In the field of modern industrial automation, customers often encounter pain points such as system instability and low production line efficiency, highlighting the increasing importance of distributed I/O systems.
The Dekwell EX-6031 module has undergone rigorous EMC and high/low temperature testing, ensuring stable and reliable operation, making it an ideal choice for improving automation efficiency. This module is widely used in industrial automation, robotics, servo control systems, elevators, motor control, and other mechanical equipment requiring precise position and speed feedback.
The EX-6031 is a single-channel encoder input module between an SSI absolute encoder and a controller. This module is used to process periodically sampled encoder values in the controller.
This module has the following characteristics:
● Supports standardization of SSI absolute encoder data frames (i.e., SSI data frames).
● Supports selecting reverse mode to adjust the motion direction of the SSI absolute encoder to the rotation direction of the motion axis.
● Supports setting the encoding type (Gray code/Binary code) for SSI absolute encoders.
● It features a flexible and configurable SSI absolute encoder bit depth to accommodate more types of SSI absolute encoders (10-bit to 32-bit).
● Supports a wider range of SSI absolute encoder baud rate settings (0.125MHz～2MHz).
Today we will introduce the configuration process of the DEKW EX-6031 in TwinCAT.
01. Steps for using EX-6031 in TwinCAT
To install the TwinCAT software, copy EX-1100.xml to the \TwinCAT\3.1\Config\Io\EtherCAT folder.
Launch TwinCAT and create an EtherCAT project. Under the EtherCAT project, scan for EX-1100 as shown in the image below:
Double-click BOX1 (EX-1100), select CoE-Online in the middle tab of the software, and set the SSI module configuration information in the Paramerer EX-6031 horizontal list below, as shown in the figure below:
Explanation of parameters in EX-6031:
In the middle section of this module, you can see the process data related to the SSI encoder, as shown in the following figure:
Example 1: The user sets 13-bit SSI encoder data, configures the clock frequency to 250kHz, outputs binary code, and reads the encoder at 1ms intervals, as shown in the figure below:
Example 2: The user sets 32-bit SSI encoder data, configures the clock frequency to 2MHz, outputs the original encoder data, and reads the encoder data at 100ms intervals, as shown in the figure below:
Example 3: DI is set to normal input mode, with the DI input on the terminal side at a high level. The DI input status is observed in the State Word process data. See the figure below: State Word = 2.
Example 4: The encoder rotation direction is observed in the State Word process data (State Word=4 indicates forward rotation, State Word=8 indicates reverse rotation), as shown in the figure below:
Example 5: Configure the DI mode to capture mode (DI Mode Ch0=1), trigger an interrupt on the rising edge (Capture Mode Ch0=0), input a high level on the DI terminal side, and observe that the Capture Value 0 is saved as the current encoder absolute position value, as shown in the figure below:
Example 6: Control the SSI module output DO 1 to a high level, as shown in the right figure. Click Control Word.
Find Write on the right and click it.
Write 2 to indicate DO, and 1 to indicate a high level.
02. Detailed Explanation of SSI Module Configuration Information
05. EX-6031 Process Data
illustrate:
State Word (16-bit data):
The 0th bit of the DATA channel is in an idle state (0 is low, 1 is high).
The first DI channel input value (0 for low input, 1 for high input).
The second encoder is rotating in the forward direction (the first encoder is rotating in the forward direction).
The 3rd encoder reverse rotation indicator (1st encoder reverse rotation)
Capture Value 0 (32-bit data):
Captured encoder data values (DI function configured for capture)
Control Word (16-bit data):
The 0th bit, DO Value 0, controls the output state of the DO 0 terminal.
The first bit, DO Value1, controls the output status of the DO 1 terminal.
06. EX-6031 Component Description
07. EX-6031 Terminal Definitions
