How to use ABR encoder as master for ACOPOS P3

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Hello Experts,

This question I mainly about the configuration. Please see the simple sketch of the system in the end of text.

Master in the system is Asynchronous motor M1, which is controlled by ACOPOS P66 and is rotating with constant speed. Rotation angle is measured by existing ABR encoder.

Slave in the system is carousel which will be rotated with 8LSA74 controlled by ACOPOS P3 034X. On the right you can see the curve. In time slot A books are loaded in the carousel. In time slot B Slave rotates for 90 degrees.

And now the question about the configuration.

8LSA74 and ACOPOS P3 034X are super friendly. If I would have second B&R servomotor controlled by B&R ACOPOS, I can use CAM profile synchronisation. But the second axis is asynchronous motor with ABR encoder. I can connect ABR to module X20DC1396. But how I can create master from it?

Second option is to connect ABR encoder to ACOPOS P3. I can use 8LSA74 with EnDat instead of resolver and order incremental encoder card 8EAC0151.001-1 to place in empty ACOPOS slot. But existing ABR encoder is 24 VDC and the card card 8EAC0151.001-1 provides for ABR encoder supply 5/12VDC…

And if we change ABR encoder for one with 5VDC power supply, again the same question, how I can configure position value provided by ABR encoder as master for servomotor?

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Thank you in advance.

2

With the 8EAC0130.000-1 card you can read in 24V ABR encoder assymetrical.

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The encoder on this interface is always ENCOD2_S_ACT.
With newer AS and Acopos versions it is possible to change this ENCOD2_S_ACT to the correct axis interface of the P3.

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3

Thanks for the answer.

I can configure 2 Encoders in ACOPOS P3 like this:

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But I still have no idea, how to use position encoder as Master and motor encoder as Slave in CAM profile synchronisation.

About the card 8EAC0151.001-1. Here I mainly think about cabling. If card provide 5/12 VDC for powering of ABR encoder, for our 24VDC encoder we have to select one of the solutions:

  1. Make two cables - one to power ABR, second to read the data;
  2. Change ABR encoder with power 5VDC;
  3. Use X20DC1396 to power and read the encoder. But in this case we again back to the same question, how to make from read value Master for CAM sync…
4

Pinout of the ACOPOS P3 plugin card 8EAC0151.001-1:

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5

This encoder configuration for 8EAC0130.000-1 can not be done in the Axes configuration.
You have to define the first three inputs as input and assign them to the correct axis.

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With a acopos parameter table you have to write some acopos parid’s for configuring the encoder as incremental (ncINC) and to define the correct unit.
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Then you can use parid ENCOD2_S_ACT (as mentioned before) as cam MasterParID.
See following links:
https://help.br-automation.com/#/en/4/ncsoftware/acp10_drivefunctions/geberschnittstelle/inkrementalgeber/8eac013x.000-1.html
https://help.br-automation.com/#/en/4/motion/mapp_motion/programmierung/bibliotheken/core/mcacpax/datentypen_und_konstanten/mcacpaxcamautmasterpartype.html

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6

Thank you for answers before.
In the project I plan to use ACP10 with modified CAM profile example project. I have to ask one more question - how I can create Axis object to use incremental encoder as CAM Master?

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7

Hello,

the thread is allready a little old, but i would like to add.

How to create a Axis Reference for a CamIn - Master Reference ; with MappMotion

X20DC1396 and PureVirtual Axis External Encoder
to use the X20DC1396 as an External Encoder, i think you can use the PureVirtualAxis-Feature “External Encoder”

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But be aware that this Feature is not supported by ARsim, so it can be compiled and is running, but the Position data will not change.
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External Encoder ACP P3

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For ACP10 (which should no longer be used for new Projects):

You can use a SDC-Axis to connect the X20DC1396 to a Axis Object.

For the P3, you would have to let the Axis which the encoder is connected empty (no Motor) and just use the Encoder as Position Source.

When Coupling you must use in both cases “ACT_VALUE” as position Source. I don’t remember if you must use a PAR_ID Source for this in ACP10.

Greetings
Michael Bertsch

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