RIO-47122 Encoder Input Options

All RIO-47122 Encoder Options will utilize Digital Inputs 12,13,14 and 15 and Digital Outputs 12,13,14 and 15. These digital inputs and outputs will not be available as standard digital I/O when the -QUAD or -SSI option is ordered with the RIO-47122. The Encoder monitoring option has a 25msec update rate and an external power source is required to power the encoders.

RIO-47202 Encoder Input Options

The RIO-47202 allows for QUAD, SSI, or BiSS encoder monitoring through an optional plug-in screw terminal board similar to the SCB-48608 shown here. The Encoder monitoring option has a 25msec update rate and is not available with the Analog output option. An external power source is required to power the encoders.

-QUAD
Maximum encoder frequency is 8MHz
Pinout for 47122:

Encoder Signal	Label (Connector.Pin)
Channel 0 A+	DO14 (J4.24)
Channel 0 A-	DO12 (J4.39)
Channel 0 B+	DO15 (J4.38)
Channel 0 B-	DO13 (J4.9)
Channel 1 A+	DI14 (J4.31)
Channel 1 A-	DI12 (J4.2)
Channel 1 B+	DI15 (J4.1)
Channel 1 B-	DI13 (J4.17)
Ground	N/C (J4.41)

-SSI/-BiSS
Pinout for 47122:

Encoder Signal	Label (Connector.Pin)
Channel 0 Clock+	DO 14 (J4.24)
Channel 0 Clock-	DO 12 (J4.39)
Channel 0 Data+	DO 15 (J4.38)
Channel 0 Data-	DO 13 (J4.9)
Channel 1 Clock+	DI 14 (J4.31)
Channel 1 Clock-	DI 12 (J4.2)
Channel 1 Data+	DI 15 (J4.1)
Channel 1 Data-	DI 13 (J4.17)
Ground	N/C (J4.41)

Power
The encoders must be powered by an external power supply. The RIO does not supply power to the encoder.

Electrical
Input buffers are AM26LV32.
Output buffers (SSI Clock) are AMP26LV31.

Commands:

QE
Query Encoder

Full Description
The QE command returns the current position of the encoders inputs. The register that is read using the QE command is updated by the RIO every 25ms.

Arguments
QE n where
n is 0,1 and indicates encoder input channel 0 or 1.

Operand Usage
_QEn contains the current encoder position value for the specified channel (n = 0 or 1)

Usage

In a Program	Yes
Command Line	Yes
Controller Usage	RIO-47xx2-QUAD, RIO-47xx2-SSI
Default Value	0,0

WE
Write Encoder

Full Description
The WE command sets the current encoder position to a specified value. The units are in quadrature counts. This command will set the QE values.

Arguments
WE n,n where
n is a signed integer in the range of -2147483648 to 2147483647 decimal

Usage

In a Program	Yes
Command Line	Yes
Controller Usage	RIO-47xx2-QUAD
Default Value	0,0

SE
Set SSI Encoder

Full Description
The SE command configures the SSI encoder inputs.

Arguments
SEn,a,b,c,d<e>f where

n = the channel designator (0 or 1). Each channel must be set individually
a = 0 for No Encoder, 1 for SSI Encoder
b = Total # of Bits of SSI. A positive number designates No Rollover. A negative number will cause the RIO to act as an incremental encoder, allowing the encoder to count past the max value of the encoder. (Note: when the controller is powered down, the rollover values are lost)
c = # of Single Turn Bits. Note: The number of Multi-turn bits of the encoder is internally calculated by the following equation: Multi-turn Bits = (Total Bits) - (Single-Turn) - (Status Bits)
d = # of Status Bits (ie: Error Bits). Positive # designates status bits as trailing SSI data. Negative # designates status bits as leading SSI data.
e = integer in the range of 4-26 designating the clock speed. A positive value of e reads data on the rising clock edge; a negative value reads data on the falling edge. The clock frequencies below are approximate values and may vary from RIO to RIO.

e	SSI Frequency (kHz)
4	2000
8	1111
10	909
12	769
13	714
24	400
26	370

f = 1 for Binary Code, 2 for Gray Code

SEn,? Returns the configuration parameters where n = the channel number (0 or 1)

Operand Usage
_SEn contains the status bit values where n = the channel number (0 or 1)

Usage

In a Program	Yes
Command Line	Yes
Controller Usage	RIO-47xx2-SSI
Default Value	0,0