Posital Fraba KIT CONTROL BOX WITH GUI Manual 

Page 1 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI ▪ Compact format box with easy plug and play connection ▪ Only a USB connection with the PC needed ▪ Easy to integrate in existing setups ▪ An additional software makes it possible to run the Kit Encoder main functions ▪ Easy way to do the calibration, preset, pulse testing and filter setting with the Kit Encoder ▪ Additional possibility to read out the temperature and kit encoder firmware version

Page 2 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Contents Contact .................................................................................................................................................................. 3 1. Electrical Connection .......................................................................................................................................... 4 1.1 Connector ............................................................................................................................................................ 4 1.2 Electrical Characteristics ..................................................................................................................................... 5 2. Software ............................................................................................................................................................ 6 2.1 Installation ........................................................................................................................................................... 6 2.2 Connection with the Kit Encoder ......................................................................................................................... 6 2.3 Function Overview .............................................................................................................................................. 7 2.4 Start Page ............................................................................................................................................................ 7 2.5 Calibration ........................................................................................................................................................... 9 2.6 Preset ................................................................................................................................................................ 11 2.7 Wiegand Sensor Testing .................................................................................................................................... 13 2.8 Filter Selection ................................................................................................................................................... 15 2.9 Register communication ................................................................................................................................... 16 2.10 Read Position ................................................................................................................................................... 17 2.11 Update Firmware ............................................................................................................................................ 19 3. References ....................................................................................................................................................... 21 4. History ............................................................................................................................................................. 21

Page 3 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Version Date: 16.08.2020 Version Number: 2.0 Authors: JSC Reviewer: KMA, YTR Valid for: Kit Control Box With software version SW V.2.0.0. Kit encoder with BiSS C interface (type KCD-BC0xB-1617-xxxx-xxx) Kit encoder with SSI interface (type KCD-S10xB-1617-xxxx-xxx) User Annotation Please note, that no responsibility is assumed by POSITAL for any consequences arising from the use of this material. This document is not intended as an instruction manual for untrained personnel. POSITAL welcomes all readers to send their feedback about the product and this document. Contact FRABA America T +1 609 750-8705 [email protected] FRABA Europe T +49 221 96213-0 [email protected] FRABA Asia T +65 6514 8880 [email protected] © FRABA B.V., All rights reserved. We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice.

Page 4 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 1. Electrical Connection The Kit Control Box can be connected to encoders of the types: • Kit encoder with BiSS C interface (type KCD-BC0xB-1617-xxxx-xxx) • Kit encoder with SSI interface (type KCD-S10xB-1617-xxxx-xxx) Please, make sure that only KIT CONTROL BOX KCB-VA produced after the 19th week of 2020 (on the product label indicated as 19/20) are connected to/used for configuration of 22mm ø Kit Encoders with type keys KCD-xx03B-xx17-xxxF-xxx. 1.1 Connector Connector Type Encoder Kit Interface: BM04B-GHS-TBT (JST) / BM08B-NSHSS -TBT Pin No. Function Remark 1 (blue) GND 3 (grey) UART Rx/Tx 8 (red) VCC +5V Table 1: JST connector allocation Connector Type Control Box Interface: D-Sub 15 pin female Pin No. Function Remark 11 (blue) GND 10 (grey) UART Rx/Tx 15 (red) VCC +5V Table 2: D-Sub 15 connector allocation

Page 5 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 1.2 Electrical Characteristics Item No. Parameter Symbol Min. Typ. Max Unit Remark Input Voltage 4,5 5 5,5 V via USB Input Current 100 mA Short circuit protection YES Output Voltage encoder 12 V UART Voltage 3,3 5 5,5 V Table 3: Kit Control Box electrical characteristics. Figure 1: Kit Control Box Overview

Page 6 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2. Software 2.1 Installation For the software execution the Labview Run-Time Engine 2015 SPI (32 bit) is required. For installation, use the Kit Control Box Installer and start the “setup.exe”. It will automatically install the Labview Run-Time on your PC. To connect with the Kit Control Box, the FTDI driver for the FT232R chip is required. The installation of the Windows driver will start automatically after the installation of the Kit Control Box software. For other operation systems, it can be downloaded from the FTDI Chip Homepage (Link: http://www.ftdichip.com/Drivers/D2XX.htm). After the installation the KitControlBox.exe in the folder can be started. 2.2 Connection with the Kit Encoder After connecting the Kit Control Box with the kit encoder and via USB with the PC, the “Connect” button has to be activated. After a successful connection, the green light “Device connected” will turn on and the status display will show the actual temperature, firmware version, serial number and the content of the error and warning register. For further information about the error and warning register value, please have a look at the Kit Encoder manual. With the refresh button, the values will be updated. To disconnect, the “Connect” button needs to be pressed again. In case of connection failure, an error message will appear. Figure 2: Status display Figure 3: Connection Error message

Page 7 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2.3 Function Overview The Kit Control Box software is an easy way to perform the set up of the main functions of the Kit Encoder. • Calibration • Preset • Wiegand Pulse Test • Filter Selection • Register Communication To run above mentioned functions, the Kit Control Box must be connected to the encoder kit. 2.4 Start Page When the software is initialized, the start page will appear. From there you can navigate to Fraba website, for further information materials, e.g. manualsand datasheets for Kit Control Box or Kit Encoder. Figure 4: Start Page 2.5 Status For reading the content of the error and warning register, go to the page “Status”. By activating the “Read Status” button, the error and warning register will be read. The value is in hexadecimal format. “Bit 0…7” in the error field describes possibleerrors and “Bit 0…2” in the warning field shows the warnings. The following tables explain the meaning of the bits.

Page 8 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Error Bit Description 0 FRAM Error 1 Multiturn Error 2 Singleturn Error 3 Temperature Sensor Fault 4 Magnetic Field too low e.g. detect missing magnet 5 Not used 6 Not used 7 Not used Warning Bit Description 0 Temperature too high Set at T >= 125°C, clear warning at T < 123°C 1 Not used 2 Not used Figure 5: Status reading

Page 9 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2.5 Calibration The electronic calibration of the BiSS kit encoder is required to improve the measurement accuracy of the kit encoder after installation. The calibration of the fully mounted sensor requires rotation of the motor shaft at constant speed of 500 rpm, where deviation of angular velocity should be less than 2 rpm. For further information, refer to Kit Encoder Manual. Calibration Procedure The calibration is performed by carrying out the following sequence: 1. Initiatethe procedure with the button “Start Calibration” in the main calibration window Figure 6: Calibration main window 2. A pop-up window will give a signal to begin the rotation of the motor in CCW direction. The motor should be run at constant rotational speed of 500 rpm < ±2 rpm. Once established, confirm with “OK” button.

Page 10 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Figure 7: Start Calibration CCW direction 3. The calibration status window will appear. Please wait until the “CCW done” light turns on. The execution will take about 3 seconds. Figure 8: Calibration status windows 4. Run the motor in CW direction. Once motion is established, confirm with “OK” button in the pop- up window. Figure 9: Start Calibration CW direction 5. After CW direction calibration wass successfully finished, the “CW done” light in the status window will turn on. In the main calibration window, the “Calibration done” light will turn on. The calibration is now successfully completed.

Page 11 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI If the calibration was not successful, an error message will pop up. The most plausible reasons are: • Wrong direction of rotation • Temperature out of range • Lost connection 2.6 Preset The preset function is used to set the absolute position to a desired value. By manufacturer default setting the preset value is defined to zero. To set preset to zero, the button “Preset” must be activated. The light “Preset done” will turn on after the preset was successfully nullified. Figure 10: Preset main window The preset value is also programmable. To change the preset value, two configuration methods are possible. A consistent value may be used for positioning tasks while a split value is easier to use for rotor position calibration. The two methods are described in the following example : Desired preset value: Multiturn value = 4 decimal, equal to 4 ∙ 217 = 524288 in digits Singleturn value = 0.5 decimal, equal to 0.5 ∙ 217 − 1 = 65535 in digits Singleturn value in degree = Singleturnvalue (digits) 217−1 ∙ 360° = 180° The lower radio button must be activated to set one consistent value.

Page 12 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI For calculation of the single value Preset Value [digits] you can use following formula: Preset Value [digits] = Multiturn value in digits + Singleturn value in digits Preset Value [digits] = 589823 Figure 11: Entering the Preset value For entering the preset value as split in single- and multi-turn part separately, the upper radio button must be activated. The lower 17 bits of the position value represent the single-turn part value in digits, while the upper 16 bits represent the multiturn value in digits. Figure 12: Entering the preset value as ST and MT split value Change the Preset Value 1. Choose the format in the “Set Preset Value” field. For entering the value separated in multi- and single turn value, the upper radio button must be activated. For entering the value in position word format, the lower radio button must be activated. 2. Enter the preset value in Single turn and Multiturn Value separated format or in the position value format. 3. Push the “Preset” button and wait until the light “Preset done” turns on. 4. To check the preset, the position can be read by activating the “Read Position” button. The value should be successfully updated.

Page 13 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2.7 Wiegand Sensor Testing The BiSS C kit encoder uses a magnetic Wiegand counter to provide absolute multiturn values. The software integrated Wiegand sensor test measures Wiegand sensor properties, by analyzing Wiegand pulses for 515 motor shaft revolutions. The test must be carried out for both clockwise (CW) and counterclockwise (CCW) rotations. Wiegand Sensor Test Procedure Calibration procedure is performed by carrying out the following sequence: 1. Start the Wiegand Sensor Test with the button “Start Wiegand Test” in the Wiegand Sensor Test main window. The “Test started” light will turn on. Figure 13: Wiegand Sensor Test main window 2. A pop-up window will give a signal to begin the rotation of the motor in CCW direction. The motor should be run at constant rotation speed of 500 - 2000 rpm. Once established, confirm with “OK”button.

Page 14 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Figure 14: Start Wiegand Pulse Test in CW direction 3. The Wiegand Sensor Test status window will appear. The “CW running” light will turn on. Please wait until the “CW done” light turns on. The execution will take about 60 seconds. Figure 15: Wiegand Sensor Test status window 4. Run the motor in CCW direction. Once the motion is established, confirm with “OK” button. Figure 16: Start Wiegand Pulse Test CCW direction 5. After the CCW direction testing is finished successfully, the “CCW done” light in the status window will turn on. In the main Wiegand Sensor Test window, the “Test done” light will turn on and the results will be shown in the result panel. The average pulse height of the analyzed pulses and its standard deviation is saved for CW and CCW direction. A Wiegand pulse height average minus 4x standard deviation greater than 5.3 V is recommended for operation.

Page 15 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI If the Wiegand Sensor Test was not successful, an error message will pop up. In this case, please check if the device is connection and the rotational speed and direction are correct. 2.8 Filter Selection The BiSS kit encoder offers two different filter options: ▪ Balanced (default) This filter provides a very well-balanced relation of signal noise and dynamic behavior. ▪ Dynamic This filter provides position values with short latency, but increased signal noise. Therefore, this filter is suitable for very fast and dynamic motor control loops. The current filter setting can be checked with the “Read Filter” button. To change the filter, please select the one in the list and confirm with “Change Filter”. If the change was successful, the “Filter changed” light will turn on. Figure 17: Filter selection main window

Page 16 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2.9 Register Communication To read any register manually, there is a registry communication function in the software. The register address must be entered in hexadecimal format. For further information about the register communication, the BiSS C Kit Encoder manual is recommended. Figure 18: Register communication main window

Page 17 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 2.10 Read Position Continuous position reading can be performed with the function “Read Position”. This option is only supported after 2.0.0. release of the Kit Control Box Software. To open the read position window, activate the button “Start Position Reading”. Figure 19: Read Position window The position read out is possible with different resolution. The default value is 16 Bit Multiturn and 17 Bit Singleturn. If you have a Kit Encoder with this resolution, you can simply press the “Start” Button. If you have an encoder with different resolution values, you can change this under “Settings”.

Page 18 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Figure 20: Read Position Settings If you are not sure about the resolution, you can also read these values. If the radio button “Automatic” is activated, the default settings are used. For entering different values, you can activate the radio button “Manual”, enter your values, and save these with “Save” button and the popup window will close. After pressing “Start” button in the main read-out window, Single Turn, Multiturn value and the whole position word will be shown continuously. The Single Turn Value is shown in degree and digits.

Page 19 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Figure 21: Continuous Position Reading For the default settings with a Single Turn resolution of 17 Bit Singelturn and 16 Bit Multiturn these values are calculated as shown in the following example: Multiturn value = 4 decimal, equal to 4 ∙ 217 = 524288 in digits Singleturn value = 0.5 decimal, equal to 0.5 ∙ 217 − 1 = 65535 in digits Singleturn value in degree = Singleturnvalue (digits) 217−1 ∙ 360° = 180° The gauge will also show the Single turn value in degree format. To stop the continuous reading you can press the “Stop” Button or close the window with “Close” button. 2.11 Update Firmware To upgrade the firmware, you can use the “Update Firmware” function. This option is only supported after 2.0.0 release of the Kit Control Box Software.

Page 20 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI Figure 22: Update Firmware You can choose a firmware file with “Files” button. The software only supports the file extension .bin. After choosing the firmware file, activate the button “Start Flashing” and the flashing process will start. Manufacturing data e.g. the serial number, filter settings or customer data will not be changed. After a successful flashing process, “Flashing Done” light will turn on.

Page 21 Version: 2020-09-10 MANUAL KIT CONTROL BOX WITH GUI 3. References [1] Fraba Posital: MANUAL IXARC KIT ENCODERS WITH BISS C INTERFACE Rev 4.2, 28.03.2018. 4. History Softwareversion 1.0.0, released 18-10-01, first version Softwareversion 1.0.1, released 19-08-16, bugfix for higher version numbers Softwareversion 2.0.0, released 20-09-10, firmware updating function, start page, status function to read out the error and warning register, continuous position read out, overworked status bar to read out error, warning and serial number register