SCD force or torque thai can be applied
 •

'78 AL ENCODER USER GUIDE

without causing thl' rotor to rotatl Th. frequ.ncy of the step pulses
continuously. Multi-Dropping applied to a motor driver. The pulse
A method or linking sevilral RS- r.1 multiplied by the resolution of
Hom. 4221485 devices in parallel fashion. thil motor/drive combination (in
A reference position in a motion The data still flows ono bit at a tim., steps per revolution) yields the
control system, usually derived but it is tast.r than RS·232C rotational speed In revolutions per
from a mechanical datum. Often because the information r.aches all lllcond,
designated as the '"zero· position. d.vices at the sam. tim.. Mu":i-
dropped device. must have unique Ramping
Hyatereala device addresses. Thue The lCCellration and deceleration
The difference in response of a eddresses are used in softwarll of a motor. May also refer to the
system to an increasing or a command syntax to sand data to dlange in frequency of the applied
decreasing input signal. specific units. step pulse train.

IEEE-U8 Multiplexing Rat.d Torqu.

A digital data communications A method of linking several parallel The torque producing capacity of a
standard popular In instrumentation output devices Into a single unit and motor at a given speed. This is the
.lectronics. This parallel interface ..ading only one unit at a time. This maximum torque the motor can
is also known as mode of operation involves deliver to a load and is usually
GPIB, or General Purpose Interface i\put/output handshaking. It allows specified with a torque/speed
Bus. the host to communicate with curve.
multiple units while requiring fewer
Incremlntal Motion Inputs and outputs. RelaUve Accuracy
A motion control term that is used to Also referred to as ·Step to Step
describe a device that produces Null Modem Accuracy: this specification tells
one step of motion for each step A simple device or sot of how microsteps can change in size.
command (usually a pulse) connectors which switches the In a perfect system, microsteps
received. receive and transmit line. of II three would al\ be exactly the same size,
wire RS-232C connector. but drive characteristics and the
Incremental Programming absolute accuracy of the motor
A coordinated system where Open Collector cause the steps to expand and
position or distances are specified A term used to describe a signal contract by an amount up to the
relative to the current position. output that is performed with a relative accuracy figure. The error
transistor. An open Q)lIeetor output in not cumulative.
Inertia 8Cts like a switch closure with one
A measure of an object's resistance end of the switch at ground Repeatability
to a change in velocity. The larger potential and the othllr end 01' the The degree to which the positioning
an object's inertia, the larger the switch accessibl•• accuracy for a given move
torque that is required to aeeelerate performed repetitively can be
or decelerate it. Inertia is a function Open Loop duplicated.
of an object's mass and its shape. Refers to a motion CX)ntrol system
where no .xternal sensors are used Ruolutlon
IntrUII Mitch to provide position or velocity The smallest positioning increment
For most efficient operation, the correction signals. that can be achieved. Frequently
system coupling ratio should be defined as the number of steps
selected so that the reflected OPTO-I.olat.d required for a motor's shaft to rotate
inertia of the load is aqual to the A method of sending a signal from one complete revolution.
rotor inertia of the motor. one piece of flquipn,.ant to another
without the usual requirement of Ringing
LimIt. common ground potentials. The Oscillation ot a system following a
Properly designed motion control signal is transmitted opticalllf with 1& .udden change in state.
systems have sensors called limits light source (usually a Light
that alert the control electronics Emitting Diode) and a light "nsor RS-232C
that the physical end of travel is (usually a photosensitive A data communications standard
being approached and that motion transistor). The.. CllpticaJ that encod.. a string of information
should stop. components providll electrical on a single lin. In a time sequential
Isolation. format. The standard specifies the
logIc Ground proper voltage and timing
An electrical potential to which all 'araUel requirement. 10 that different
control signals in a particular R.fers to a data communication manufacturers' devices are
system are referenced. format wherein many signa.: iines compatible,
Ire uMd to Q)mmunicate more than
Mlcroatepplng one piec:e of data lit the sam. tim •• RS-U2/.85
An eledronic control technique that A data communications standard
proportions the current in a step 'arlty that encodes a string of information
motor's windings to provide An RS·232C error detection scheme on a single line In a tim. sequential
additional intermediate positions which can detect an odd nUlmber of format. Th. standard runs at high
between poles. Produces smooth transmission errors. voltage (±15VDC), which allows for
rotation over a wide speed range longer cable lengths and fewer
 APPENDICES 79

Transistor-Transistor loogic.
Oescribes a common digitallegic
device family that is used in most
Slew modern digital electronics. m
In motion control, the portion of a signals have two distinct statals
move made at a constant non-zero that are described with a vottage-a
velocity. logical -Zero· or -Jaw· ill represented
by • voltage of less than 0.8 \lOrts
Sp .. d and a logical ·one· or "igh- is
Used to describe the linear or represented by a voltage from 2.5
rotational velocity of a motor or to 5 volts.
other object in motion.
XON/XOFF
Start Bit. Two ASCII characters supported in
RS-232C character transmissions some serial communlc:ation
begin with a bit which signals the programs. If supported, the
receiver that data is now being receiving device transmits an XOFF
transmitted. character to the host when its
character buffer is full. The XOFF
Static Torqu. character directs the host to stop
The maximum torque available at transmitting characters to the
zero speed. device. Once the buffer empties
the device will transmit an XON
Step Angl. character to signal U1e host to
The angle the sha.ft rotates upon resume transmission.
receipt of a single step command.

Stlffne . .
The ability to resist movement
induced by an applied torque. Is
often specified as a torque
displacement curve, indicating the
amount a motor shaft wilt rotate
upon application of a known
external force when stopped.

Stop Bit.
When using RS-232C, one or two
bits are added to every character to
signal the end of a character.

Synchronism
A motor rotating at a speed
correctly corresponding to the
applied step pulse frequency is said
to be in synchronism. Load torques
in excess_of the motor', capacity
(rated torque) will cause a loss of
synchronism. This condition is not
damaging to a step motor.

Text/Echo (OfflOn)
This setup allows received
characters to be re-transmitted
back to the Original sending device.
Echoing characte,.. can be used to
verify or ·close the loop· on •
transmission.

Torque
Force tending to produce rotation.

Torque-to Inertia Ratio

Oefined as a motor's holding torque
divided by the inertia of its rotor.
The higher the ratio, the higher a
motor's maximum acceleration
capability will be.
 •

APPENDICES 81

INDEX

·1 Decoder 1,5 mounting 19

8-Bit Parallel Interface 16 MOVs68
mJItI-droJ) 36
Absolute Encoding Disk 2 multiplex configuration 39
absolute position 45 Noise suppression devices 67
AL System Specifications 51
Assumptions v Outputs 25
AX-A Drive 10
power supply ground 22
BCD 26 Proper grounding 21
Binary ?6
bits 24 ledundal1t gray code 3
bytes 24 References 71
remote connection 70
CCW9 RS-232C 70
CTS63 lAiTS 63
CW9
Ship Kit Ust (-1 Decoder box) 6
daisy chain 33 softwarel revision 46
DC Sources of Electrical Noise 68
DC common 69 status light 6
DC ground wire 69 surge suppression 70
decoder 6 System Installation Recommendations 66
16-8it Parallellnterf ace 17
Decoder resolution 5 Transmiltted Noise 69
Defeating Noise 70
delimiter 42 words 24
device address 48
DIP Switch Settings 9
DSR63
DTR63

Earth (AC power ground) 69

earth ground 70
echo 12
Electrical Noise 67
Reduci ng Electrical Noise 66
Enclosu(e Considerations 67
error checking 46
Error Code Descriptions 71
Externally Conducted Noise 69

fluid flow 19
Full Duplex 9

Ground Loops 70
Ground signal 70

Half Duplex 9
hexadecimal 49

inputs 25
interface modes 23
Isolate remote signals 71

JSI Controller 10
Jumper Default Settings 11