Control Techniques SL motors with CT-Coder + SLM3 Electronics

Control Techniques has an obsolete line of motors known as the SL series.  They can come with a proprietary feedback listed in their manuals as "CT-Coder + SLM3 Electronics". This CT-Coder is made by SICK Stegmann but does not function like the more common Hiperface serial encoders (SNS, SRM, etc). Instead it functions more like a Generic Incremental Encoder with Sin/Cos commutation, like the Heidenhain ERN1387. The CT-Coder also has four data lines (CS, DI, D0, SK) and an EEPROM which stores encoder parameters that can be adjusted such as counts/rev, motor poles, etc. We do not support using these data programming lines, and Stegmann likely does not support it on their testers either since it is proprietary to Control Techniques.

The CT-Coder feedback is then routed into an "SLM3" electronics board within the motor feedback cover. This terminates to a 5 pin circular connector as the main motor feedback connection. While we do offer limited support for testing the CT-Coder directly, we do not support the SLM3 board. The only way to properly test the SLM3 output is to use the corresponding Control Techniques drive. Even if the encoder is testing well directly, the SLM3 board could be damaged and cause issues. 

Since both the motor and encoder are now obsolete, there are very few options for replacing the encoder aside from finding spare parts on eBay or similar. Customers with these motors have been told by Control Techniques to update their machines.  

Here is a document which details the testing of these unique feedbacks on our systems: https://www.dropbox.com/s/p66t4qkvffq40zg/MEMO_TI-5724_Testing_Stegmann_CT-Coder.pdf?dl=0

Operation

1. There are several known revisions of the Stegmann CT-Coder; we have personally documented the CT-Coder3 and CT-Coder 4 versions. They all require 3 separate DC voltages to properly power up. The TI-5724 has these wires tied back for easy access. The free BLK wire(0V Ground)should be used as a shared ground for the other power supplies. The +5VDC is supplied by the TI-5000JX automatically. Make sure to check your encoder label to verify the proper voltages.
   
   a. CT-Coder 3.
      i. DC supply #1: 6.5VDC (+) to ORG/RED wire, (-) to BLK.
      ii. DC supply #2: -0.7VDC (-)to RED/BLK wire,(+)to BLK.
   
   b. CT-Coder 4
      i. DC supply #1: 12VDC(+) to ORG/RED wire, (-) to BLK.
      ii. DC supply #2: -0.7VDC (-) to RED/BLK wire, (+) to BLK.
   
   
   
2. Upon initial power-up, the encoder produces a 1ppr sine wave. This track is not enough information for alignment or running, but should be checked with a scope to verify proper output(see scope images below).
3. Next, connect the free “Resolution Select” wire (ORG/BLK)to 0V Ground (BLK). This will change the 1ppr sine waves into 1024ppr (4096 counts/rev).See scope images below for amplitudes. This will allow you to perform a Count Test, record the encoder alignment, and run the motor from the TI-3000JXGeneric Encoder selection.
4. The four E2-Prom encoder programming lines are not used at this time.