Hi Guys:
I urgently need help !!! I'm in the midst of refurbishing a old machine. This machine equiped with 2 different brand of servo motor. I have very little information on the Servo Driver as well. The old controller (pc based with a Dos based display) received each encoder signal from the Servo Drive. (A+ A- B+ B-) and by means of Analog Output from PC injected to the Servo Drive creating a Linear Motion and Rotary motion.

I'm using a Control Logix with HSC Module and Analog Output Module ( well with digital input and Output also).

The Operation is quite simple:

When Cycle started, The Servo A will start intialised from End Point (X Digital Input) and back to Home Point (Digital Input Y).

The same applied to Servo B (Rotary motion).

With initialisation completed. Once a Button is pressed the Servo A (linear) will move to preset center point waiting for operation.

Once a triggered signal arrived, Servo A will Move to Preset value at the Same Time Servo B will Rotate according to preset value. The Speed will depend on Analog Output that send -10 or 10v to Servo Controller.
Once the Operation completed, Servo A will goto back to preset center point
My Problem:

I have no experience in programming Encoder !

I tried to monitor the Encoders value by connecting parallel to Contrologic with the PC running concurrently.

the Ogrinal (Home value ) seems to varied after few cycle. So I set the Roll Over Value to say 100000 for both HSC module for easier observation, some time the value will be say start at 99995 (Example).


So I do not know how to program Encoder.

Can Some one help ?

Ohh you are doing it the hard way. Look at the 1756-MO2AE. The module has 2 Axis, each axis has an ABZ encoder input and a high speed analog output to control the servo.

This also allows you to use the Controllogix Motion commands that provide the all the motion profiles

For your drifting center position usually the encoder is connected incorrectly OR the HSC is configured incorrectly.

What is your scaling? (counts per mm)
is 5 counts 0.01 mm or 100 mm?

I second Michael's recommendation of the M02AE. It is a perfect match for your project BUT you don't mention a Z marker. I'm not sure the M02AE will function properly without the Z marker. Perhaps someone else could verify this.

I'm new to this. The Controller was sized by the customer. I'm stuck with the hardware. So Anyone can help me ?

Yep it functions perfectly, The Z marker is used for advanced homing.
Sometimes due to scaling setup I have to cheat and tell the MO2AE that have 15360 counts per rev but the encoder is only 4096 counts per rev. In that case I just drop the Z pulse from the wiring.

p.s I was just saying the encoder was a AB-Z type not that you have to use the Z input

MG