How to add an external encoder axis with a 050-1BA00 counter module

Version Number	Description
1.0	Initial version. Explains how to setup the 050-1BA00 module to enable an external encoder axis in iCE
2.0	Update made to BA00 module configuration 'Output Set' type.
3.0	Update made to 'unlink global variable' for the module

This application note explains how to set up the 050-1BA00 counter module as an external encoder axis in iCube Engineer.

1. Hardware and Software Components

Open a project in iCube Engineer.
If the 050-1BA00 module is connected via an EtherCAT bus coupler, a bus scan can be used to discover the module on the bus coupler. It can also be added offline to the module list on the bus coupler, as well.
If the 050-1BA00 module is on the SliceBus , the module will have to be added at the appropriate module location in the module list.
In the settings tab of the counter module, Generate and Link global variable needs to be unselected.

In the parameters tab of the counter module, Signal Evaluation must be set according to the type of signal expected from the external encoder used.
The other settings allow for more complicated operations and triggering, but are not required for basic operation.

On the external encoder axis automatically generated, encoder pulse resolution setting must match the external encoder resolution of the encoder used, and make sure to account to the type of pulse output.
With these settings in place, it is now possible to Write and Start the project, and spin the encoder manually.
- Feedback position is visible by adding the CountValue to the Watch window from the global variables under PLC.

Latching setup doesn't require much additional configuring. The remaining details are related to creating an MC_TRIGGER_REF, and setting its values.

Setting the Execute on the MC_TouchProbe to TRUE initializes the process, and the latched position will be captured and visible once the input is received.

Some additionally setup is needed if firing a High Speed Output is desired:

On the parameter tab of the counter module set the 'Output Set' configuration
Pulse value must be set to FF (this sets the duration of pulse that is output by the COIN / HS Output).
The Logic required to arm the HS Output looks like this:
- Trigger position must be set, and then written. Then, the enable/arm command can be set.
- Once the encoder position meets the requirements set under Output Set, the signal is provided, for the length set for Pulse.