National Instruments Network Card FP QUAD 510 User Manual

OPERATING INSTRUCTIONS  
FP-QUAD-510  
4-Axis, Quadrature Input Module  
These operating instructions describe the installation, features, and  
characteristics of the FP-QUAD-510. For details on configuring  
and accessing the FP-QUAD-510 over a network, refer to the user  
manual for the particular FieldPoint network module you are using  
with the FP-QUAD-510.  
Features  
The FP-QUAD-510 is a FieldPoint quadrature input module with  
the following features:  
Four independent 32-bit position counters with individual  
Phase A, Phase B, and Index input terminals  
Velocity measurement capabilities  
Programmable reset on index mode  
Sinking inputs, compatible with TTL or differential devices  
Inputs protected to ±250 VDC  
Hot plug and play operation  
2,500 Vrms input-to-output isolation  
Double insulated for 250 V safe working voltage  
Power Requirement  
The FP-QUAD-510 is powered via the local backplane bus from  
the FieldPoint network module. The FP-QUAD-510 is a  
high-power consumption module and requires more than the  
nominal power allocated to an I/O module from the network  
module. In some applications, this could limit the number of I/O  
modules that you can connect to a single network module.  
FieldPoint™, National Instruments™, and ni.com™ are trademarks of National Instruments Corporation. Product and  
company names mentioned herein are trademarks or trade names of their respective companies.  
322633B-01  
© Copyright 2000 National Instruments Corp. All rights reserved.  
March 2000  
 
Key  
Latch  
Alignment  
Slot  
Guide Rails  
I/O Module  
Figure 1. Install Your Module  
Terminal Base  
Field Wiring  
The terminal base provides connections for each axis and for an  
external supply to power the FP-QUAD-510 input channels and  
field devices.  
The FP-QUAD-510 accepts two types of encoder signal inputs:  
single-ended (TTL) or differential line driver. Figure 2 shows the  
typical encoder wiring for differential signal input. Figure 3 shows  
the typical encoder wiring for single-ended signal input. Power for  
a +5 V encoder is also provided for each axis. If you require other  
encoder power voltages, reference an external supply to either the  
C terminal or the COM terminal.  
+
C
V
Encoder  
+5 V  
V
+5 V  
Reg  
sup  
+A  
–A  
+A  
–A  
+B  
–B  
+B  
–B  
+I  
–I  
+Index  
–Index  
COM  
GND  
Figure 2. Basic Field Connections to Differential Encoders  
© National Instruments Corp.  
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FP-QUAD-510  
 
   
+
C
V
Encoder  
+5 V  
V
+5 V  
Reg  
sup  
+A  
–A  
+A  
NC  
NC  
NC  
+B  
–B  
+B  
+I  
–I  
+Index  
COM  
GND  
Figure 3. Basic Field Connections to Single-Ended Encoders  
The FP-QUAD-510 supports differential inputs for Phase A,  
Phase B, and Index signals. You can easily accommodate encoders  
with various phase relationships by swapping the signals and/or  
connecting them to the inverting inputs as specific applications  
require.  
The Index signal must occur when both the Phase A and Phase B  
signals are low, as shown in Figure 4. If the index polarity is  
inverted, try reversing the +Index and –Index signals on differential  
encoders or using the –Index input on single-ended encoders.  
Phase A  
Phase B  
Index  
Figure 4. Encoder Signal Phasing  
Table 1 lists the terminal assignments for the signals of each axis.  
+A and –A represent the Phase A signals, +B and –B represent the  
Phase B signals, and +I and –I represent the Index signals.  
FP-QUAD-510  
4
 
   
Terminal assignments and wiring diagrams are also listed under the  
slide-in card on the front of the FP-QUAD-510 module.  
Table 1. Terminal Assignments  
Terminal Numbers  
Signal  
+A  
Axis 0  
Axis 1  
Axis 2  
9
Axis 3  
13  
1
17  
2
5
21  
6
–A  
25  
29  
+B  
10  
14  
–B  
18  
3
22  
7
26  
30  
+I  
11  
15  
–I  
19  
4
23  
8
27  
31  
Vsup  
COM  
12  
16  
20  
24  
28  
32  
Status Indicators  
Figure 5 shows the module label and status indicators. Remove the  
slide-in card to see wiring diagrams for the input signals.  
Figure 5. Status Indicators  
After you insert the module into a terminal base (and apply power),  
the green POWER indicator lights and the FP-QUAD-510 informs  
the network module of its presence. When the network module  
recognizes the FP-QUAD-510, it sends initial configuration  
information to the FP-QUAD-510. After receiving this initial  
information, the green READY indicator lights and the  
FP-QUAD-510 is in its normal operating mode.  
© National Instruments Corp.  
5
FP-QUAD-510  
 
   
Position Counter Operation  
Each position counter has a 32-bit binary counter that represents  
the current position of the shaft connected to the axis. Channels 0  
through 3 contain the lowest 16 bits of these counters for axes 0  
through 3 respectively. Channels 4 through 7 contain the  
uppermost 16 bits for axes 0 through 3 respectively.  
Primarily, the position counter channels increment or decrement in  
response to edges encountered at the Phase A and Phase B inputs.  
The following sections describe the operation of the counter  
channels.  
Position Counter Input Circuit  
The circuit for the position counter inputs consists of a comparator  
with current limited inputs to convert from a differential to a  
single-ended signal. The output of the comparator is used to drive  
an optoisolator. When you apply a voltage above the threshold  
voltage to the input terminal, the comparator turns on the  
optoisolator, registering in the ON state.  
The inputs are designed to be compatible with single-ended TTL  
encoders or differential encoders supplying a differential voltage of  
at least ±0.3 V.  
Each encoder input has a lowpass filter that rejects frequencies  
above 250 kHz to reduce false counts due to high-speed transients.  
This cutoff point allows encoder frequencies as high as one million  
counts/second, because there are four counts per period, as shown  
in Figure 6.  
Phase A  
Phase B  
00  
10  
11  
01  
1 period = 4 counts  
Figure 6. Quadrature Encoder Counts/Period Relationship  
FP-QUAD-510  
6
 
   
Reset on Index Capability  
You can configure each position counter to reset each time the  
index condition is met. An index-initiated reset resets both the  
upper and lower 16-bit registers associated with that axis. This  
is useful in applications in which only the position within one  
rotation of the encoder is important to the user. In this mode of  
operation, any count errors that occur are canceled when the index  
condition is met.  
Commands  
Channels 0 through 3 (the lowest 16 bits of the position counter)  
each support a control command with one action—reset. The  
control-reset command resets the target counter. The control  
command ignores the index reset setting. This command also resets  
the upper 16 bits of the position counter.  
Velocity Data Channel Operation  
The FP-QUAD-510 uses a timebase counter as a basis for  
determining the rate of change of position—the velocity—for each  
axis. The four velocity data registers, channels 8 through 11,  
contain 16-bit velocity data for axes 0 through 3 respectively. The  
data in each register represents the velocity of the axis in number  
of counts per microsecond. A positive number indicates motion in  
the forward direction, and a negative number indicates motion in  
the reverse direction. Each register can be independently  
programmed with one of eight velocity ranges as shown in Table 2.  
Each range is based on a different timebase length and has a  
different resolution.  
Note While the ranges available reach speeds of  
160 counts per microsecond, the module inputs are still  
limited to 1,000,000 counts per second (1 count per  
microsecond) maximum. The higher ranges are used to  
measure velocity over shorter timebases. With these  
ranges, the velocity data is averaged over a much shorter  
time period and, therefore, is more instantaneous.  
However, the data from these ranges has a coarser  
resolution. The slower ranges have a finer resolution, but  
the data is an average velocity over a longer period  
of time.  
© National Instruments Corp.  
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FP-QUAD-510  
 
Table 2. Velocity Ranges  
Length of Timebase  
(in µs)  
Velocity Range  
(in counts/µs)  
Velocity  
Resolution  
204.8  
409.6  
±160  
±80  
±40  
±20  
±10  
±5  
4.883 counts/ms  
2.441 counts/ms  
1.221 counts/ms  
610.4 counts/s  
305.2 counts/s  
152.6 counts/s  
76.29 counts/s  
38.15 counts/s  
819.2  
1638.4  
3276.8  
6553.6  
13107.2  
26214.4  
±2.5  
±1.25  
The velocity range is the maximum velocity that can be measured  
for a given timebase. The velocity register uses a 15-bit counter,  
which gives a maximum number of counts of 215, or 32,768. So, the  
velocity range for a given timebase is calculated using the  
following formula:  
±32768  
Vrng = -----------------  
T
where Vrng is the velocity range in counts per microsecond and T is  
the timebase in microseconds.  
The velocity resolution is the velocity accuracy for a given  
timebase and is determined using the following formula:  
1000  
Vres = -----------  
T
where Vres is the velocity resolution in counts per millisecond and  
T is the timebase in microseconds.  
Index Status Channel Operation  
The FP-QUAD-510 includes four discrete input channels, channels  
12 through 15, which contain the status of the Index signal for axes  
0 through 3 respectively. This signal is latched to a 1 when the  
condition at the axis inputs is Phase A = 0, Phase B = 0, and  
Index = 1. This bit remains latched until it is read, at which point it  
is cleared automatically.  
FP-QUAD-510  
8
 
 
Note If the axis is stopped with the index condition true,  
then reading the status bit causes the bit to reset to 0.  
However, since the index condition is still true, the bit is  
immediately latched back to 1.  
If the Reset on Index attribute (see Position Counter Operation) is  
selected, then the index status bit does not need to be read between  
successive index pulses in order for the position counters to reset.  
The position counters respond to index pulses as programmed  
regardless of the state of the index status bit.  
Isolation and Safety Guidelines  
Caution Before you connect any circuits that may  
contain hazardous voltages to the FP-QUAD-510,  
read the following information.  
This section describes the isolation of the FP-QUAD-510 and its  
compliance with international safety standards. The field wiring  
connections are isolated from the backplane provided by the  
terminal base with an optical and galvanic isolation barrier  
designed and tested to provide protection against fault voltages of  
up to 2,500 Vrms. In addition, the FP-QUAD-510 provides double  
insulation (compliant with IEC 1010-1) for working  
common-mode voltages of 250 Vrms. Safety standards (such as  
those published by UL and IEC) require the use of double  
insulation between hazardous voltages and any human-accessible  
parts or circuits.  
Never try to use any isolation product between human-accessible  
parts (such as DIN rails or monitoring stations) and circuits that  
may be at hazardous potentials under normal conditions, unless the  
product is specifically designed for such an application, as is the  
FP-QUAD-510.  
When you use a product like the FP-QUAD-510 in applications  
with hazardous potentials, follow these guidelines to make sure  
your total system is safe:  
The safety isolation of the FP-QUAD-510 is from input to  
output, not between channels on the same module. If any of the  
channels on a module are wired at a hazardous potential, make  
sure that all other devices or circuits connected to that module  
are properly insulated from human contact.  
Do not share the external supply voltages (V and C on the  
terminal base) with other devices (including other FieldPoint  
devices), unless those devices are isolated from human contact.  
© National Instruments Corp.  
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FP-QUAD-510  
 
As with any hazardous voltage wiring, make sure that all  
wiring and connections meet applicable electrical codes and  
common sense practices. Mount terminal bases in an area,  
position, or cabinet that prevents accidental or unauthorized  
access to wiring that carries hazardous voltages.  
The isolation of the FP-QUAD-510 is certified as  
double-insulated for normal operating voltages of 250 Vrms.  
Do not use the FP-QUAD-510 as the only isolating barrier  
between human contact and working voltages of more than  
250 Vrms.  
Channel Operation Summary  
Table 3 summarizes the functionality of each of the FP-QUAD-510  
channels as accessed through FieldPoint Explorer or other  
software.  
Table 3. FP-QUAD-510 Channel Operation Summary  
Channel  
No.  
Channel Description  
Axis 0 Position LSW  
Axis 1 Position LSW  
Axis 2 Position LSW  
Axis 3 Position LSW  
Axis 0 Position MSW  
Axis 1 Position MSW  
Axis 2 Position MSW  
Axis 3 Position MSW  
Axis 0 Velocity  
Type  
Range  
0–65535  
0–65535  
0–65535  
0–65535  
0–65535  
0–65535  
0–65535  
0–65535  
8 ranges  
8 ranges  
8 ranges  
8 ranges  
Boolean  
Boolean  
Boolean  
Boolean  
0
Count Input  
Count Input  
Count Input  
Count Input  
Count Input  
Count Input  
Count Input  
Count Input  
Analog Input  
Analog Input  
Analog Input  
Analog Input  
Discrete Input  
Discrete Input  
Discrete Input  
Discrete Input  
1
2
3
4
5
6
7
8
9
Axis 1 Velocity  
10  
11  
12  
13  
14  
15  
Axis 2 Velocity  
Axis 3 Velocity  
Axis 0 Index Active  
Axis 1 Index Active  
Axis 2 Index Active  
Axis 3 Index Active  
FP-QUAD-510  
10  
 
 
Specifications  
The following specifications are typical for a range of  
–40 to +70 °C, unless otherwise noted.  
Encoder Input  
Number of channels..........................4  
Input type  
Single-ended...............................VIL = 0.0–0.8 V  
VIH = 2.0–250.0 V  
Differential .................................±0.3 V provided one input  
falls between 0.0 and 3.0 V  
and the other input falls  
between 0.0 and 250 V  
Maximum protected input voltage....±250 VDC on each input  
Input bandwidth................................250 kHz for each input  
Encoder frequency............................1 million counts/second  
Minimum input pulse width..............2 µs  
Isolation ............................................2,500 Vrms  
Safety isolation, working voltage .....250 Vrms, designed per  
IEC 1010 as double insulated  
External supply voltage (V)..............8 to 30 VDC, user-provided  
at 5 W  
I/O supply voltage (Vsup) ................5 VDC at 600 mA maximum  
Physical  
Indicators ..........................................Green POWER and READY  
indicators  
Weight...............................................143 g (5.1 oz.)  
Power Requirements  
Power from network module ............1.2 W maximum  
Environment  
Operating temperature ......................40 to +70 °C  
Storage temperature..........................55 to +85 °C  
Relative humidity..............................5% to 90%, non-condensing  
© National Instruments Corp.  
11  
FP-QUAD-510  
 
CE Mark Compliance  
This product meets applicable EU directive(s), as follows:  
Safety isolation ................................EN 61010 (double insulation  
for 250 Vrms working  
isolation, installation  
category II)  
EMC directive  
Immunity....................................EN 50082-1:1994  
Emissions ..................................EN 55011:1991 Group I  
Class A at 10 m  
Mechanical Dimensions  
Figure 7 shows the mechanical dimensions of the FP-QUAD-510  
installed on a terminal base. Dimensions are given in inches  
[millimeters].  
4.22 [107.19]  
4.31  
[109.5]  
3.60 [91.44]  
Figure 7. Mechanical Dimensions  
 
 

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