ABB Pluto安全PLC 绝对编码器操作手册-使用说明书.pdf

PLUTO Safety-PLC Manual Absolute Encoders English v6A 2TLC172006M0206_A Table of contents: 1 General 3 1.1 Reaction time 3 1.2 Safety parameters 3 2 Electrical 4 2.1 Separation with Gateway in Bridge Mode 5 2.2 CAN bus data 5 3 Singleturn encoder RSA 597/RHA 597 6 3.1 Address setting 6 3.2 Software settings 7 3.2.1 Baudrate 7 3.2.2 Scale 7 3.2.3 Position adjustment 8 3.3 Speed limit 9 3.4 Technical data 9 3.4.1 Electrical data 9 3.4.2 Mechanical data 10 4 Multiturn encoder RSA 698/RHA 698 13 4.1 Connectors 13 4.2 Indicators 13 4.3 Address setting 14 4.4 Baudrate 14 4.5 Software settings 14 4.5.1 Scaling 15 4.5.2 Position adjustment 15 4.6 Technical data 16 4.6.1 Electrical data 16 4.6.2 Mechanical data 17 5 PLC Software - Description of function blocks 20 5.1 SafeEncoder 20 5.2 SafeEncoderMult 21 5.2.1 SafeEncoderMult32 22 5.3 EncoderCam 23 5.3.1 EncoderCam_R 23 5.3.2 EncoderCam32 23 2 2TLC172006M0206_A 1 General Pluto can handle up to 16 absolute encoders connected to the CAN bus. However, the encoders themselves can only be addressed to one of 8 different addresses (for Multiturn encoders 9 addresses, but a safe solution requires that the encoders are mounted in pairs). This leads to that in practice a maximum of 8 encoders can be used. One of the Pluto units on the bus must have software option for communication with the encoders. This special Pluto sends cyclically a sync telegram, which trigs all encoders on