User Manual Series 1700 Allen-Bradley 1771 I/O Module Intelligent Resolver Interface Modules 1731 1732 1733 1734 1741 1742 1743 1744 Manual: 940-57011
General Information Important User Information The products and application data described in this manual are useful in a wide variety of different applications. Therefore, the user and others responsible for applying these products described herein are responsible for determining the acceptability for each application. While efforts have been made to provide accurate information within this manual, AMCI assumes no responsibility for the application or the completeness of the information contained herein.
About This Manual Introduction This manual explains the operation, installation, programming, and servicing of eight Series 1700 Intelligent Resolver Interface Modules for the Allen-Bradley 1771 I/O programmable controller systems. These modules are the 1731, 1732, 1733, 1734, 1741, 1742, 1743, and 1744. The other four module in this series, the 1761, 1762, 1761-21, and 1763, are covered by the following three manuals.
About This Manual Notes II ADVANCED MICRO CONTROLS INC.
Chapter 1 Series 1700 Introduction This chapter serves as an introduction to the Series 1700 modules. It highlights the Series 1700 family members, potential applications, compatible transducers, and all of the modules’ features, including those added since the last revision. Overview The Series 1700 modules are Allen Bradley 1771 I/O compliant cards that convert resolver signals to digital position and tachometer data that can be reported over the backplane using either block or single transfers.
Chapter 1 Series 1700 Introduction Overview (continued) All of the modules have programmable Transducer Setup Parameters that allow you to scale and adjust the position and tachometer data. Additional Module Setup Parameters define the type of transducer attached to the module, the digital format of the position and tachometer data, and how the module communicates this data to the processor. The module can be configured to use either block or single transfers.
Chapter 1 Series 1700 Introduction Brushless Resolver Description The brushless resolver is unsurpassed by any other type of rotary position transducer in its ability to withstand the harsh industrial environment. An analog sensor that is absolute over a single turn, the resolver was originally developed for military applications and has benefited from more than 50 years of continuous use and development. The resolver is essentially a rotary transformer with one important distinction.
Chapter 1 Series 1700 Introduction AMCI Compatible Transducers Table 1.2 lists the AMCI transducers compatible with the 1700 modules. Model Shaft Mount R11X-J10/7 R11X-J12/7 HT-6 HT-20 HT-20S 0.120” 0.188” 0.188” 0.625" 0.625" Servo Servo Front/Side Front/Side Front/Side 1 1 1 1 1 HT-20C 0.625" Front/Side 1 HT-20K HT-20L H25-FE H25-FS H25-FL H25-SE H25-SS H25-SL HT-400, HT-400A, HT-400B HT-20-(X) HTT-20-1 0.625" 0.625" 0.375” 0.375” 0.375” 0.375” 0.375” 0.
Chapter 1 Series 1700 Introduction Other Compatible Transducers In addition to AMCI transducers, the 1700 modules directly support Autotech transducers. The Autotech models supported are: hýAll SAC-RL100 Transducers. (Size 40, NEMA 13) hýAll E6R and E7R-RL101 Transducers. (Size 25, NEMA 13) hýSAC-RL101-010 Transducer. (Size 11, NEMA 1) If your project is a new installation, or you can budget the cost of replacing the transducer, we strongly suggest using AMCI transducers.
Chapter 1 Series 1700 Introduction The remainder of this chapter introduces the many programmable features of the 1700 modules. It also introduces backplane programming concepts that allows you to control the module from the processor instead of using the modules keyboard and display. Programmable Parameters A 1700 module is configured by setting its programmable parameters. Parameters are broken into two groups.
Chapter 1 Series 1700 Introduction Transducer Setup Parameters Tachometer Response This parameter sets the time between tachometer updates and the tachometers resolution. Update times are 32, 60, 120, or 240 mSec. The two resolutions, available only with the 240 mSec update time, are 1.0 or 0.1 RPM. hýThe tachometer response default value is 240 mSec with 1.0 RPM resolution. Update time affects the maximum speed that the module can report without error.
Chapter 1 Series 1700 Introduction Transducer Setup Parameters (continued) Circular Offset The Circular Offset lets you change the position count without rotating the transducer shaft. This offset is most commonly used to force the position to the correct count after the machine has been mechanically aligned. hýThe Circular Offset default value is zero. Circular Offset can be programmed from zero to (Scale Factor -1). hýProgramming the Scale Factor resets the Circular Offset to zero.
Chapter 1 Series 1700 Introduction Module Setup Parameters Data Format This parameter allows you to choose the format of the position and tachometer data reported over the backplane. The choices are Binary or BCD. It is included for PLC-2 users that require BCD data for PLC-2 math instructions. All other applications should chose Binary data format. hýThe hýThe Data Format parameter default value is Binary. Data Format parameter can only be changed from the keyboard.
Chapter 1 Series 1700 Introduction Module Setup Parameters (continued) Single Transfer Length The Single Transfer Length parameter is a new parameter used to specify either a 16 or 32 bit transfer. This parameter is only available if you have selected single transfers with the Transfer Type parameter. If you selected block transfers, the PLC Program parameter is shown instead. hýThe Single Transfer Length default is 16 bit. This allows the transfer of position data only.
Chapter 1 Series 1700 Introduction Backplane Programming When a Series 1700 module is configured to use block transfers, you have the option of programming the module using data sent to it by block transfer writes. (See Transfer Type Parameter and PLC Program Parameter sections, pgs. 1-8, 1-9.) The programming format is a series of Program Instructions as shown below. Block transfers can transmit a maximum of sixty-four words. However, this does not limit how many parameters you can program at one time.
Chapter 1 Series 1700 Introduction Auxiliary Commands (continued) hýEnter Read Status Mode - This command puts the module in read status mode. While in this mode, the module will transmit parameter values instead of position and tachometer data. Four additional commands are enabled while in this mode that allow you to specify which parameter values are to be read back. hýExit Read Status Mode - This command places the module back into its normal mode of operation.
Chapter 2 Module Description This chapter describes the physical layout of a Series 1700 module as well as keyboard programming. Front Panel Description Program Switch - (On other side of PC Board, hidden from view.) Used to enable programming the module from the keyboard. A two pin header next to the switch can be removed to disable Program Mode. The switch can also be disabled from the processor. Function Display - Used to display position data and parameter values.
Chapter 2 Module Description Program Mode vs. Display Mode The front panel has two operating modes. hýProgram hýDisplay Mode – (Yellow PRG light on) The parameters can be modified from the keyboard. The position can be preset by pressing the >CLEAR@ key while displaying the position value. Mode – (Yellow PRG light off) The parameters can be inspected, but not modified. You cannot preset the position from the keyboard. Program Mode and Display Mode refer to the modules’ front panel only.
Chapter 2 Module Description Using the Function Display and Keyboard You can examine position and tachometer values as well as inspect or program all of the programmable parameters using the display and keyboard. The >FUNCTION@ key, along with the >Ç@ and >Æ@ keys, are used to cycle between the displays. Figure 2.3 shows the display order. POWER UP You will see either the PLC Program or the Single Transfer Length display. The value of the Transfer Type parameter dictates which display is shown.
Chapter 2 Module Description Using the Function Display and Keyboard (continued) Switching Between Channels Pressing the >NEXT@ key will cycle through the transducer channels when displaying the position value, tachometer value, or transducer setup parameters. You will remain in the same display, only switching channels. For example, if you have a 1744 and are displaying the Scale Factor parameter, pressing the >NEXT@ key four times will cycle you through the four Scale Factor values.
Chapter 2 Module Description Position Display As shown in figure 2.5a, the position display shows the current position when a transducer is properly attached to the channel. The first digit is the transducer channel. If you have a multi-channel module, press the >NEXT@ key to cycle through the additional position displays. If there is a transducer fault on the input channel, the position display will change to the one shown in figure 2.5b. The red FAULT LED is lit when there is a transducer fault.
Chapter 2 Module Description Transducer Setup Parameters The following are the front panel displays of the transducer setup parameters along with default values, range of values, and any special programming instructions. The first digit of these displays usually tells you which channel is being displayed. The one exception is the count direction display. This display shows “dir” followed by the channel number. If you have a multi-channel module, use the >NEXT@ key to switch between channels.
Chapter 2 Module Description Transducer Setup Parameters (continued) Circular Offset Pg. 1-7 Default: 0 PLC SERIES Range: 0 to (Scale Factor - 1) Programming the Scale Factor parameter resets the Circular Offset to zero. Figure 2.10 Circular Offset Linear Offset Pg. 1-7 Default: 0 PLC SERIES Range: 0 to (9,999 - (Scale Factor - 1)) Programming the Scale Factor parameter resets the Linear Offset to zero. Figure 2.11 Linear Offset Preset Value Pg.
Chapter 2 Module Description Module Setup Parameters (continued) Transfer Type Pg. 1-8 Default: Block transfer PLC SERIES Range: Block Single Figure 2.14 Transfer Type PLC Program Pg. 1-8 Default: Read Only PLC SERIES Range: Read Only Program Enabled This parameter is only shown when the Transfer Type parameter is set to block transfer. If Transfer Type is set to single transfer, the Single Transfer Length display is shown. Figure 2.15 PLC Program Single Transfer Length Pg.
Chapter 2 Module Description Error Messages There are three types of faults that a 1700 module will recognize. hýTransducer Fault (Error 1) – A problem exists on a transducer channel. hýnvRAM Fault (Error 2) – A problem exists with the non-volatile RAM or parameter values are not stored correctly. hýReference Voltage Fault – The reference voltage constants could not be automatically restored while clearing a nvRAM error.
Chapter 2 Module Description Error Messages (continued) Reference Voltage Fault PLC SERIES Figure 2.20 Reference Voltage Fault A 1700 module stores adjustment constants in the nvRAM memory that allow it to set the reference voltage for either AMCI or Autotech transducers. Usually, these constants can be restored automatically when a nvRAM fault is cleared. If the restoration fails, the module displays this “reference error” message.
Chapter 3 Installation This chapter describes how to install the Series 1700 module into the I/O chassis. It also give information on installing AMCI transducers. This includes information on transducer mounting, shaft loading, and cable installation. Information on interfacing Autotech transducers is also included. Power Requirements The 1700 modules draw power from the I/O chassis +5Vdc supply. The maximum current draw is dependent on the number of transducer channels and is given in the table below.
Chapter 3 Installation Transducer Specifications Specification Shaft Diameter Radial Shaft Loading Axial Shaft Loading Starting Torque Moment of Inertia Weight Enclosure All HT and HTT’s All H25’s HT-6 0.625" 0.375" 40 lbs. Max. 0.188" 400 lbs. Max. 200 lbs. Max. 20 lbs. Max. 8 lbs. Max. 4 lbs. Max. 8 oz.in. @ 25°C 1.5 oz.in. @ 25° C 0.5 oz.in. @ 25°C 2 -4 20 oz-in-sec² 4 oz-in-sec 2.1 x 10 oz-in-sec² 4 lbs. 1 lb. 0.7 lb.
Chapter 3 Installation Transducer Outline Drawings (continued) HT-20: Anodized Aluminum Body, 1070 Steel Shaft, NEMA 13 2.500" (63.50) 4.75" (120.7) 2.000" (50.80) 0.750" (19.05) KEYWAY 3.250" (82.55) 0.500" (12.70) 0.1885(4.79) 0.106(2.69) DEEP X 1.0(25.4) X 0.1895(4.81) 0.108(2.74) 1.000" (25.40) KEY 0.187(4.75) SQ. X 1.0(25.4) 0.188(4.78) 1.000" (25.40) 1.1815" (30.010) 1.1807" (29.990) 2.500" 2.000" (63.50) (50.80) 1.500" (38.10) 0.6247" (15.867) 0.6237" (15.842) 0.250" (6.35) 0.
Chapter 3 Installation Transducer Outline Drawings (continued) H25FE: Anodized Aluminum Body, 303 Stainless Steel Shaft, NEMA 4 ( ) = Dimensions in millimeters 1.032" 0.218" (5.54) dia. Four places. (26.21) typ. 0.250" 0.300" (7.62) 0.700" (17.78) max. Total clearance of 3.5" (89) needed for removal of mating connector. (6.35) 0.3747" (9.517) 0.3744" (9.510) 1.032" (26.21) typ. 2.65" (67.3) 0.900" (22.86) 0.850" (21.59) 1.250" (31.75) 1.249" (31.72) 2.35" (58.8) max. 2.50" (63.5) dia.
Chapter 3 Installation Transducer Outline Drawings (continued) H25FS: Anodized Aluminum Body, 303 Stainless Steel Shaft, NEMA 4 ( ) = Dimensions in millimeters 1.43" sq. (36.3) 1.13" (28.7) max. Total clearance of 3.5"(89) needed for removal of mating connector. 2.65" (67.3) max. MS3102E16S-1P Connector 0.300" (7.62) 0.3747" (9.517) 0.3744" (9.510) 2.65" (67.3) 2.50" 1.250" (31.75) 1.249" (31.72) (63.5) 1.032" (26.21) typ. 1.032" (26.21) 2.65" (67.3) typ. 0.218" (5.54) dia. Four places 0.
Chapter 3 Installation Transducer Outline Drawings (continued) H25FL: Anodized Aluminum Body, 303 Stainless Steel Shaft, NEMA 4 1.032" 0.218" (5.54) dia. Four places (26.21) typ. 0.250" (6.35) 0.300" (7.62) LIQUID TIGHT STRAIN RELIEF Hummel P/N 1.293.1201.71 Accepts Cables 0.20" (5.1) to 0.35" (8.9) Dia. 0.3747" (9.517) 0.3744" (9.510) 1.032" (26.21) typ. 2.65" (67.31) 0.50" NPT 3.4" (86) 0.900" (22.86) 0.850" (21.59) 1.250" (31.75) 1.249" (31.72) 2.65" (67.31) 2.95" MAX 2.50" (63.5) dia.
Chapter 3 Installation Transducer Outline Drawings (continued) HT-400: Anodized Aluminum Body, 1070 Carbon Steel Shaft, NEMA 4 1" NPT Thread 4.00" (101.6) Dia. ± 0.01" (0.3) #10-32 UNF-2B. 0.50" (12.7) min. depth. Four places, 90° apart on 2.50" (63.5) B.C. 6.41" (162) 1/4-20 UNC-2B 0.50" (12.7) min. depth. Four places. 0.6247" (15.867) 0.6237" (15.842) 0.55" (14.0) 1.250" (31.75) 2.000" (50.80) 1.000" (25.40) KEYWAY 1.000" (25.40) 0.1885(4.79) 0.106(2.69) X DEEP X 1.0 (25.4) 0.1895(4.81) 0.108(2.
Chapter 3 Installation Transducer Cable Installation Use the table below to determine the correct cable and connectors for your application. Cables that have been assembled and tested are available from AMCI under the given part numbers. If you are making your own cables, cable and connectors can be ordered from AMCI. Belden Cable # Module AMCI Part # -100ft 100ft+ Module Conn. Transducer Conn.
Chapter 3 Installation Transducer Cable Wiring Diagrams C1T-(x) Wiring Diagram: For 1731 & 1741, (x) = length in feet BLK WHT 8 7 6 5 4 3 2 1 GRN S3 S4 S1, S2 Shields R2 R1 E D BLK F G SHIELDS RED BLK Module Connector A C B Transducer Connector AMCI Part #: MS-16 Bendix #: MS3106A16S-1S BELDEN 9873 Cable AMCI Part #: MS-8 Phoenix #: MSTB2.5/8-ST-5.08 17 57 07 7 For cable lengths greater than 100' (30 meters) use BELDEN 9730. Figure 3.
3-10 1 2 3 4 5 6 8 7 9 10 11 12 13 14 S3 S4 S1, S2 Shields S3 S4 S3 S4 S1, S2 Shields R2 R1 AMCI Part #: MS-14 Phoenix #: MSTB 2.5/14-ST-5.
20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786 Tel: (860) 585-1254 Fax: (860) 584-1973 14 13 12 11 10 9 8 7 6 5 4 3 2 1 S3 S4 S3 S4 S1, S2 Shields S3 S4 S3 S4 S1, S2 Shields R2 R1 AMCI Part #: MS-14 Phoenix #: MSTB 2.5/14-ST-5.
Chapter 3 Installation IMT Transducer Interface Module The IMT is an interface module that simplifies field wiring to a 1733, 1734, 1743 or 1744. This module has terminal blocks that connect four C1T transducer cables to a single eight foot cable. This cable connects the IMT to the module. Figure 3.19 is an outline drawing of the IMT and cable. The C1T cable wiring diagram is figure 3.15, on page 3-9.
Chapter 3 Installation Autotech Transducer Installation Transducer Mounting Series 1700 modules support Autotech SAC-RL100, E6R and E7R-RL101, and SACRL101-010 transducers. Refer to Autotech Controls literature for dimensional drawings and mounting recommendations. Even though Autotech transducers are usable, we strongly recommend using AMCI transducers whenever possible. Refer to the Autotech/AMCI cross reference table on page 1-5 for information on our recommended replacements for Autotech transducers.
Chapter 3 Installation Notes 3-14 ADVANCED MICRO CONTROLS INC
Chapter 4 AMCI Module Addressing This chapter explains how to address a 1700 module in a PLC-5 programmable controller system. If you are using a PLC-2 or PLC-3 system, contact AMCI if you need assistance. When you configure your programmable controller system, a unique address is assigned to each slot of each chassis in the system. The I/O Rack Number and I/O Group Number make up each address. A block transfer address is further specified with a Module Slot Number.
Chapter 4 AMCI Module Addressing Definition of Terms (cont'd) 2-Slot Addressing Two slot addressing assigns one I/O group to each slot pair in the chassis. Block transfers use the I/O group for control bits. You cannot use 32 bit single transfers if the chassis is configured with 2-slot addressing. The A-B backplane interface IC was designed primarily as a block transfer controller. Because of this, 16 bit single transfers with 2-slot addressing may not work with some processors.
Chapter 4 AMCI Module Addressing Addressing the 1700 as a Single Transfer Module Once a 1731 or 1741 is configured correctly, the processor reads position and tachometer data with single transfers. To use this data, you must know the memory locations in the input image table associated with the module. hýPLC-5 Input Table: The characters “I:” followed by a three digit number. The first two digits are the I/O rack number, followed by the I/O group number.
Chapter 4 AMCI Module Addressing Addressing Examples (cont'd) I/O Group Number 1-Slot Addressing Rack Number: 01 I/O Group Numbers: 0,1 Module Slot Number: 0 BT Address: 16 bit single Position Addr: 32 bit single Position Addr: 32 bit single Tach Addr: I/O Rack Number 0 0 1 2 3 0 0 0 0 4 5 6 7 I/O Rack Number 1 0 1 2 3 4 5 6 7 0 0 0 0 0110 I:011 I:010 I:011 0 0 0 0 0 0 0 0 Module Slot Numbers Figure 4.
Chapter 5 PLC-5 BT Instructions Overview All PLC-5 processors have Block Transfer Instructions in their instruction sets. There are five parts to PLC-5 BT Instructions. They are: hýModule Address – The I/O rack, I/O group, and module slot numbers where the module is located. hýControl Block – The starting address of the five word block in memory that controls the Block Transfer. hýData File – The starting address of the file that stores the data written to or read from the module.
Chapter 5 PLC-5 BT Instructions File Length (continued) Block Transfer Writes When programming a BTW instruction, you must specify the exact number of words that contain your programming instructions. You cannot use a file length of zero with a BTW instruction unless you are actually transmitting sixty-four words. If you do so, the module will issue an error message to the processor. Continuous Parameter The Continuous parameter controls how often the block transfer instruction is executed.
Chapter 5 PLC-5 BT Instructions Programming Example The following example assumes 1-Slot addressing with a 1741 module in I/O Rack 2, I/O Groups 4 & 5 of the system. BLOCK XFER READ RACK 2 GROUP 5 MODULE 0 CONTROL N7:20 DATA N7:25 LENGTH 0 CONTINUOUS Y (EN) (ER) (DN) COP COPY FILE SOURCE DEST LENGTH CR1 BTW Request Rung 2: Copy File Instruction buffers the data from the module. This insures that the program will use the same data throughout each scan.
Chapter 5 PLC-5 BT Instructions PLC-5 Restrictions and Warnings hýIt is important to have the 1700 module installed in a single slot pair. See chapter 3, pg. 3-1, Installing the Module. hýWhen using the 1700 module in a remote chassis, the Remote I/O Adapter must be a 1771 - ASB, Series B, Firmware Rev. F, or later. Using a Remote I/O Adapter that has an earlier Series or Firmware Revision may not work properly with a 1700 module.
Chapter 6 Backplane Programming This chapter contains all of the information needed to learn how to use block transfer writes to program a 1700 module from the backplane. This information includes data on programming structure, programming instructions, and error codes. Information on the format of the data sent to the processor while it is in Read Status Mode is also included.
Chapter 6 Backplane Programming Program Instructions Program Instructions are broken down into three categories hýAuxiliary Commands – Nine instructions that affect the operation of the module and do not have data words associated with them.
Chapter 6 Backplane Programming Transducer Setup Instructions Command Transducer 1 Setup Command Comments Word 88XYh (X = {0,1}, Y = {1...F}). Use this instruction to program the transducer setup parameters of transducer 1. Digit X 0 0 Digit Y 0 Scale Factor Circular Offset Linear Offset Preset Value Tachometer Response Reserved: Must equal zero. Bit set to "1" = Store new parameter value. Bit reset to "0" = Leave parameter value as is. EXAMPLE: 8801h = Store new Scale Factor.
Chapter 6 Backplane Programming Transducer Setup Instructions (continued) Command Command Comments Word Transducer 2 Setup 98XYh (X = {0,1}, Y= {1…F}). Use this instruction to program the transducer setup parameters of transducer 2. The format of the instruction is identical to the Transducer 1 Setup instruction. Transducer 3 Setup A8XYh (X = {0,1}, Y= {1…F}). Use this instruction to program the transducer setup parameters of transducer 3.
Chapter 6 Backplane Programming Read Status Data Format The four figures below show the format of read status data. Because a 1700’s block transfer read length is fixed, the format of the data is based on the module you are using. A 1731 or 1741 can transmit only one parameter value at a time. A 1732 or 1742 can transmit up to three parameters while the remaining modules can transmit a maximum of five parameters at a time.
Chapter 6 Backplane Programming Status Word The status word is broken down into two bytes. The low byte, bits 0 – 7, is used to report hardware faults. The format of this byte is shown in figure 6.3. The high byte, bits 8 –15, is used to report programming errors. Table 6.4 lists the error codes and a brief description of the their causes.
C hap te r 7 Data Fo rma t This chapter outlines the format of the position and tachometer data sent from a 1700 module with either block or single transfers. Block Transfer Data Format When a block transfer read instruction accesses a 1700 module, the module transmits two 16 bit words for each transducer channel. If the 1700 module is programmable from the backplane, (the PLC Program parameter is set to its program enabled value), one additional word, the Status Word, is also transmitted.
C hap te r 7 Data For m a t Block Transfer Data Format (continued) Status Word The status word is transmitted when the 1700 is configured to be programmable from the backplane. It is broken into two bytes. The low byte, bits 0 – 7, is used to report hardware faults. The format of this byte is shown in figure 7.2. The high byte, bits 8 –15, is used to report programming errors. Table 7.1 lists the error codes and a brief description of the their causes.
C hap te r 7 Data Fo rma t Single Transfer Data Format A 1731 or 1741 module can be configured to transmit its position and tachometer information with single transfers by setting its Transfer Type parameter to single transfer and its Single Transfer Length parameter to either 16 or 32 bits. When configured for 16 bit transfers, only the position data is available. When configured for 32 bit transfers, both the position and tachometer data is available. The data is always transmitted in binary format.
C hap te r 7 Data For m a t Notes 7-4 ADVANCED MICRO CONTROLS INC
Chapter 8 Sample PLC-5 Program The following ladder logic program is an example of how block transfer instructions can be used to read and program a 1700 module using block transfers. The program shows how to read and buffer data from a 1700 module, and how a single block transfer write instruction can be used to send various program instructions to the module. Data table values that are referenced to in the program are also included in this chapter.
Chapter 8 8-2 Sample PLC-5 Program ADVANCED MICRO CONTROLS INC
Chapter 8 Sample PLC-5 Program 20 Gear Drive, Plymouth Ind.
Chapter 8 8-4 Sample PLC-5 Program ADVANCED MICRO CONTROLS INC
Chapter 8 Sample PLC-5 Program 20 Gear Drive, Plymouth Ind.
Chapter 8 8-6 Sample PLC-5 Program ADVANCED MICRO CONTROLS INC
This is text added to the page so that the page will print. The color is white so that the page appears blank.
ADVANCED MICRO CONTROLS INC. 20 GEAR DRIVE, TERRYVILLE, CT 06786 T: (860) 585-1254 F: (860) 584-1973 amcicontrols.
