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IB IL SSI-IN IB IL SSI-IN-PAC Inline Terminal for Absolute Encoders With SSI Interface up to 25 Bits 6 8 9 7 A 0 0 0 Data Sheet 689700 m 10/2003 s. co The IB IL SSI-IN and IB IL SSI-IN-PAC only differ in the scope of supply (see "Ordering Data" on page 19). Their function and technical data are identical. ne nt For greater clarity, the Order Designation IB IL SSI-IN is used throughout this document. Product Description om po This data sheet is only valid in association with the IB IL SYS PRO UM E User Manual or the Inline System Manual for your bus system. Figure 1 The IB IL SSI-IN increases operational reliability, as it automatically checks the parity of received data at the SSI interface. Features The terminal has a channel in the local bus protocol, which can be requested and configured via two process data words. – – – on l in ec The Inline terminal is used to read data from absolute encoders with SSI interface up to 25 bits (single-turn, multi-turn or length measuring systems). It supports encoders with gray code and binary code and converts gray code into binary code. 689700 6 8 9 7 A 0 0 1 IB IL SSI-IN-PAC terminal with connector and labeling field 5 V DC encoder supply LED diagnostic and status indicators 24 V encoders supplied via adjacent terminals 1 IB IL SSI-IN (-PAC) m co po The IB IL SSI-IN terminal is part of the Inline product range. The terminal is a universal module designed for use within an Inline station. The IB IL SSI-IN terminal is used to read position and angular information and is designed for the connection of absolute encoders with SSI interfaces up to 25 bits (single-turn, multi-turn or length measuring systems with SSI interface). The terminal has monitoring mechanisms, which are triggered in the event of the following errors and generate an error message: 1. I/O error (monitoring of the 5 V encoder power supply) If the encoder supply fails or is overloaded, an I/O error is triggered. Only if the terminal is in the "Offline" state does it switch to the "Error" state and generate the appropriate message code. 2. Functional error – Parity monitoring of the encoder signals If a parity error is detected, the terminal switches to the "Error" state and generates an appropriate message code. The cause of this error can be attributed to a transmission error or a broken wire in an encoder cable. – Invalid control code If an invalid control code has been detected (word OUT[0] bits 15 to 9), the terminal switches to the "Error" state and generates the appropriate message code. – Invalid configuration data If invalid configuration data has been detected (word OUT[0] bits 8 ... 0), the terminal switches to the "Error" state and generates the appropriate message code. s. Function Error Messages nt All standard absolute encoders with SSI interface with the following features can be connected: – Single-turn, multi-turn or length measuring systems – 8 to 25 bits (configurable) – Gray code, binary code – No parity monitoring, even parity monitoring or odd parity monitoring – Transmission speeds of 100 kHz, 200 kHz, 400 kHz, 800 kHz, 1 MHz The data width in the bus system is 32 bits. The IN register has seven bits available for LED status indicators and 25 bits available for actual position values. The OUT register has seven bits available for control codes and 25 bits available, 12 of which are used to specify the configuration of the SSI interface (see "Process Data Words" on page 8). ne Applications om The terminal outputs a clock pulse train when reading the encoder and provides the control system with the incoming data flow in bus-synchronous mode in the corresponding process data. in ec The bit patterns for selecting the various operating modes, e.g., transmission frequencies, bit widths, and code conversions, are permanently written to the terminal by the control system. on l The evaluating logic of the terminal automatically generates a pulse train, which activates the serial output of a bit string on the connected encoder. The encoder uses these serial bits to indicate its current position. The terminal reads the position values synchronously with the bus cycle. The timing is designed in such a way that the time delay between the data being read from the encoder and forwarded to the bus is very short. This improves the position accuracy of the connected positioning control systems or position controllers. 2 689700 IB IL SSI-IN (-PAC) Position Detection co m In order to start position detection after the terminal has been switched on, the terminal must be adapted (configured) to the connected encoder. The following control bits are written to the terminal via OUT process data words OUT[0] and OUT[1]: – Parity monitoring – Reversal of direction of rotation – Encoder resolution – Transmission frequency of the SSI interface – Encoder coding nt s. The terminal then starts position detection. The actual position value (process data words IN[0] and OUT[1]) provides the position values until the operating state ("Read Position") changes. on l in ec om po ne The terminal outputs an absolute position value. 689700 3 IB IL SSI-IN (-PAC) Local LED Diagnostic and Status Indicators D 5 V 6 8 9 7 A 0 0 2 D Meaning Green LED Diagnostics ON Bus active Flashing Communications power present, bus not active 2 Hz Communications power present, bus active, I/O error OFF Communications power present, previous terminal failed, subsequent terminals are not included in the configuration frame Communications power not present, bus not active 5 V encoder supply on l Green LED in ec 0.5 Hz 4 Hz 5V ne Color om Des. Local LED diagnostic and status indicators po Figure 2 nt s. co m S S I-IN 4 ON 5 V encoder supply present OFF 5 V encoder supply not present or short circuited 689700 IB IL SSI-IN (-PAC) Terminal Assignment 1 .1 1 1 2 .1 1 .2 2 2 2 .2 1 .3 3 3 2 .3 1 .4 4 4 Inline terminal with the appropriate connector Signal 1.1 T in ec Terminal Point 2.1 1.2 2.2 1.4, 2.4 689700 Assignment Clock T Clock inverted D Data D Data inverted 5V 5 V encoder supply on l 1.3 2.3 om Figure 3 6 8 9 7 A 0 0 3 po ne nt s. 2 .4 m 2 co 1 0V 0 V encoder supply Shield Encoder cable shield 5 IB IL SSI-IN (-PAC) Circuit Diagram Key: OPC U Microprocessor µ P L + A N A 7 .5 V L - x V x V 5 V µ P 5 V S R G 3 2 5 V 5 V x V x V 3 .6 V S R G 3 2 Power supply unit without electrical isolation m U Protocol chip (bus logic including voltage conditioning) Power supply unit with electrical isolation co U O P C 32-bit shift register s. L o c a l b u s ne nt Optocoupler 5 V M ) Terminal point Ground (GND) Functional earth ground (FE) Electrically isolated area in ec + 2 4 V (U ) S om + 2 4 V (U po 2 4 V RS-422 interface 6 8 9 7 A 0 0 6 Internal wiring of the terminal points on l Figure 4 6 689700 IB IL SSI-IN (-PAC) Connection Example Connection Notes Encoders should always be connected using shielded twisted pair cables. Unshielded cables may lead to erroneous results in environments susceptible to interference. On the terminal side, the shield is capacitively connected to functional earth ground (FE) via the shield connector. On the encoder side, the shield must be connected with the grounded encoder housing. D 5 V – 1 2 2 3 3 4 4 – D , D 5 V 1 If the encoder does not have a shield connection, the shield can also be directly connected in the control cabinet to functional earth ground via an additional shield clamp. om po ne nt G N D co T , T 2 s. 1 m S S I-IN Information on shielding and connecting shielded cables can be found in the IB IL SYS PRO UM E User Manual or the Inline System Manual for your bus system. Please also observe the installation instructions of the manufacturer of the absolute encoder. Key: Typical connection with 5 V encoder supply on l Figure 5 in ec 6 8 9 7 A 0 0 4 Absolute encoder 689700 7 IB IL SSI-IN (-PAC) Programming Data/Configuration Data INTERBUS Other Bus Systems ID code 5Fhex (95dec) Length code 02hex (2dec) Process data channel 32 bits Input address area 2 words Output address area 2 words Parameter channel (PCP) 0 bytes Register length (bus) 2 words Firmware version and sub-ID (can only be read via process data) OUT[1] XXXDhex nt s. co m For the configuration data of other bus systems, please refer to the appropriate electronic device data sheet (GSD, EDS). ne Process Data Words (Word.bit) view Word (Byte.bit) view Byte Bit IN[0] Assignment (Word.bit) view Word (Byte.bit) view Byte Status: om 7 6 5 in ec Bit Word 0 15 14 13 12 11 10 on l IN[1] Bit po IN Process Data Words Bit Assignment 8 7 6 5 Byte 0 4 3 4 3 2 1 0 2 1 0 Byte 1 2 1 0 Status 7 6 5 4 3 Actual position value (bits 16 to 25) Word 1 15 14 13 12 11 10 7 9 9 8 7 6 5 Byte 2 6 5 4 3 4 3 2 1 0 2 1 0 Byte 3 2 1 0 7 6 5 4 3 Actual position value (bits 0 to 15) See "Status" on page 9 Actual position value: See "Actual Position Value" on page 9 Firmware version and sub-ID (control code 3C00): See ""Read Firmware Version and Sub-ID" Special Function" on page 11 8 689700 IB IL SSI-IN (-PAC) Status 100 1000 48 101 0000 50 Actual Position Value m 42 44 co 100 0010 100 0100 s. XX Invalid nt X1X XXX0 Offline: The module is in the idle state. The configuration data is checked when the "Read Position" command is issued. If the data is valid, the module switches to the "Operating" state. Operating: If bit 9 = TRUE, the measured value (position) of the position sensor is valid, i.e., the configuration data is valid and valid position values were read from the encoder. Acknowledgment for the "Acknowledge Error" control code. As soon as the control code changes to "Read Position" the terminal switches to the "Read Position" state (if the error was removed) or returns to one of the error states. Error: Encoder supply not present or short circuited Error: Parity error A transmission error occurred during serial data transmission from the absolute encoder to the terminal. Error: Invalid configuration data The configuration data is outside the limit values. Error: Unknown control code An unknown or invalid control code was transmitted. ne 01 Actual Position Value po 000 0001 Description om IN[0] Bit 15 ... Bit 9 bin hex 000 0000 00 Valid Invalid Invalid Invalid Invalid Invalid The current absolute position is displayed in right-justified binary form. in ec Status (7 Bits) Actual Position Value (25 Bits) IN[0] IN[1] Bit 15 ... Bit 9 Bit 8 ... Bit 0 Bit 15 ... Bit 0 000 0001 X XXXX XXXX XXXX XXXX XXXX XXXX on l IN[0] 689700 9 IB IL SSI-IN (-PAC) OUT Process Data Words OUT process data words are evaluated as soon as the control code is mirrored in the IN process data words. OUT process data words specify the output values in each bus cycle. The configuration data must be complete. If the configuration data is not complete, the terminal will not switch to the ready state. Word 0 Word 15 14 13 12 11 10 9 8 7 6 5 Byte 0 (Word.bit) view Word 6 5 4 3 2 1 Control code 0 7 6 0 0 0 5 4 co Assignment 7 3 2 1 0 3 2 1 0 0 0 0 Rev 3 2 1 0 3 2 1 0 0 0 0 Code Byte 1 Parity s. OUT[0] Bit 4 5 4 nt Byte m Bit (Byte.bit) view 7 5 4 0 Speed Word 1 Bit 15 14 13 12 11 10 9 2 1 Byte Bit 7 6 5 OUT[1] Assignment 0 0 0 Ensure data consistency 4 3 0 ne Byte 2 (Byte.bit) view 8 Resolution 7 6 6 Byte 3 po (Word.bit) view om Ensure data consistency of two words to prevent the possibility of misinterpreting the values. See "Control Code" on page 11 Parity: See "Parity" on page 12 Rev: See "Rev" on page 12 Resolution: See "Resolution" on page 13 See "Speed (SSI Frequency)" on page 14 See "Code" on page 14 on l Speed: Code: in ec Control code: "0" (unused): 10 "0" bits ("unused" bits) must not be set (unknown configuration). 689700 IB IL SSI-IN (-PAC) Control Code The operating states of the terminal are selected with the control code. If the terminal has detected the control code, it is mirrored in the status (see "Status" on page 9). Code Control Code OUT[0] Bit 15 ... Bit 9 hex 000 0000 00 No action (ignored) 000 0001 01 Read Position: In the transition from the "Offline" state to the "Operating" state the configuration data is checked and the terminal is configured. If the position was determined successfully, the module switches to the "Operating" state, i.e., the configuration data is valid. 000 0010 02 Switching "Offline": The terminal switches from the "Operating" state to the "Offline" state; the configuration is reset. 010 0001 21 Acknowledge Error: The configuration is maintained during the transition from the "Error" state to the "Operating" state. ne nt s. co m bin "Read Firmware Version and Sub-ID" Special Function po The IB IL SSI-IN has a special function, which can be used to read its firmware version and the sub-ID. The sub-ID is used to distinguish between other Inline terminals that have the same ID code. The sub-ID of the IB IL SSI-IN is "D". om The firmware version and the sub-ID can only be requested in the "Offline" state. An error message is generated if this control command is issued during operation. Process Data Word OUT[1] Bit 15 ............................................................ Bit 0 Bit 15 ............................................................ Bit 0 0011 1100 0000 0000 (bin) 0000 0000 0000 0000 (bin) 3 C 0 0 (hex) 0 0 0 0 (hex) in ec Process Data Word OUT[0] Process Data Word IN[1] Mirrored control code in the status Firmware version (e.g., 100) and sub-ID on l Process Data Word IN[0] Bit 15 ............................................................ Bit 0 Bit 15 ............................................................ Bit 0 0011 1100 0000 0000 (bin) 0001 0000 0000 1111 (bin) 3 C 0 0 (hex) 1 0 0 D (hex) 689700 11 IB IL SSI-IN (-PAC) Parity This parameter is used to select the parity monitoring function for the SSI interface. Parity Parity 00 0 None 01 1 Odd 10 2 Even 11 3 Reserved co hex m OUT[0] Bit 4 ... Bit 5 bin Rev nt s. The "Rev" parameter is used to reverse the direction of rotation. If reversal of direction of rotation is enabled, the terminal inverts all the position values read by the encoder, i.e., the position value is modified by activating this function. Reversal of Direction of Rotation ne Rev hex 0 0 OFF 1 1 ON on l in ec om bin po OUT[0] Bit 0 12 689700 IB IL SSI-IN (-PAC) Resolution The "Resolution" parameter is used to adapt the terminal to the resolution of the relevant absolute encoder (8 to 25 bits). Resolution Encoder Resolution 0 0000 00 Reserved 0 0001 01 8 0 0010 02 9 0 0011 03 10 0 0100 04 11 0 0101 05 12 0 0110 06 13 0 0111 07 14 0 1000 08 15 0 1001 09 16 0 1010 0A 17 0 1011 0B 18 0 1100 0C 19 0 1101 0D 0 1110 0E 0 1111 0F 1 0000 1 0001 1 0010 on l 1 0011 ... 1 1111 689700 po ne nt s. co m hex in ec bin om OUT[1] Bit 8 ... Bit 12 20 21 22 10 23 11 24 12 25 13 ... 1F Reserved 13 IB IL SSI-IN (-PAC) Speed (SSI Frequency) The "Speed" parameter is used to set the transmission speed at which encoder data is to be read via the SSI interface. Speed Transmission Speed OUT[1] Bit 4 ... Bit 6 hex 000 0 Reserved 001 1 100 kHz 010 2 200 kHz 011 3 400 kHz 100 4 800 kHz 101 5 1 MHz 110 6 Reserved 111 7 Reserved ne nt s. co m bin Code Code Code hex 0 0 1 1 Binary code: The terminal forwards the data to the local bus without modifying it. Gray code: The terminal converts the data from gray code into binary code and then forwards it to the local bus. on l in ec bin om OUT[1] Bit 0 po The parameter specifies which code the encoder uses to output information. 14 689700 IB IL SSI-IN (-PAC) Configuration Example (Word.bit) view Word (Byte.bit) view Byte OUT[0] Assignment (Word.bit) view Word (Byte.bit) view Byte Bit 7 6 5 OUT[1] Assignment 0 0 0 13 12 11 10 9 8 7 6 5 4 3 2 Control Code 15 14 13 12 1 11 7 10 9 6 s. Byte 0 co 14 5 4 3 2 1 0 Byte 1 0 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 6 5 4 3 2 1 0 Word 1 8 7 Byte 2 Byte 3 4 3 2 1 0 7 6 5 4 3 2 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 om Bit 15 nt Bit Word 0 ne Bit m SSI encoder No parity (OUT[0], bits 5 and 4) No reversal of direction of rotation (OUT[0], bit 0) Resolution of 13 bits (OUT[1], bits 12 to 8) 400 kHz clock pulse (OUT[1], bits 6 and 4) Binary code (OUT[1], bit 0) po – – – – – – in ec "0" bits ("unused" bits, OUT[0] bits 8, 7, 6, 3, 2, 1 and OUT[1] bits 15, 14, 13, 7, 3, 2, 1) must not be set (unknown configuration). on l "Reserved" bits in individual configuration parameters must not be set (unknown configuration). 689700 15 IB IL SSI-IN (-PAC) Technical Data General Data Order Designation (Order No.) IB IL SSI-IN (28 19 30 9) IB IL SSI-IN-PAC (28 19 57 4) 12.2 mm x 120 mm x 71.5 mm (0.408 x 4.724 x 2.815 in.) 50 g Process data mode with 2 words -25°C to +55°C (-13°F to +131°F) -25°C to +85°C (-13°F to +185°F) 75% on average, 85% occasionally co m Housing dimensions (width x height x depth) Weight (without connector) Operating mode Permissible temperature (operation) Permissible temperature (storage/transport) Permissible humidity (operation) nt s. In the range from -25°C to +55°C (-13°F to +131°F) appropriate measures against increased humidity (> 85%) must be taken. 75% on average, 85% occasionally ne Permissible humidity (storage/transport) For a short period, slight condensation may appear on the outside of the housing if, for example, the terminal is brought into a closed room from a vehicle. Interface SSI interface on l Encoder supply in ec Degree of protection Class of protection om Permissible air pressure (storage/transport) Power Consumption Communications power UL Current consumption from UL Power consumption from UL I/O supply from UM Current consumption from UM 80 kPa to 106 kPa (up to 2000 m [6562 ft.] above sea level) 70 kPa to 106 kPa (up to 3000 m [9843 ft.] above sea level) IP20 according to IEC 60529 Class 3 according to VDE 0106, IEC 60536 po Permissible air pressure (operation) Comprising a differential input and output according to RS-422 5 V, GND; 250 mA, maximum 7.5 V 28 mA, maximum 0.21 W 24 V DC, typical 65.7 mA, maximum Supply of the Module Electronics and I/O Through Bus Terminal/Power Terminal Connection method Through potential routing 16 689700 IB IL SSI-IN (-PAC) Absolute Encoder Inputs Number Encoder signal 1 Clock, clock inverted Data, data inverted Shielded cables Signal connection method m Unshielded cables may lead to erroneous results in environments prone to interference. nt s. Single-turn or multi-turn 8 to 25 bits (configurable) Gray code, binary code (configurable) None, even, odd (configurable) Yes, no (configurable) 100 kHz, 200 kHz, 400 kHz, 800 kHz, 1 MHz (configurable) 5 V; 250 mA, maximum < 30 m (98.43 ft.) for shielded cable (to ensure conformance with EMC directive 89/336/EEC) ne om in ec Encoder Supply Voltage range Short-circuit protection Current carrying capacity po Encoder supply Cable length co Encoder Encoder types Resolution Code Parity monitoring Reversal of direction of rotation Transmission frequency 4.75 V to 5.25 V Electronic and thermal 250 mA, maximum on l The status of the 5 V encoder supply is indicated via the green "5V" LED. If the internal voltage for the encoder electronics fails or is overloaded, an I/O error is generated. The diagnostic LED flashes at 2 Hz to indicate the error and it is transmitted to the controller board. Error Messages to the Higher-Level Control or Computer System Failure or overload of the encoder supply Yes, I/O error message sent to the controller board Limitation of Simultaneity, Derating Derating 689700 No derating 17 IB IL SSI-IN (-PAC) Electrical Isolation/Isolation of the Voltage Areas The logic level is electrically isolated from the I/O area by the optocoupler. po ne nt Conformance With EMC Directive 89/336/EEC Noise Immunity Test According to EN 50082-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 s. co m Common Potentials The 24 V main voltage, 24 V segment voltage, and GND have the same potential. FE is a separate potential area. Separate Potentials in the System Consisting of Bus Terminal/Power Terminal and I/O Terminal Test Distance Test Voltage 7.5 V supply (bus logic)/I/O 500 V AC, 50 Hz, 1 min 7.5 V supply (bus logic)/functional earth ground 500 V AC, 50 Hz, 1 min 24 V supply (I/O)/functional earth ground 500 V AC, 50 Hz, 1 min ENV 50140 IEC 61000-4-3 Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 in ec on l Surge voltage om Electromagnetic fields EN 61000-4-5:1995 Conducted interference ENV 50141 IEC 61000-4-6 Noise emission of housing EN 55011 18 Criterion A 6 kV contact discharge 8 kV air discharge Criterion A Field strength: 10 V/m Criterion A Supply lines: 2 kV Signal/data lines: 2 kV Criterion B Supply lines: ±0.5 kV, symmetrical ±0.5 kV, asymmetrical Signal/data lines: up to ±1 kV, asymmetrical Criterion A Test voltage 10 V Class A 689700 IB IL SSI-IN (-PAC) Ordering Data Description Order Designation Order No. Inline terminal for absolute encoders, with connector and labeling field IB IL SSI-IN-PAC 28 19 57 4 Inline terminal for absolute encoder, without connector and labeling field IB IL SSI-IN 28 19 30 9 IB IL SCN-6 SHIELD "Configuring and Installing the INTERBUS Inline Product Range" User Manual IB IL SYS PRO UM E 27 26 35 3 27 43 04 8 ne nt s. Connector with six terminals, spring-cage connection and shield connection (green, w/o color print); pack of 5 co m One shield connector is needed for the complete fitting of the IB IL SSI-IN terminal. on l in ec om po © Phoenix Contact 10/2003 Technical modifications reserved TNR 90 14 91 3 Make sure you always use the latest documentation. It can be downloaded at www.phoenixcontact.com. Phoenix Contact GmbH & Co. KG Flachsmarktstr. 8 32825 Blomberg Germany +49 - 52 35 - 30 0 +49 - 52 35 - 34 12 00 www.phoenixcontact.com Worldwide Locations: www.phoenixcontact.com/salesnetwork 19 689700