Allen Bradley Motors

This is the TI-3000JX option for Allen Bradley motors with Stegmann Hiperface encoders. The Stegmann serial encoders listed in the next section are supported by this selection. Stegmann incremental encoders with A, B, and Z lines should be tested as Generic Incremental encoders. Stegmann encoders used on Indramat digital motors are discussed in the Indramat section. This section deals with Stegmann Hiperface encoders.

While the details are different, the Hiperface encoders are similar in function to the Heidenhain Endat encoders. There are serial lines for accessing absolute position data and memory data, and they use analog 1V p-p sine and cosine signals that can be counted like A and B quadrature lines. Also like the Endat encoders, there is no index pulse. Without an index pulse, in order to obtain absolute position information from the incremental count (from the 1V p-p lines), the incremental count must first be referenced to absolute position data read from the serial lines. The TI-3000JX references the incremental count to the serial count to make the incremental count absolute and then uses the incremental count for commutation.

Some Hiperface encoders are specified to operate from 5 VDC, but others are specified in the 7VDC to 12 VDC range. Since even the 5VDC versions will accept up to 12 VDC, it is recommended that the TI-5104 Adapter Module, which provides 8 VDC, be used with the Stegmann Hiperface encoders (Caution: Always check the rating listed on the encoder label to verify the range!). The 8VDC output is within the correct range for all Hiperface encoders that we have encountered. The TI-5104 also provides the additional advantage of amplifying the 1V p-p sine outputs from the incremental lines and reducing noise pickup.

Types Supported

The following list shows the Stegmann serial encoders that are currently supported by the TI-3000JX option, and it lists some representative motors on which they are used as well as test cable possibilities.

Please check the current PDF catalog file and price list files for a complete listing of all cables supporting motors using Stegmann encoders.

In addition to the above encoders, a DSL-3J08G0M2XB9, which apparently is a 5V SKM36 encoder, is sometimes used on MPL-A1XX motors. It is not clear whether this is an AB part number or Stegmann, but, the encoder seems to test fine using the SKM36 selection.

Note: The first count is the number of counts/rev for the incremental signals, the second is the number of counts/rev for the absolute serial position count, and the last count is the number of revolutions that can be counted (for multi turn encoders only).

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Allen Bradley:

1. 1326 SRS50/60 – 1326AB motors with SRS50/60 encoder
2. 1326 SRM50/60 – 1326AB motors with SRM50/60 encoder
3. MPL SRS50/60 – MP Series motors with SRS50/60 encoder
4. MPL SRM50/60 – MP Series motors with SRM50/60 encoder
5. MPL SKS36 – MP Series motors with SKS36 encoder
6. MPL SKM36 – MP Series motors with SKM36 encoder
   Note1: Use MPL selections for MPF and MPS motors.
   Note2: Use SKM36 selection for DSL-3J08G0M2XB9 encoder.

Select the appropriate type and connect the encoder cable for the type selected.

Debugging

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

1. Press the DEBUG key to put the TI-3000JX in DEBUG mode.
   a. The correct number of poles should show on the display as the TI-3000JX reads the memory data. 
   b. If the display shows ‘Stegmann error’, check for proper cabling and proper use of the TI-5104 adapter module.
   c. If the display shows Stegmann ID: xx (where xx is an ID number), it is telling you the ID number of the encoder it is reading and that ID number is not the same as the encoder you have selected. Verify that you are using the correct encoder selection.
   
   
2. Rotate the motor in the forward direction (CW looking at the shaft for AB) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.
   
   
3. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the motor shaft.
   
   
4. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check.

After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

Running

After a successful Debug check, perform the following sequence to run the motor.

1. Connect the motor armature leads to the amplifier using the appropriate connectors.
   
   
2. Press the RUN key to enable the amplifier. The following check list will appear on the display.
   a. Are hands and clothing clear of moving parts?
   b. Is the motor mounted securely?
   c. Is the speed pot set to the zero (stopped) position?
   
   
3. Press the RUN key again after insuring that the check list is satisfied.
   
   
4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from
   the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.
   
   
5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning.
   The bottom line of the display should show the RPM reading.
   
   
6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.