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Geo Brick LV User Manual

1. karta Motor Address Register je Motor Address Register 1 5 or 9 78420 Servo Node 0 5 9or13 78430 Servo Node 8 gm 6or 10 78424 Servo Node 1 6 10 or 14 78434 Servo Node 9 a Tor 11 78428 Servo Node 4 Ta 11 or 15 578438 Servo Node 12 4 8or 12 7842C Servo Node 5 g 12 or 16 7843C Servo Node 13 10 The flag address Ixx25 is initiated by default in the firmware arang Motor Ixx25 Register anan Motor Ixx25 Register 5or9 3440 Servo Node 0 5 9or13 3448 Servo Node 8 gm 6or10 3441 Servo Node 1 6 10 or 14 3449 Servo Node 9 G Tor ll 3444 Servo Node 4 7 11 or 15 344C Servo Node 12 4 8or12 3445 Servo Node 5 g 12 or 16 344D Servo Node 13 11 The motor command output address Ixx02 is initiated by default in the firmware MACRO Motor Ixx02 Register MACRO Motor Ixx02 Register motor motor 1 S5or9 078420 Servo Node 0 gm 9 or 13 8078430 Servo Node 8 gua 6or10 078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 3 7 or 11 078428 Servo Node 4 7 11 or 15 078438 Servo Node 12 ais 8 or 12 07842C Servo Node 5 g 12 or 16 07843C Servo Node 13 12 Tuning the PID Loop With stepper motors these are computed empirically and can be set to the following Ixx30 1024 Ixx31 0 Ixx32 85 Ixx33 1
2. 7 20 a 182 88 mm 4 00 101 60 mm l l L L L l l a a a a a 15 40 391 16 mm Mounting 21 Geo Brick LV User Manual CONNECTIONS AND SOFTWARE SETUP Installation of electrical control equipment is subject to many regulations including national state local and industry guidelines and rules General recommendations can be stated but it is important that the installation be carried out in accordance with WARNING all regulations pertaining to the installation TB1 24VDC Logic Input This 3 pin Phoenix Terminal Block is used to bring in the 24 Volt DC supply to power up the logic portion of the Geo Brick LV This power can remain on regardless of the main DC bus power allowing the signal electronics to be active while the main motor power control may be passive The 24 Volts power supply must be capable of providing 2 4Amps per Geo Brick LV If multiple drives are sharing the same 24 Volt power supply it is highly recommended to wire each drive back to the power supply terminals separately This connection can be made using a 22 AWG wire directly from a protected power supply Pin Symbol Function Description Notes 1 24VDC Input Logic power input 16 32VDC 2 CHGND Ground Chassis ground Connect to Protection Earth 3 24VDC RET Common_ Logic power return Connect to Power Supply Return
3. Note 23 16 15 12 11 10 9 8 71 6 5 4 3 2 11 0 Ba Ea Trig Trig Trigger Protocol M Divisor N Divisor Reserved Clock Edge Delay Code 0 0 0 0 1010 0 01010 0 01 O O 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 6 Bit Type Default Name Description Intermediate clock frequency for SER Clock The 23 16 R W 0x00 M Divisor intermediate clock is generated from a M 1 divider clocked at 100 MHz Final clock frequency for SER Clock The final clock is 15 12 R W 0x0 N_Divisor generated from a 2 divider clocked by the intermediate clock 11 10 R 00 Reserved Reserved and always reads zero Trigger clock select for initiating serial encoder communications 09 R W 0 TriggerClock 0 PhaseClock 1 ServoClock Active clock edge select for the trigger clock 08 R W 0 TriggerEdge 0 rising edge 1 falling edge f Trigger delay program relative to the active edge of the OPEN EW oxo TripgarDelay trigger clock Units are in increments of 20 usec This read only bit field is used to read the serial interface protocol supported by the FPGA 05 09 i krolgcolCoak A value of S5 defines this protocol as Yaskawa Sigma I A value of 6 defines this protocol as Yaskawa Sigma II Connections And Software Setup 115 Geo Brick LV User Manual Channel Control Registers X 78Bn0 X 578Bn4 X 78Bn8 X 78BnC where n 2 for axes 1 4 n 3 for axes 5 8
4. define DCBusInput 60 DC Bus Voltage User Input define MtrlVoltage 24 Motor 1 Rated Voltage VDC User Input define Mtr2Voltage 24 Motor 2 Rated Voltage VDC User Input define Mtr3Voltage 24 Motor 3 Rated Voltage VDC User Input define Mtr4Voltage 24 Motor 4 Rated Voltage VDC User Input define Mtr5Voltage 24 Motor 5 Rated Voltage VDC User Input define Mtr6Voltage 24 Motor 6 Rated Voltage VDC User Input define Mtr7Voltage 24 Motor 7 Rated Voltage VDC User Input define Mtr8Voltage 24 Motor 8 Rated Voltage VDC User Input I1166 170004Mtr1Voltage DCBusInput Motor 1 PWM Scale Factor I1266 17000 4Mtr2Voltage DCBusInput Motor 2 PWM Scale Factor 1366 17000 4Mtr3Voltage DCBusInput Motor 3 PWM Scale Factor 1466 17000 Mtr4Voltage DCBusInput Motor 4 PWM Scale Factor 1566 17000 Mtr5Voltage DCBusInput Motor 5 PWM Scale Factor 1666 17000 Mtr6Voltage DCBusInput Motor 6 PWM Scale Factor I1766 17000 Mtr7Voltage DCBusInput Motor 7 PWM Scale Factor I1866 17000 Mtr8Voltage DCBusInput Motor 8 PWM Scale Factor Current Feedback Address Ixx82 1182 5078006 Motor 1 Current Feedback Address I1282 507800E Motor 2 Current Feedback Address 1382 5078016 Motor 3 Current Feedback Address T1482 507801E Motor 4 Current Feedback Address 1582 5078106 Motor 5 Current Feedback Address 1682 507810E Motor 6 Current Feedback Address 1782 5078116 Motor 7 Current Feedback Address I1882 5
5. wi Turbo Encoder Conversion Table Device 0 Geo Brick Drive T Select a table entry to view edit Enty 1 End of Table Daad Enty First Entry of Table Entry Y 3501 Processed Data x inon s07 Address inon s07 View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering Source Address 578820 Width in Bits 120 Offset Location of LSB at Source Address 0 5 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left C No Shifting This is a 2 line ECT entry its equivalent script code I18000 278B20 Unfiltered parallel pos of location Y 78B20 18001 014000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to the processed data address e g 3502 With Singleturn or linear resolutions less than 20 bits the position velocity scale factors and position error limit can be left at default values But with resolutions of 20 bits or greater it is recommended to set the scale factors to 1 and the position error limit to its maximum value I100 1 Mtr 1 Active Remember to activate the channel to see feedback 110353502 Mtr l position loop feedback address 1104 3502 Mtr l velocity loop feedback address T108 1 Mtr 1 position loop scale factor I1109 1 Mtr l velocity loop scale factor 1167 8388607 Mtr 1 Position Error Limit 108 Con
6. Appropriate action user written plc needs to be implemented when an encoder loss is encountered To avoid a runaway an immediate Kill of the motor encoder in question is strongly advised Caution No automatic firmware Geo Brick action is taken upon detection of encoder s loss it is the user s responsibility to perform the necessary action to make the application safe under these conditions see example PLC below Killing the motor encoder in question is the safest action possible and strongly recommended to avoid a runaway and machine damage Also the user should decide the action to be taken for the other motors in the system The Encoder Loss Status bit is a low true logic It is set to 1 under normal conditions and set to 0 when a fault encoder loss is encountered Connections And Software Setup 77 Geo Brick LV User Manual Encoder Loss Example PLC A 4 axis Geo Brick is setup to kill all motors upon detection of one or more encoder loss In addition it does not allow enabling any of the motors when an encoder is in a loss condition define MtrlAmpEna M139 Motor 1 Amplifier Enable Status Bit MtrilAmpEna gt X B0 19 Suggested M Variable define Mtr2AmpEna M239 Motor 2 Amplifier Enable Status Bit Mtr2AmpEna gt X 130 19 Suggested M Variable define Mtr3AmpEna M339 Motor 3 Amplifier Enable Status Bit Mtr3AmpEna gt X 1B0 19 Suggested M Variable define Mtr4Am
7. Field Value Notes Channel Control Word Command code 38 Hex 0x38 for EnDat 2 2 only Trigger Mode 0 Continuous trigger typical Trigger Enable 1 Enable 381425 Data Ready Senc Mode 1 Enable serial driver Protocol Bits 37 Hex 0x25 Control Registers Power On PLC The Global and Channel Control words have to be executed once on power up NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes M5990 through M5991 Coordinate system 1 Timer 1 Make sure that current and or future configurations do not create conflicts with these parameters 2222335555SSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSSS y M5990 5991 gt Self referenced M Variables M5990 5991 0 Reset at download GLOBAL CONTROL REGISTERS define EnDatGlobalCtrll 4 M5990 Channels 1 4 EnDat global control register EnDatGlobalCtr11 4 5X 578B2F 0 24 U Channels 1 4 EnDat global control register address CHANNEL CONTROL REGISTERS define ChlEnDatCtrl M5991 Channel 1 EnDat control register ChlEnDatCtr1 5X 578B20 0 24 U Channel 1 EnDat control register Address POWER ON PLC EXAMPLE GLOBAL amp CHANNEL CONTROL REGISTERS Open PLC 1 Clear EnDatGlobalCtr11
8. Notice that the Geo Brick LV can be either a Master or a Slave ina MACRO Ring Whenever the Geo Brick LV is a slave the MACRO configuration is called MACRO auxiliary This is a designation which was implemented in the firmware for the Brick family of controllers If the Geo Brick LV is a master and the station s consist of traditional MACRO hardware e g Geo MACRO Drive ACC 65M etc then the MACRO configuration is called MACRO Slave This is the typical designation which supports the majority of MACRO compatible amplifiers and peripherals The Geo Brick LV MACRO option is populated with 1 MACRO IC which consists of 8 servo nodes motors encoders and 6 I O nodes 432 I O points Note IN Configuring a MACRO Auxiliary ring requires communicating via ce USB Ethernet or serial separately to both the master and slave Note Macro Connectivity 199 Geo Brick LV User Manual Review MACRO Nodes and Addressing Each MACRO IC consists of 16 nodes 2 auxiliary 8 servo and 6 I O nodes e Auxiliary nodes are reserved for master slave setting and internal firmware use e Servo nodes are used for motor control carrying feedback commands and flag information e T O nodes are user configurable typically used in transferring general purpose data T O Nodes Auxiliary Nodes Servo Nodes Each I O node consists of 4 registers 1 x 24 bit and 3 x16 bit registers upper Geo Brick LV MACRO IC 0 Ser
9. ST Encoder Resolution 2 24 bits aaa Technique 2 J A Encoder Resolution 2 19 bits a C a Technique 3 N J Technique 1 This technique places the Least Significant Bit LSB of the serial data in bit 5 of the result register providing the 5 bits of non existent fraction Technique 2 This technique places the LSB of the serial data in bit O of the result register creating no fractional bits It requires a dedicated Encoder Conversion Table ECT entry for commutation Technique 3 This technique processes the data for position similarly to Technique 1 but it requires a dedicated ECT entry for commutation Some applications may require deviating from the suggested setup DT methods e g extremely high resolution and speed requirements N Contact Delta Tau for assistance with these special cases ote Connections And Software Setup 97 Geo Brick LV User Manual Setup Summary Encoder Conversion Table Processing Process Technique 1 Technique 2 Technique 3 ECT for From serial register A From serial register A From serial register A Position 5 bit shift no shift 5 bit shift ECT for From serial register A From serial register A c tati N A 18 bits no shift 18 bits no shift a Offset ST 18 Offset ST 18 IN ST is the Singleturn resolution in bits for rotary encoders Similarly ey this would be the protocol resolution in bits for linear s
10. Inputs Address Connector Outputs Address Connector 1 byte Y 78800 0 8 1 byte Y 78802 0 8 J6 2 byte Y 78801 0 8 D 2 byte Y 78805 0 8 J7 3 Byte Y 78803 0 8 4 Byte Y 78804 0 8 For the digital inputs and outputs we will use the I O node data transfer method MACRO T O node 2 will be used to carry all 48 points of data T O Node Address Register Description X 78420 24 bit register X 78421 1 16 bit register Upper X 78422 2 16 bit register Upper X 78423 3 7 16 bit register Upper Note Some Geo Brick LVs may not be fully populated with all the inputs outputs bytes shown above The non existent bytes can be simply deleted from the example codes below 232 MACRO Connectivity Geo Brick LV User Manual The proposed transfer mechanism establishes the reading of inputs and writing to outputs through bitwise assignments single bit definitions from the master side Outputs At the master side the user would write the desired outputs state using the bitwise definitions to pre defined open memory registers which are copied using a PLC code into the 24 bit register of MACRO I O node 2 At the Slave side this MACRO I O node register is copied using a PLC code into the local outputs registers which will reflect the user s outputs desired state Inputs At the slave side the machine s inputs state is copied i
11. LED Status Symbol Function s State Light Description RLY X9 Axis 5 Status On Green Green when Axis 5 Enabled or Brake Relay 5 Status Off Unlit Brake Relay 5 output is true RLY X10 Axis 6 Status On Green Green when Axis 6 Enabled or Brake Relay 6 Status Off Unlit Brake Relay 6 output is true RLY X11 Axis 3 Status On Green Green when Axis 3 Enabled or Brake Relay 3 Status Off Unlit Brake Relay 3 output is true i On Green 5 RLY X12 Axis 4 Status Green when Axis 4 Enabled or Brake Relay 4 Status Off Unlit Brake Relay 4 output is true On Green Green indicates good 5V controller power Off Unlit Normal mode operation 5V 5V Logic Power On Red Red when watchdog has tripped Off Unlit Unlit is normal mode operation WD Watchdog Red when 24 V is disconnected ABORT is true Active Abort Status Green when 24V is applied ABORT is not true Normal mode operation Inactive Abort Status IN The abort functionality is only available with Turbo PMAC firmware E N 1 947 or newer and with 13521 Note 248 Troubleshooting Geo Brick LV User Manual Boot Switch SW Firmware Reload Write Protect Disable This momentary button switch has two essential functions 1 Putting the Geo Brick LV in Boostrap Mode for reloading PMAC firmware 2 Disabling the USB Ethernet communication write protection for e Changing IP address Gateway IP
12. Y 78B21 Y 78B20 23 11 10 0 23 22 11 10 4 3 2 1 0 Incremental Compensation Lenea o a 11 bit Single Turn U V W Z 13 bits Yaskawa Data Registers Channel 1 Y 578B20 Channel 5 Y 578B30 Channel 2 Y 578B24 Channel 6 Y 578B34 Channel 3 Y 78B28 Channel 7 Y 578B38 Channel 4 Y 78B2C Channel 8 Y 578B3C The on going servo and commutation position data is setup using a 2 line Entry in the Encoder Conversion Table The first line represents a Parallel Y Word with no filtering 82 from the corresponding Yaskawa data register channel The second line represents the width of the data to be read and bit location of the LSB of the data in the source word Channel 1 Yaskawa Sigma II 13 bit Incremental Encoder Setup Example Turbo Encoder Conversion Table Device BA Select a table entry to view edit End of Table bisa Download Entry 2 First Entry of Table Done Enty Y g3501 Processed Data X g3502 Address ddress View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering F Source Address 78B20 Width in Bits 13 Offset Location of LSB at Source Address 0 Based Index J Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Connections And Software Setup 127 Geo Brick LV User Manual Encoder Conversion Table Setup Motors 1 8 The ECT automatic entry is equiv
13. 118 78000 define HallsTransl 3 M7025 define Mtr1HEZ P7025 define Mtr1HEZTemp P7026 Channel 1 power on phase address see table below Standard direction 1 to 3 Hall effect zero Intermediate calculation HallsTrans1 3 57 HallsTransl1_3 800000 Bit 22 0 for standard transition Mtr1HEZ 180 Degrees User Input Mtr1HEZTemp INT Mtr1HEZ5360 360 64 Processing hall effect zero 1191 Mtr1HEZTemp 65536 HallsTrans1 3 Shift 16 bits left and set transition bit With positive movement of the motor if the halls state transition is from 3 to 1 then use the following set of equations I1181 78000 Channel 1 power on phase address see table below define HallsTrans3_1 M7025 define Mtr1HEZ P7025 define Mtr1HEZTemp P7026 Hall Hall Mtr Mtr lsTrans3 1 54 lsTrans3_ 1 C00000 HEZ 180 HEZTemp INT Mtr1HEZ 360 360 64 119 Mtr1HEZTemp 65536 HallsTrans3_1 Reversed direction 3 to 1 Hall effect zero Intermediate calculation Bit 22 1 for reversed transition Degrees User Input Processing hall effect zero shift 16 bits left and set transition bit K7 Note The only user input in the above set of equations is the Hall Effect Zero angle derived from the plot Power On Phase Position Address Ixx81 For Hall Sensors Channel 1 578000 Channel 5 578100 Channel 2 578008 Channel 6 578108 Channel 3 578010 Channel 7
14. Phoenix Contact mating connector part 1735879 Delta Tau mating connector part 016 090A03 08P 24VDC 24 VDC Power Supply COM ah 22 Connections And Software Setup Geo Brick LV User Manual TB3 Safe Torque Off STO This 5 pin Phoenix Terminal Block connector is used to wire the Safe Torque Off STO safety function or alternately disabling it LV in October of 2012 It will be installed on all new shipments and The STO feature and connector was introduced into the Geo Brick ET certain RMAs Note The STO allows the complete hardware disconnection of the power amplifiers from the motors This mechanism prevents unintentional movement of or torque output to the motors in accordance with IEC EN safety standards Pin oo Symbol Function Description 1 STO OUT Output STO Output 2 STOIN 1 Input STO Input 1 3 STO IN 2 Input STO Input 2 4 STO DISABLE STO disable 5 STO DISABLE RTN STO disable return Phoenix Contact Mating Connector Part 1850699 Delta Tau mating connector part Dynamic Braking Traditionally and before the introduction of the STO when an axis is killed the motor leads are shorted internally inside the Geo Brick LV causing dynamic braking which stops the motor from coasting freely The STO feature alters slightly how the dynamic braking is applied The following ta
15. 154 12 38400 baud is the factory default setting Note Connections And Software Setup 143 Geo Brick LV User Manual AMP1 AMP8 Motor Wiring These connections are used to wire the amplifier motor output Traditionally the Geo Brick LV offered a power rating of 5A continuous RMS 15A peak RMS In October 2012 two additional power ratings were added to the Geo Brick LV offering a total of three possible power configurations per set of 4 axes each Nominal RMS Current Peak RMS Current Connector Notes 0 25 A 0 75 A Left hand side indicator Right hand side indicator No indicator e For Stepper motors use U and W at one coil V and X at the other coil e For DC brushless motors servo use U V and W Leave X floating e For DC Brush motors use U and W Leave V and X floating Pin Symbol Function Description Phasel U Output Motor Output 2 Phase2 V Output Motor Output 3 Phase3 W Output Motor Output 4 Phase4 X Output Motor Output 5 GND Common Mating Connector 5 pin Phoenix Terminal Block Phoenix Contact mating connector part 1792278 Delta Tau mating connector part 016 090A05 08P 144 Connections And Software Setup Geo Brick LV User Manual Stepped Motor Wiring IN The motor s frame drain wire and the motor cable shield should be KY tied together to minimize noise disturbances Note Color
16. Results are found in the processed data address which the position and velocity feedback pointers Ixx03 Ixx04 are usually pointed to Note 66 Connections And Software Setup Geo Brick LV User Manual And the equivalent Turbo PMAC code for setting up all 8 channels Channel 1 8000 SFF8000 High resolution interpolator entry 578000 8001 S078B00 A D converter address 578B00 8002 5000000 Bias Term and Entry result at 3503 Channel 2 8003 SFF8008 High resolution interpolator entry 78008 8004 S078B02 A D converter address 578B02 8005 5000000 Bias Term and Entry result at 3506 Channel 3 8006 SFF8010 High resolution interpolator entry 578010 8007 S078B04 A D converter address 78B04 8008 5000000 Bias Term and Entry result at 3509 Channel 4 8009 SFF8018 High resolution interpolator entry 578018 8010 S078B06 A D converter address 578B06 8011 000000 Bias Term and Entry result at 350C Channel 5 8012 SFF8100 High resolution interpolator entry 78100 8013 S078B08 A D converter address 78B08 8014 5000000 Bias Term and Entry result at 350F Channel 6 8015 SFF8108 High resolution interpolator entry 578108 8016 S5078B0A A D converter address 578B0A 8017 000000 Bias Term and Entry result at 3512 Channel 7 8018 SFF8110 High resolution interpolator entry 78110 8019 5078B0C A D converter address
17. Geo Brick LV User Manual Current Loop Gains Ixx61 Ixx62 Ixx76 The current loop tuning can be performed as in any Turbo PMAC digital current loop setup The PMACTuningPro2 automatic or interactive utility can be used to fine tune the current loop gains Ixx61 0 005 Ixx62 0 and Ixx76 0 05 is a good safe starting point for interactive current loop tuning Typically an acceptable current loop step response would look like the following Motor 1 Current Loop Interactive Plot Result Excuted at 9 29 46 AM 1 4 2010 5480 00 4990 00 aaa ass wan 4500 00 4010 00 3520 00 3030 00 2540 00 2050 00 KA 2 2 D a e 5 a 5 a A E ts 5 o a E 5 1560 00 1070 00 580 00 0 5 10 15 20 25 29 34 39 44 Time msec Rise Time 0 004 s Peak Time 0 008 s Natural Freq 151 8 Hz Over Shoot 0 8 Damping 1 0 Settling Time 0 005 s Current Loop Gains Integral Gain Ki lx61 0 04 Forward Path Proportional Gain Kp2 IxB2 0 Backward Path Proportional Gain Kp1 Ix76 20 55 Number of Counts per Revolution Stepper Motors With a count equal to a micro step and 512 micro steps per 1 8 degree full step 2048 per cycle you should expect to see 360 512 1 8 102 400 counts per revolution of the motor speeds unattainable with the basic micro stepping technique Adjusting the direct current on the fly might be necessary i e using Note open servo Some stepper motors have unconventional specifications making top AN
18. Resolution Scale Factor SF Parameter Encoder Type Technique 1 3 Technique 2 Rotary 1 95T 2575 98 39 Resolution counts rev Scale Factor SF Linear 1 RES 1 32 RES counts user units Where ST is the rotary encoder Singleturn resolution in bits RES is the linear scale resolution in user units e g mm Commutation Cycle Size Parameter Motor Encoder Technique 1 Technique 2 3 Rotary Number of pole pairs Ixx70 Linear 1 gt SF 2 if Ixx01 3 1 718 otary 32 SF 32 27 if Ixx01 1 262144 Ixx71 ECL SF ECL RES if Ixx01 3 a Linear 32 ECL SF Ob Bia 2 ECL RES 2 32 ECL RES DIEA Where ST is the rotary encoder Singleturn resolution in bits RES is the linear scale resolution in user units e g mm ECL is the electrical cycle length of the linear motor same units as RES e g mm Offset is the ECT commutation Offset it is ST 18 for rotary or RES 18 for linear SF is the encoder resolution scale factor calculated previously Position and Velocity Scale Factors Position Error Limit With technique 2 and technique 3 with encoder resolutions greater than 20 bits it is recommended to set the position and velocity scale factors to equal 1 and widen the position error limit Otherwise default values should be ok for all other cases This alleviates register saturation s allows for higher commanded speed settings and eas
19. 1S 15111 100 8388608 110 while 1511150 M162 M162 32 15111 100 8388608 110 while 1I5111 gt 0 Dis PLC 1 Close endw endw endw endw r 1 Actual position Suggested M Variable 100 msec delay Make sure motor s 100 msec delay Read un scaled absolute position 100 msec delay Scale absolute position 100 msec delay Run once on power up or reset killed shift right 5 bits Some serial encoders use an external not from the Brick source for power Make sure that this power is applied prior to performing an absolute read on power up Note Connections And Software Setup 107 Geo Brick LV User Manual Technique 3 Example Channel 1 is driving a 32 bit 20 bit Singleturn 12 bit Multiturn rotary serial encoder or a linear scale with similar protocol resolution 20 bits 0 1 micron Encoder Conversion Table for Position Technique 3 Conversion Type Parallel pos from Y word with no filtering Width in Bits Singleturn absolute resolution in bits e g 20 bits Offset Location of LSB leave at zero Normal Shift 5 bits to the left Source Address serial data register A see table below Remember to click on Download Entry for the changes to take effect Source Address serial data register A Channel 1 Y 578B20 Channel5 Y 78B30 Channel 2 Y 578B24 Channel6 Y 78B34 Channel 3 Y 78B28 Channel7 Y 78B38 Channel 4 Y 78B2C Channel 8 Y 78B3C
20. Channel Control Registers X 78Bn0 X 78Bn4 X 78Bn8 X 578BnC where n 2 for axes 1 4 n 3 for axes 5 8 Channel 1 X 78B20 Channel 5 X 78B30 Channel 2 X 78B24 Channel 6 X 78B34 Channel 3 X 78B28 Channel 7 X 78B38 Channel 4 X 78B2C Channel 8 X 78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters Parameters such as setting the number of position bits in the serial bit stream enabling disabling channels through the SENC_MODE when this bit is cleared the serial encoder pins of that channel are tri stated enabling disabling communication with the encoder using the trigger control bit 23 16 15 14 13 12 11 10 9 6 5 0 Parity Type Trigger Mode Trigger Enable PositionBits Resolution Rx data ready GtoB Senc Mode Bit Type Default Name Description 23 16 R 0x00 Reserved Reserved and always reads zero 15 14 13 12 R W R W R W 0x00 Parity Type Trigger Mode Trigger Enable Parity Type of the received data 00 None 10 Even 01 Odd 11 Reserved Trigger Mode to initiate communication O continuous trigger 1 one shot trigger All triggers occur at the defined Phase Servo clock edge and delay setting 0 disabled 1 enabled This bit must be set for either trigger mode If the
21. Connections And Software Setup 43 Geo Brick LV User Manual X1 X8 Encoder Feedback Digital A Quad B X1 X8 D sub DA 15F Mating D sub DA 15M 00000000 0 00O Pin Symbol Function Description 1 CHA Input Encoder A 2 CHB Input Encoder B 3 CHC AENA Input Encoder Index Stepper amp enable 4 ENCPWR Output Encoder Power 5V 5 CHU DIR In Out Halls U Direction Output for Stepper 6 CHW PUL In Out Halls W Pulse Output for Stepper 7 2 5V Output 2 5V Reference power 8 Stepper Enable Input Tie to pin 4 SV to enable PFM output 9 CHA Input Encoder A 10 CHB Input Encoder B 11 CHC AENA Input Encoder Index Stepper amp enable 12 GND Common Common ground 13 CHV DIR In Out Halls V Direction Output for Stepper 14 CHT PUL In Out Halls T Pulse Output for Stepper 15 Unused Note Use an encoder cable with high quality shield Connect the shield to connector shell and use ferrite core in noise sensitive environments The standard encoder inputs on the Geo Brick LV are designed for differential quadrature type signals Quadrature encoders provide two digital signals to determine the position of the motor Each nominally with 50 duty cycle and nominally 1 4 cycle apart This format provides four distinct states per cycle of the signal or per line of the encoder The phase difference of the two signals permits
22. Examples 25 bit rotary encoder 13 bit Singleturn 2 8 192 cts rev 1 micron linear scale 1 0 001 1 000 cts mm Absolute Power On Position Read Technique 1 With Technique 1 the absolute power on read can be performed using PMAC s automatic settings Ixx80 Ixx10 and Ixx95 Example 1 Channel 1 driving a 25 bit 13 bit single turn 12 bit multi turn rotary serial encoder 1180 2 Absolute power on read enabled 1110 78B20 Absolute power on position address chl serial data register A 1195 5990000 Parallel Read 25 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 25 bits or 011001 always 0 mog Bira 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 o Hex S _ 9 05 o o o o In this mode PMAC reads and reports 25 bits from the consecutive serial data registers Serial Register B Serial Register A Ch1 Y 578B21 Ch1 Y 578B20 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Example 2 Channel 1 driving an 18 bit 18 bit Singleturn No Multiturn absolute rotary serial encoder or a similar protocol resolution 18 bits linear scale 1180 2 Absolute power on read enabled 1110 78B20 Absolute power o
23. HiperFace Data B HiperFace Data A 23 22 21 20 19 16 07 0 23 0 E kaaa PA Ka Position Data 31 24 Position Data 23 0 HiperFace Serial Data A HiperFace Serial Data B Channel 1 Y 78B20 Y 78B21 Channel 2 Y 78B24 Y 78B25 Channel 3 Y 78B28 Y 78B29 Channel 4 Y 78B2C Y 78B2D Channel 5 Y 78B30 Y 78B31 Channel 6 Y 78B34 Y 78B35 Channel 7 Y 78B38 Y 78B39 Channel 8 Y 78B3C Y 78B3D Data Registers C and D are listed here for future use and documentation purposes only They do not pertain to the HiperFace setup and always read zero HiperFace Serial Data C HiperFace Serial Data D Channel 1 Y 78B22 Y 78B23 Channel 2 Y 78B26 Y 78B27 Channel 3 Y 78B2A Y 78B28 Channel 4 Y 78B2E Y 78B2F Channel 5 Y 78B32 Y 78B33 Channel 6 Y 78B36 Y 78B37 Channel 7 Y 78B3A Y 78B38 Channel 8 Y 78B3E Y 78B3F Connections And Software Setup 71 Geo Brick LV User Manual Setting up HiperFace Encoders Example An 8 axis Geo Brick LV is connected to eight HiperFace encoders serial data is programmed to 9600 M 129 N 2 baud rate for all eight channels 0 Rising Edge 1 Falling Edge baz 100 Ser C OCK Mr x2N MHz 4 Ser Clock 0 Trigger on Phase _ 4 for Baud Rate W 1 Trigger on Servo Typically 0 HiperFace xio Description M Divisor N Divisor 0oio0
24. 11 The motor command output address Ixx02 is initiated by default in the firmware MACRO Motor Ixx02 Register NG CRI Motor Ixx02 Register motor motor 1 S5or9 078420 Servo Node 0 5 9or 13 8078430 Servo Node 8 zni 6or10 078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 3 Torll 078428 Servo Node 4 7 11 or 15 078438 Servo Node 12 4h 8 or 12 07842C Servo Node 5 ge 12 or 16 07843C Servo Node 13 12 The Flag Control Ixx24 is typically set to 840001 860001 to disable hardware over travel limits 13 The commutation position address Ixx83 is initiated by default in the firmware sso Motor Ixx83 Register parang Motor Ixx83 Register 1 5 or 9 078420 Servo Node 0 ih 9or 13 078430 Servo Node 8 3 6or 10 5078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 3m Torll 078428 Servo Node 4 7 11 or 15 078438 Servo Node 12 it 8 or 12 07842C Servo Node 5 gh 12 or 16 07843C Servo Node 13 14 The commutation enable Ixx01 should be set to 3 indicating that commutation is performed from Y registers specified in Ixx83 15 The current loop feedback address Ixx82 should be set per the following table aan Motor Ixx82 Register bagang Motor Ixx82 Register 1 5or9 078422 Servo Node 0 gh 9 or 13 078432 Servo Node 8 a 6 o
25. Channel 1 X 78B20 Channel 5 X 78B20 Channel 2 X 78B24 Channel 6 X 78B34 Channel 3 X 78B28 Channel 7 X 78B38 Channel 4 X 78B2C Channel 8 X 78B3C Bits 10 12 and 13 are the only fields to be configured in the Channel Control Registers with the Yaskawa option The rest is protocol information This has to be done in a startup PLC to execute once on power up 23 14 13 12 11 10 9 0 Trig Trig RxData Ready Reserved Mode Enable SENC Reserved Bit Type Default Name Description 23 14 R 0x000 Reserved Reserved and always reads zero Trigger Mode to initiate communication 13 0 continuous trigger R W 0 Trigger Mode 1 one shot trigger All triggers occur at the defined Phase Servo clock edge and delay setting See Global Control register for these settings Enable trigger for serial encoder communications 0 disabled Trigger 1 enabled 12 ny Enable This bit must be set for either trigger mode If the Trigger Mode bit is set for one shot mode the hardware will automatically clear this bit after the trigger occurs 11 R W 0 Reserved Reserved and always reads zero This read only bit provides the received data status It is low while the interface logic is communicating busy with the E 0 Ria Rea serial encoder It is high when all the data has been received 10 and processed This write only bit is used to enable the out
26. Outputs M33 gt Y M34 gt Y M35 gt Y M36 gt Y M37 gt Y M38 gt Y M39 gt Y M40 gt Y 078802 0 078802 1 078802 2 078802 3 078802 4 078802 5 078802 6 078802 7 1 1 1 1 1 al 1 1 nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput Output Output Output Output Output Output Output Output Output 01 02 03 04 05 06 07 08 09 0 1 2 3 4 5 6 1 2 3 4 5 6 7 8 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 J6 Pin l Pin 20 Pin 2 Pin 21 Pin 3 Pin 22 Pin 4 Pin 23 Pin 5 Pin 24 Pin 6 Pin 25 Pin 7 Pin 26 Pin 8 Pin 27 Sourcing Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Pin 18 Pin 19 Sin Pin Pin Pin Pin Pin Pin Pin Pin king 30 31 32 33 34 30 36 37 General Purpose I Os Additional J7 Suggested M Variables Inputs M17 gt Y M18 gt Y M19 gt Y M20 gt Y M21 gt Y M22 5Y M23 gt Y M24 gt Y M25 gt Y M26 gt Y M27 gt Y M28 gt Y M29 gt Y M30 gt Y M31 5Y M32 gt Y 78803 0 78803 1 78803 2 578803 3 78803 4 578803 5 578803 6 578803 7 578804 0 78804 1 578804 2 78804 3 78804 4 78804 5 78804 6 78804 7 Outputs M41 gt Y M42 gt Y M43 gt Y M44 gt Y M45 gt Y M46 gt Y M47 gt Y M48 gt Y 078805 0
27. alam aes Cari Ef pc cb o to Ee ay 4 GPO3 o Y o SFOs RUEOSO Raycnem 320R050 Unenze opos a SPOS RUEOSO Rayenem R090 Lense aros PO 4 Grose RUEDSO Rayenem 30R050 Lierse Pa Sros AKO pes RUEDSO ense a RE GP07 Fe oko enc a Vo apos O 2 Se 320R050 07223 Littetuse LRA AIK gros opto Gnd Plane Lo Ah Bo Ba Ta 8 _ a per eee AG BAG 4 4 4 4 cow emt L Outputs J6 amp J7 603793 10A and later an ams ADUNSONDARWZ a o7 072 D73 Da D75 D7 D7 D78 8 HANA os 7 nA ens j z a rog gt i INPUT 8 Drain GPOD15 dama kasa bA 8 TAB n alt HANE cases GPON2s paa CAT Et INPUT 8 Drain LAAN Z2 P32701 1NEC 39 1 3 pr tev Aa BZXBACSY1 AA pean po GPON ANA ci af ayes GPOD3s Gari Et x INPUT G Dran al n K E NNAL aa GPOD38 P uo7s 2 PIPE NG dua BLUE 41 a3 P pa 3 His sponse Quros Tl ag m me 3 Hi GPODss ay Gi sy woo gt do i n spouse 4 4 POD sponse pai ulay ct PENS a11 zomsenn60e Kang ma Ta ae ad szxsicsvt pt dalag fee a LIBRE 12 Zxwse0060G id cat Ei INPUT Drain E ck RET lagu T BzxBicsvt R218 a 899G J GPOD88 pet D82 nas D84 nas 86 Da 88 merstoTa MaRS AO en ona 7 4 OUT com 1 262 Appendix C Geo Brick LV User Manual Limits amp Flags J4 3 3KSIP10C C1 E1 ACITA ACI1B PLIM1 a ACITA EI ACI1B Pz ia 4 gri iji HEN 4 7KSIP81 ACITA E1 ACIB 2 A
28. 078805 1 078805 2 078805 3 5078805 4 078805 5 078805 6 5078805 7 T 1 1 1 Hl alt 1 1 nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput Output Output Output Output Output Output Output Output Output 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 10 11 12 13 14 15 16 J7 J7 ag J7 J7 J7 J7 J7 J7 d7 J7 J7 J7 J7 J7 J7 J7 J7 J7 J7 J7 J7 J7 J7 Pin 1 Pin 20 Pint 2 Pin 21 Pin 3 Pin 22 Pin 4 Pin 23 Pin 5 Pin 24 Pin 6 Pin 25 Pin 7 Pin 26 Pin 8 Pin 27 Sourcing Pin 12 Pin 13 Pin 14 Pin 15 Pin 16 Pin 17 Pin 18 Pin 19 Sin Pin Pin Pin Pin Pin Pin Pin Pin king ad 32 33 34 35 36 37 34 Connections And Software Setup Geo Brick LV User Manual J8 PWM Amplifier Interface J8 is used to connect to third party PWM amplifiers This is a limited option contact technical support for setup details Connections And Software Setup 35 Geo Brick LV User Manual J9 Handwheel and Analog I O J9 is used to wire the additional analog inputs handwheel encoder analog output and PFM output J9 D sub DB 25F Mating D sub DB 25M Pin Function l Input 2 AIN3 Input 3 Input 4 Input 5 Output 6 Common i Output 8 Output 9 Output 10 Input 11 Input 12 Input 13 Output 14 AIN2 Input 15 input 16 AIN6 Input 17 Input 18 Output 19 O
29. 12 R W 0 Enable This bit must be set for either trigger mode If the Trigger Mode bit is set for one shot mode the hardware will automatically clear this bit after the trigger occurs 11 0 Reserved Reserved and always reads zero This read only bit provides the received data status It is low while the interface logic is communicating busy with the O R 9 sata kady serial encoder It is high when all the data a ad received and processed Connections And Software Setup 93 Geo Brick LV User Manual This write only bit is used to enable the output drivers for W 0 SENC_MODE the SENC_SDO SENC_CLK SENC_ENA pins for each respective channel 09 0x0 Reserved Reserved and always reads zero This bit field is used to define the number of status bits in the Status encoder data The valid range of settings is O 6 000 110 The 08 06 R W 000 Bits status bits are assumed to ane follow after the position data and before the CRC This bit field is used to define the number of position data bits or encoder resolution 05 00 W 0x00 Position Bits Range is 12 40 001100 101000 The position bits are assumed to be in binary MSB first format 12 for 18 bit SIA for 26 bit 20 for 32 bit BiSS Data Registers The BiSS data is conveyed into 4 memory locations Serial Encoder Data A B C and D The Serial Encoder Data A register holds the 24 bits of the encoder posi
30. 20 bit define PhaseOffset 16Bit P184 PhaseOffset 16Bit 5461 define PhaseOffset 17Bit P184 PhaseOffset 17Bit 10922 define PhaseOffset 20Bit P184 PhaseOffset 20Bit 30000 a Note data correctly Appropriate masking is required with 17 bit encoders to process the 188 Motor Setup Geo Brick LV User Manual Absolute Power On Phasing Example PLCs Yaskawa With the motor phase position offset established the phase position register can now be modified on power up to compensate for the calculated offset This allows the user to issue jog commands or close the loop and run a motion program on power up or reset Channel 1 driving a 16 bit Yaskawa absolute encoder define MtrlPhasePos M171 Suggested M Variables Mtr1PhasePos 5X S5B4 24 s define MtrlPhaseErr M148 Suggested M Variables MtrlPhaseErr gt Y C0 8 define MtrlCommSize 1171 H define MtrlCommCycles 1170 R define MtrlCommRatio P170 Motor 1 commutation cycle size Ixx71 Ixx70 counts Mtr1CommRatio Mtr1CommSize Mtr1CommCycles Open plc 1 clear MtrlPhasePos Mtr1STD4 15 3 MtrlCommRatio PhaseOffset 16Bit 32 MtrlCommCycles MtrlPhaseErr 0 Disable plc 1 Close Channel 1 driving a 17 bit Yaskawa absolute encoder define MtrlPhasePos M171 Suggested M Variables MtriPhasePos gt X B4 24 8 define MtrlPhaseErr M148 Suggested M Variables MtrlPhaseErr gt Y C0 8 define MtrlCommSize 1
31. 23 16 R W 0x18 M Divisor intermediate clock is generated from a M 1 divider clocked at 100 MHz Final clock frequency for SER Clock The final clock is 15 12 R W 0x0 N_Divisor generated from a 2 divider clocked by the intermediate clock 11 10 R 00 Reserved Reserved and always reads zero Trigger clock select 0 PhaseClock 09 R W 0 TriggerClock 1 ServoClock Active clock edge select 0 rising edge 08 R W 0 TriggerEdge l falling edge Trigger delay program relative to the active edge of the ORY HAW ORU IagpaDelay trigger clock Units are in increments of 20 usec This read only bit field is used to read the serial encoder interface 03 00 R OxB ProtocolCode protocol supported by the FPGA A value of B defines this protocol as BiSS 92 Connections And Software Setup Geo Brick LV User Manual Channel Control Registers X 78Bn0 X 578Bn4 X 578Bn8 X 78BnC where n 2 for axes 1 4 n 3 for axes 5 8 Channel 1 X 78B20 Channel 5 X 578B30 Channel 2 X 78B24 Channel 6 X 78B34 Channel 3 X 78B28 Channel 7 X 578B38 Channel 4 X 78B2C Channel 8 X 78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters Parameters such as setting the number of position bits in the serial bit stream enabling disabling channels through the SENC_MODE when this bit i
32. 4 Amplifier Fault Polarity Bit 0 For low true amp 1 For high true amp Example Overtravel Limit Use Bit 0 Enable hardware over travel limits 1 Disable hardware over travel limits Setting Ixx24 for a low true amplifier disabling the over travel limits and amplifier fault input yields 120001 52 Connections And Software Setup Geo Brick LV User Manual Implementing PID gains Ixx30 Ixx35 In PFM mode the PID Gains can be determined using the following empirical equations 660000 Ixx08 x PFM CLock MHz Ixx30 Ixx31 0 Ixx32 6660 x Servo Freq KHz Ixx3 3 Ixx35 0 Channels 5 8 PID Gains with default clock settings I1530 4 100 11190 Motors 5 8 Proportional Gain I531 4 100 0 Motors 5 8 Derivative Gain I1532 4 100 15038 Motors 5 8 Velocity FeedForward Gain I1533 4 100 0 Motors 5 8 Integral Gain 1534 4 100 0 Motors 5 8 Integral Mode 1535 4 100 0 Motors 5 8 Acceleration FeedForward Gain At this point of the setup the drive motor s is ready to accept Jog commands Note Connections And Software Setup 53 Geo Brick LV User Manual X1 X8 Encoder Feedback Sinusoidal X1 X8 D sub DA 15F Mating D sub DA 15M 00000000 0 00O Pin Symbol Function Notes 1 Sin Input Sine 2 Cos Input Cosine 3 CHC Input Index 4 EncPwr Output Encoder Power 5 Volts 5 CHU
33. 78BOC 8020 000000 Bias Term and Entry result at 3515 Channel 8 8021 SFF8118 High resolution interpolator entry 78118 8022 SO78BOE A D converter address 578B0E 8023 000000 Bias Term and Entry result at 3518 Now the position and velocity pointers are assigned to the corresponding processed data register 103 3503 1104 53503 Motor 1 Position and Velocity feedback address 203 3506 1204 3506 Motor 2 Position and Velocity feedback address 303 3509 1304 3509 Motor 3 Position and Velocity feedback address 403 5350C 1404 350C Motor 4 Position and Velocity feedback address 503 S350F 1504 S 350F Motor 5 Position and Velocity feedback address 603 3512 1604 3512 Motor 6 Position and Velocity feedback address 703 3515 1704 3515 Motor 7 Position and Velocity feedback address 803 3518 I1804 3518 Motor 8 Position and Velocity feedback address Channel Activation 100 8 100 Motors 1 8 activated At this point of the setup process you should be able to move the ra motor encoder shaft by hand and see encoder counts in the position window Note Counts Per Revolution With the interpolation of x 4096 in Turbo PMAC there are 128 4096 32 motor counts per sine cosine cycles Motor counts can be monitored in the motor position window upon moving the motor by hand Examples A 1024 Sine Cosine periods per revolution rotary encoder produces 1024 x 128 131 07
34. Axis 1 Settings CMD WX 78014 SF8CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF84DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SFOODFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 2 Settings CMD WX 78014 SF9CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF94DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF10DFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 3 Settings CMD WX 78014 SFACCFE Select axis and set motor mode Servo 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SFA4CFE Clear error s on selected axis in Servo mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF20CFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 4 Settings CMD WX 78014 SFBCCFE Select axis and set motor mode Servo 5 50 8388608 I10 While I5 gt 0 EndW CMD WX 78014 SFB4CFE Clear error s on selected axis in Servo mode 5 50 8388608 I10 While I5 gt 0 EndW CMD WX 78014 SF30CFE Save and write protect channel
35. GeoBrick 00 50 C2 74 9B 41 Serial No Gateway Mask 255 255 255 0 Store MAC ID Step4 Click on Done and recycle logic power 24V on the Brick Troubleshooting 253 Geo Brick LV User Manual Reloading Boot And Communication Firmware The boot and firmware IIC files are required for this procedure They are normally obtained directly from Delta Tau or downloaded from the Forums The following steps ensure proper configuration Step1 Step2 Step3 Step4 Downloading the wrong boot or communication files will severely corrupt the functionality of the communication processor Caution Hold the BOOT SW switch down Click on Store Boot The utility will prompt for the boot file MAKE SURE you open the correct IIC file ending with BootFx2 1ic and wait for firmware load successful message EEPROM Download Look in Comm CD commFw E 050 700066 024 PETHUSB307FX2 IIC 050 700067 020 FWBootFx2 iic File name 050 700067 020SFWBootFx2 ic Files of type I2CFiles iic X Cancel Click on Store F W Code Program Store FAW Protocol Fimware Load Successfull Application fimware has not been programmed this session G ICP UDP TY Modbus Option 1025 HAW Type C UMAC ACCS4E PC104 ACC2P Serial No Store MAC ID C cel C aMac C GeoPMAC C GeoYuasa C ACCESETH C Geo Brick 00 50 C2 4D 70 01 IP Address Store IP a Eth
36. Indirect addresssing index for commutation cycle size 171 define Mxx71 P7073 Indirect addresssing index for phase position register 171 define PhaseErrBit P7074 Indirect addresssing index for phasing search error bit 148 define PhaseTest P7075 Indirect addresssing index for force phase test values 7058 define MtrSF P7076 Indirect addresssing index for motor scale factor 7050 define ChNoHex P7077 Channel number in hex define Ixx08 P7078 Indirect addresssing index for position scale factor 108 define ChPhaseTrue P7079 Present channel power on phasing flag 1 true 0 false PLC SCRIPT CODE 555 555555555555 555 Open plc 1 clear ChNo 0 Reset channel number While ChNo gt 7 Loop for 8 channels ChNo ChNot1 ChNoHex exp ChNo 1 1n 2 ChPhaseTrue ChPhaseSel amp ChNoHex ChNoHex If ChPhaseTrue 0 Absolute read on this channel MtrSF 7050 ChNo 1 1 PhaseTest 7058 ChNo 1 1 Ixx70 170 ChNo 1 100 Ixx71 171 ChNo 1 100 ActPos 162 ChNo 1 100 182 Motor Setup Geo Brick LV User Manual Ixx08 1084 ChNo 1 100 Mxx71 1714 ChNo 1 100 PhaseErrBit 148 ChNo 1 100 I5111 100 8388608 110 while 1I511150 Compute position offset PhaseOffset P PhaseTest SP MtrSF PhaseOffset PhaseOffset I PhaseOffset PhaseOffsetSI I5111 100 8388608 110 whil xx70 xx71 le 1511150 Compute present phase
37. Reserved Gather on external trig Small memory Turbo PMAC Internal Compensate table on General checksum error Firmware checksum error DPRAM error EAROM error Real time interrupt waring Illegal L variable definition Servo Macro IC config error TWS variable parity error MACRO communication error MACRO ting error Phase clock missing Reserved All cards addressed serially 256 Turbo Ultralite Turbo YME CPU type Binary rotary buffer open Motion buffer open ASCII rotary buffer open PLC buffer open UMAC Turbo Internal Internal Reserved Reserved Fixed buffer full MACRO ting test enable Ring active Modbus active Reserved Reserved MACRO ring revd break msg MACRO ring break MACRO ring synch packet fault Reserved Reserved Negative end limit set soft or hard Positive end limit set soft or hard Ext servo algo ena lyy00 1yy50 Amplifier enabled Move timer active Dwell in progress Data block error Desired velocity 0 Abort deceleration in progress Block request Home search in progress User n phase ena lxx59 bit 1 User written servo ena xx59 bit 0 Y addr commute enc Ixx01 bit 1 Pos follow offset mod Pos follow ena Ixx06 bi Capture on error ena Software capture ena Sign magnitude servo ena xx36 Rapid max velocity select Ixx90 CS 1 bit 3 MSB CS 1 bit 2 CS 1 bit 1 bit 0 LSB Axis definition bit 3 CS Axis definition bit
38. Select a table entry to view edit End of Table First Entry of Table Processed Data g3519 Enty 17 Enty Y 3519 Address View All Entries of Table Address Viewing Download Entry Done Conversion Type End of Table Source Address x X Conversion Shifting of Parallel Data C Normal shift 5 bits to the left No Shifting Select a table entry to view edit End of Table Entry 1 i Entry sY 3519 Addres Eirst Entry of Table Processed Data x CD CD View All Entries of Table Wiewing Download Entry Done Conversion Type Parallel pos from Y word with no filtering Source Address 78420 Se Width in Bits 24 Offset Location of LSB at Source Address 0 f5 fo Cm Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Servo Node Addresses MACRO Motor Address Register MACRO Motor Address Register motor motor 1 5or9 78420 Servo Node 0 5h 9or13 78430 Servo Node 8 gn 6or 10 78424 Servo Node 1 6 10 or 14 578434 Servo Node 9 3 Torll 78428 Servo Node 4 Chad 11 or 15 578438 Servo Node 12 au 8 or 12 7842C Servo Node 5 8 12 or 16 7843C Servo Node 13 At this point of the setup you should be able to move the EF motor encoder shaft by hand and see encoder counts in the position window Note Macro Connecti
39. Trigger Delay Protocol o lw Bit 9 8 Binary 0 0 Hex S IN The only user configurable HiperFace Global Control field is the baud ay rate M and N divisors Note The channel control registers are programmed to read position 42 0 Disabled 1 Enabled 42 Read position t 50 Encoder Status 0 Continuous 0 Disabled Always SFF for 53 Reset Encoder 1 One shot 1 Enabled General Broadcast t l f t Enable DT o Senc Mode o O Description Command code 0 0 83 E Encoder Address ESE Bit Binary Hex The only user configurable HiperFace Channel Control field is IN the command code S42 to read position ad S50 to read encoder status Note 553 to reset encoder 72 Connections And Software Setup Geo Brick LV User Manual The Global and Channel Control registers have to be initialized on power up Following is an example PLC showing the initialization of all eight channels NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes M5990 through M5999 Coordinate system 1 Timer 1 Make sure that current and or future configurations do not create conflicts with these parameters SSSs SSS SSS SSS SS SS SSS SSS SSS SS SS SSS SSS SSS SSS SS SS SS
40. Y 78B28 Channel 7 Y 578B38 Channel 4 Y 78B2C Channel 8 Y 578B3C The on going servo and commutation position data is setup using a 2 line Entry in the Encoder Conversion Table The first line represents a Parallel Y Word with no filtering 82 from the corresponding Yaskawa data register channel The second line represents the width of the data to be read and bit location of the LSB of the data in the source word Channel 1 Yaskawa Sigma II 17 bit Incremental Encoder Setup Example wi Turbo Encoder Conversion Table Device BA Select a table entry to view edit End of Table bisa Download Entry 2 First Entry of Table Done Y 3501 Processed Data X g3502 S ddress Yiew All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering F Source Address 78B20 Width in Bits 17 Offset Location of LSB at Source Address 0 Based Index Entry Addres 6 Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Connections And Software Setup 129 Geo Brick LV User Manual Encoder Conversion Table Setup Motors 1 8 The ECT automatic entry is equivalent to 8000 278B20 Entry 1 Unfiltered parallel pos of location Y 78B20 8001 011006 Width and Bias total of 17 bits LSB starting at bit 6 8002 278B24 Entry 2 Unfiltered parallel pos of location Y
41. flag command TUVW flags amplifier enable node amplifier home flag positive limit negative limit user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag Macro Connectivity 241 Geo Brick LV User Manual Macro IC 0 Node 9 Flag Registers M650 gt X 003449 0 24 Macro IC 0 Node M651 gt 003449 0 24 Macro IC 0 Node M653 gt X 003449 20 4 Macro IC 0 Node M654 gt Y 003449 14 Macro IC 0 Node M655 gt X 003449 15 Macro IC 0 Node M656 gt X 003449 16 Macro IC 0 Node M657 gt X 003449 17 Macro IC 0 Node M658 gt X 003449 18 Macro IC 0 Node M659 gt X 003449 19 Macro IC 0 Node Macro IC 0 Node 12 Flag Registers M750 gt X 00344C 0 24 Macro IC 0 Node M751 gt Y 00344C 0 24 Macro IC 0 Node M753 gt X 00344C 20 4 Macro IC 0 Nod
42. pees AGND ADC6 Each input has a 47092 input resistor in I line and a 0 01 uF resistor to ground AGND _ ADC7 sr ensuing a 4 7 usec time constant per input AGND 7 _ ADC8 line a a 5060 8 Copy 8 ADC pairs 5061 5000340 ANC1 is referenced to 078800 000340 78B40 5062 000340 ADC2 is referenced to 078800 000340 78B40 5063 000340 ADC3 is referenced to 078800 000340 78B40 5064 5000340 ADC4 is referenced to 078800 000340 78B40 5065 000340 ADC5 is referenced to 078800 000340 78B40 5066 000340 ADC6 is referenced to 078800 000340 78B40 5067 000340 ADC7 is referenced to 078800 000340 78B40 5068 000340 ADC8 is referenced to 078800 000340 78B40 Bipolar Mode Unipolar Mode 15081 000008 ADC1 Bipolar I15081 000000 ADC1 Unipolar 15082 000009 ADC2 Bipolar 15082 000001 ADC2 Unipolar 15083 500000A ADC3 Bipolar 15083 000002 ADC3 Unipolar I5084 500000B ADC4 Bipolar I5084 5000003 ADC4 Unipolar I5085 500000C ADC5 Bipolar 15085 000004 ADC5 Unipolar I5086 500000D ADC6 Bipolar I5086 5000005 ADC6 Unipolar I5087 500000E ADC7 Bipolar 15087 000006 ADC7 Unipolar 15088 S 00000F ADC8 Bipolar 15088 000007 ADC8 Unipolar A SAVE and a reset is required to properly after download Note initialize this function In Unipolar mode the ADCs can measure up to 12V since the op amps are powered with 12VDC Note Conn
43. 162 Motor Setup Geo Brick LV User Manual Brushless Motor Setup Before you start e Remember to create edit the motor type and protection power on PLC e At this point of the setup it is assumed that the encoder has been wired and configured correctly in the Encoder Feedback section And that moving the motor encoder shaft by hand shows encoder counts in the position window e Parameters with Comments ending with User Input require the user to enter information pertaining to their system hardware e Downloading and using the suggested M variables is highly recommended e Detailed description of motor setup parameters can be found in the Turbo SRM Flag Control Commutation Angle Current Mask Ixx24 Ixx72 Ixx84 1124 8 100 800001 I172 8 100 683 7 1184 8 100 SFFFCO0 Motors 1 8 Flag control High true amp fault Geo Brick LV specific Motors 1 8 Commutation phase angle Geo Brick LV specific Motors 1 8 Current Loop Feedback Mask Word Geo Brick LV specific PWM Scale Factor Ixx66 If Motor Rated Voltage gt Bus Voltage I1166 0 95 17000 Motor 1 PWM Scale Factor typical setting I266 1166 1366 1166 1466 1166 Assuming same motor s as motor 1 I566 1166 I666 1166 1766 1166 1866 1166 Assuming same motor s as motor 1 If Bus Voltage gt Motor Rated Voltage Ixx66 acts as a voltage limiter In order to obtain full voltage output it is set to the PWM count divided by DC Bus Motor voltage ratio
44. 2 guess or stepper phasing methods It provides absolute information about where the motor is positioned with respect to its commutation cycle It is highly desirable due to the fact that it allows phasing the motor without any movement Inherently digital hall sensors have an error of about 30 resulting ra in a torque loss of about 15 It needs to be corrected fine phasing for top operation Note The Geo Brick LV supports the conventional 120 spacing hall sensors type each nominally with 50 duty cycle and nominally 1 3 cycle apart The Geo Brick LV has no automatic hardware or software features to work with 60 spacing The 120 spacing format provides six distinct states per cycle Channel U Channel V I y ChannelW N l 60 0 60 120 180 120 60 0 60 Follow these steps to implement hall sensor phasing 1 Start with Ixx81 0 and Ixx91 0 which eventually are the parameters to be configured 2 Phase the motor manually or using the 2 guess stepper method 3 Jog the motor slowly with rough PID gains or move in open loop by hand in the positive direction of the encoder while plotting Halls UVW Mxx28 versus Phase Position Mxx71 4 Set up the detailed plot scaling and processing for Halls UVW and Phase Position 174 Motor Setup Geo Brick LV User Manual Plotting the phase position Mxx71 The scale factor is use
45. 580 00 25 Time msec Rise Time 0 004 s Peak Time 0 007 s Natural Freq 120 6 Hz Over Shoot 1 0 Damping 0 8 Settling Time 0 005 s Current Loop Gains Integral Gain Ki lx61 0 12000000477 Forward Path Proportional Gain Kp2 x62 0 009999990463 Backward Path Proportional Gain Kp1 Ix76 1 5499999523 Motor Setup 169 Geo Brick LV User Manual Motor Phasing Power On Mode Ixx73 Ixx74 Ixx80 Ixx81 Ixx91 The Geo Brick LV supports a variety of phasing procedures for commutated brushless motors This section discusses the following phasing methods e Manual Custom Phasing e 2 Guess Phasing Method e Stepper Phasing Method e Hall Effect Phasing Digital quadrature encoders e Hall Effect Phasing Yaskawa Incremental encoders e Absolute Power On Phasing HiperFace e Absolute Power On Phasing EnDat SSI BiSS e Absolute Power On Phasing Yaskawa absolute encoders An unreliable phasing search method can lead to a runaway condition Test the phasing search method carefully to make sure it works properly under all conceivable conditions and various locations of the travel Make sure the Ixx11 fatal following error WARNING limit is active and as tight as possible so the motor will be killed quickly in the event of a serious phasing search error move on power up using Turbo PMAC s automatic setting Ixx80 Motor phasing should be inserted in a power on plc before which it is Note ensured that the bus power
46. 8012 S6802BF Parallel read of Y X S2BF 350D 503 S350F 8013 018018 24 bits starting at X bit0 350E 504 1503 8014 EC000D Integrate result from 18013 350F 583 1503 8015 68033F Parallel read of Y X 33F 3510 603 3512 8016 018018 24 bits starting at X bit0 3511 604 1603 8017 SEC0010 ntegrate result from I8016 53512 683 1603 8018 56803BF Parallel read of Y X S3BF 3513 703 3515 8019 018018 24 bits starting at X bit0 3514 704 1703 8020 SEC0013 ntegrate result from I8019 3515 783 1703 8021 568043F Parallel read of Y X 43F 3516 803 3518 8022 018018 24 bits starting at X bit0 3517 804 1803 8023 SEC0016 ntegrate result from 18022 3518 883 1803 Macro Connectivity 217 Geo Brick LV User Manual Position Velocity For MACRO control to command motor from Master Results Commutation Pointers 8024 56F8420 Parallel read of Y X 578420 3519 103 351B 8025 5018000 24 bits starting at Y bit0 351A 104 1103 8026 SEC0019 Integrate result from 18025 351B 183 1103 8027 S6F8424 Parallel read of Y X 78424 351C 203 351E 8028 5018000 24 bits starting at Y bit0 351D 204 1203 8029 SEC001C Integrate result from 18028 351E 283 1203 8030 56F8428 Parallel read of Y X 78428 351F 303 3521 8031 5018000 24 bits starting at Y bit0 3520 304 1303 8032 SEC001F Integrate result from 18031 3521 383 1303 8033 S6F842C Parallel read of Y X 78
47. 8018 SFF8110 High resolution interpolator 8019 5078B0C A D converter address 8020 000000 Bias Term and Entry result Channel 8 8021 SFF8118 High resolution interpolator 8022 5078B0E A D converter address 8023 000000 Bias Term and Entry result Position and Velocity feedback pointers should now be set to the corresponding ECT result 1103 3503 1104 53503 1203 3506 1204 3506 1303 3509 1304 53509 1403 350C 1404 350C 1503 350F 1504 5350F 1603 3512 1604 53512 1703 3515 1704 53515 1803 3518 1804 53518 At this point of the setup you should be able to move the INE motor encoder shaft by hand and see motor counts in the position window Note Counts per User Units With the interpolation of x 4096 in Turbo PMAC there are 128 4096 32 motor counts per sine cosine cycles Motor counts can be monitored in the motor position window upon moving the motor by hand Examples A 1024 Sine Cosine periods per revolution of a rotary encoder produces 1024 x 128 131 072 cts rev A 20 um linear encoder resolution produces 128 0 02 6400 cts mm 56 Connections And Software Setup Geo Brick LV User Manual Encoder Count Error Mxx18 The Geo Brick LV has an encoder count error detection feature If both the A and B channels of the quadrature encoder change state at the decode circuitry post filter in the same hardware sampling clock SCLK cycle an unrecoverable error to the
48. 8062 0 8063 8064 000000 SIN COS Bias word Tracking filter from conversion location 352B Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion location 3533 Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion location 353B Maximum change in counts cycle Proportional gain Reserved setup word Integral gain End Of Table End Of Table Position Velocity Feedback Pointers 1103 3508 1203 3510 1303 3518 1403 3520 1503 3528 1603 3530 1703 3538 1803 3540 1104 3508 1204 3510 1304 3518 1404 3520 1504 3528 1604 3530 1704 3538 1804 3540 At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note Connections And Software Setup 63 Geo Brick LV User Manual Resolver Power On PLC Example Setting up a resolver with 10V excitation magnitude and 10 KHz excitation frequency Clock Settings 10KHz Phase amp Servo 7100 5895 Servo ICI 7101 0 7102 0 6800 5895 MACRO ICO 6801 0 6802 0 7000 5895 Servo ICO 7001 0 7002 0
49. Absolute power on read enabled 1110 78B20 Absolute power on position address chl serial data register A I195 SA00000 Parallel Read 32 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 32 bits or 100000 always 0 os Binary 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hex S A o o o o o In this mode PMAC reads and reports 32 bits from the consecutive serial data registers Serial Data Register B Serial Data Register A Ch1 Y 578B21 Ch1 Y 78B20 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Example 2 Channel 1 driving a 20 bit 20 bit Singleturn No Multiturn absolute rotary serial encoder or a similar protocol resolution 20 bits linear scale 1180 2 Absolute power on read enabled 1110 78B20 Absolute power on position address chl serial data register A 1195 5140000 Parallel Read 20 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 20 bits or 010100 always 0 wos binary 0 0 0 1 0 1 0lojo ojoj ofojo o ojo ojojo ojololo Hex S 1 do a o o o o I
50. ECT result Comm ECT result Ixx91 Unsigned Y register Unsigned X register Unsigned X register a ST bits ST 5bit shift bits 18 bits Ixx75 PhaseOffset Ixx70 Ixx71 expects the least significant bit of the data to be right most shifted at The automatic power on phasing routine Ixx75 Ixx81 and Ixx91 a bit 0 Note Remember that the serial data register A address for each of the channels is Serial Data Register A Channel 1 Y 78B20 Channel 5 Y 78B30 Channel 2 Y 78B24 Channel 6 Y 78B34 Channel 3 Y 78B28 Channel 7 Y 578B38 Channel 4 Y 78B2C Channel 8 Y 78B3C Prior to implementing an absolute power on phasing routine make sure that the motor can be phased manually and that open loop and or closed loop moves require PID tuning can be performed Caution successfully 184 Motor Setup Geo Brick LV User Manual Finding the Phase Offset The phase offset is found experimentally by performing a one time phase force test on an uncoupled unloaded preferably motor 1 Read update the absolute position must be read correctly for the phasing to work Issue a n5 command or enable the corresponding absolute position read PLC 2 Record Ixx29 and Ixx79 if non zero These should be restored at the end of the test 3 Set Ixx29 0 and write a positive value to Ixx79 500 is a good starting value 4 Issue a nO0 to send a z
51. ENC2 compare output value M220 gt X 078008 16 Home flag 2 input status M221 gt X 078008 17 Positive Limit 2 flag input status M222 gt X 078008 18 Negative Limit 2 flag input status M315 gt X 078010 19 User 3 flag input status M316 gt X 078010 9 EQU3 ENC3 compare output value M320 gt X 078010 16 Home flag 3 input status M321 gt X 078010 17 Positive Limit 3 flag input status M322 gt X 078010 18 Negative Limit 3 flag input status M415 gt 078018 19 User 4 flag input status M416 gt X 078018 9 EQU4 ENC4 compare output value M420 gt X 078018 16 Home flag 4 input status M421 gt 078018 17 Positive Limit 4 flag input status M422 gt X 078018 18 Negative Limit 4 flag input status Limits and ha paa 5 8 Suggested M Variables M515 gt 078100 User 5 flag input status M516 gt X 078100 3 EQU5 ENC5 compare output value M520 gt X 078100 16 Home flag 5 input status M521 5X 8078100 17 Positive Limit 5 flag input status M522 gt X 078100 18 Negative Limit 5 flag input status M615 gt X 078108 19 User 6 flag input status M616 gt X 078108 9 EQU6 ENC6 compare output value M620 gt X 078108 16 Home flag 6 input status M621 gt X 078108 17 Positive Limit 6 flag input status M622 gt X 078108 18 Negative Limit 6 flag input status M715 5X 5078110 19 User 7 flag input status M716 gt X 078110 9 EQU7 ENC7 compare output value M720 gt X 078110 16 Home
52. I100 8 100 1 I101 8 100 1 Motors 1 8 act ive Motors 1 8 Commutation Enabled from X register Command Output Address Ixx02 1102 5078002 1202 507800A 1302 5078012 1402 507801A 1502 5078102 1602 07810A 1702 078112 1802 507811A Motor 1 Output Motor 2 Output Motor 3 Output Motor 4 Output Motor 5 Output Motor 6 Output Motor 7 Output Motor 8 Output Address Address Address Address Address Address Address Address 156 Motor Setup Geo Brick LV User Manual Current Feedback ADC Mask Commutation angle Ixx82 Ixx84 Ixx72 182 5078006 282 507800E 382 078016 482 507801E 5582 5078106 682 507810E 782 5078116 882 507811E 184 8 100 SFFFCO00 172 8 100 512 r Motor Motor Motor Motor Motor Motor Motor Motor Motors 1 8 Current Loop Feedback Mask Commutation Phase Angle 2 Phase opposite voltage amp current sign 1 2 3 4 5 6 7 8 Current Current Current Current Current Current Current Current Feedback Address Feedback Address Feedback Address Feedback Address Feedback Address Feedback Address Feedback Address Feedback Address Geo Brick IV Specific 14 bit Geo Brick IV Specific Flag Address Mode Control Ixx25 Ixx24 171 8 100 65536 Microsteps per Ixx70 commutation cycles 125 078000 Motor 1 Flag Address 225 078008 Motor 2 Flag Address 325 S078010 Motor 3 Flag
53. In Out U Hall 6 CHW In Out W Hall 7 2 5 Volts Output Reference Power 2 5 volts 8 Unused 9 Sin Input Sine 10 Cos Input Cosine 11 CHC Input Index 12 GND Common Common Ground 13 CHV In Out V Hall 14 CHT In Out T Hall 15 Unused This option allows the Geo Brick LV to interface directly to up to eight sinusoidal feedback devices The high resolution interpolator circuitry accepts inputs from sinusoidal or quasi sinusoidal encoders 1 Volt peak to peak and provides encoder position data It creates 4 096 steps per sine wave cycle 54 Connections And Software Setup Geo Brick LV User Manual Setting up Sinusoidal Encoders The Sinusoidal position feedback is set up through the Encoder Conversion Table ECT as a high resolution interpolation entry Encoder Conversion Table Setup Example Channel 1 ei Turbo Encoder Conversion Table Device 0 QMAC TURBO V1 DAR Select a table entry to view edit i i End of Table Download Entry Eirst Entry of Table Done Enty Y 3501 Processed Data yx 3503 Address 3 Address View All Entries of Table Yiewing Conversion Type High res interpolator ACCs 51C E P2 5 PMAC2 style v Source Address 78000 Servo IC 0 Channel 1 A D converter address 478B00 A D bias 50 Conversion Type High res interpolator PMAC2 Style Enter Source Address see table below Enter A D Converter Address see table below A D Bias always zero
54. M171 M148 Mtr1PhasePos 5X S0000B4 24 s MtriPhaseSrchErr gt Y 0000C0 8 1 Suggested M Variable definition Suggested M Variable definition 1 Present phase position counts Ixx70 1 Phasing error fault bit Zone 1 Definitions User Input define Phase30Deg 1 define Phase90Deg 5 define Phasel50Deg 4 define Phase210Deg 6 define Phase270Deg 2 define Phase330Deg 3 Open plc clear ChlHalls int ChlIncData amp SE 2 f ChlHalls Phase30Deg MtrlPhasePos 71 30 360 Endif f ChlHalls Phase90Deg MtriPhasePos 71 90 360 Endif f ChlHalls Phasels50Deg MtriPhasePos JI 150 360 Endif f ChlHalls Phase210Deg MtriPhasePos 71 210 360 Endif f ChlHalls Phase270Deg MtriPhasePos 71 x 270 360 Endif f ChlHalls Phase330Deg MtriPhasePos 71 330 360 Endif MtrlPhaseSrchErr 0 disable plc 1 close 180 Motor Setup Geo Brick LV User Manual Absolute Power On Phasing HiperFace With HiperFace the absolute serial data can be used to establish a phase reference position on power up without moving the motor A custom PLC is suggested for reading the absolute power on position directly from the raw serial HiperFace data registers verify that the motor can be phased manually be able to execute open loop moves successfully output and encoder direction matching and Note possibly perform jog commands requires PID tuning Prior to i
55. MTDO 15 10000 STDO 15 1108 32 disable plc 1 close 120 Connections And Software Setup Geo Brick LV User Manual Yaskawa Sigma Il 17 Bit Absolute Encoder Y 578B21 Y 578B20 23 13 12 0 23 21 20 4 3 0 Multi Turn Position Absolute Single Turn Data 16 bits 17 bits Yaskawa Data Registers Channel 1 Y 578B20 Channel 5 Y 578B30 Channel2 Y 578B24 Channel 6 Y 578B34 Channel 3 Y 578B28 Channel 7 Y 578B38 Channel 4 Y 578B2C Channel 8 Y 578B3C The on going servo and commutation position data is setup using a 2 line Entry in the Encoder Conversion Table The first line represents a Parallel Y Word with no filtering 2 from the corresponding Yaskawa data register channel The second line represents the width of the data to be read and bit location of the LSB of the data in the source word Channel 1 Yaskawa Sigma II 17 bit Absolute Encoder Setup Example Turbo Encoder Conversion Table Device TBR Select a table i End of Table Download Entry z Eirst Entry of Table Done Enty Y g3501 Processed Data X g3502 Address Address s View All Entries of Table Yiewing Conversion Type Parallel pos from Y word with no filtering Source Address 78B20 Ng Width in Bits 133 Offset Location of LSB at Source Address 0 E na ased Index Conversion Shifting of Parallel Data te Normal shift 5 bits to the le
56. Motor 166 17000 Mtr1Voltage DCBusInput 266 17000 Mtr2Voltage DCBusInput 366 17000 Mtr3Voltage DCBusInput 466 17000 Mtr4 Voltage DCBusInput 566 17000 Mtr5Voltage DCBusInput 666 17000 Mtr6Voltage DCBusInput 766 17000 Mtr7Voltage DCBusInput 866 17000 Mtr8Voltage DCBusInput Motor Motor Motor Motor Motor Motor Motor Motor Voltage Voltage Voltage Voltage Voltage Voltage Voltage Voltage XxX TAU Bb WN H VDC User VDC User VDC User VDC User VDC User VDC User VDC User VDC User PWM Scale Factor PWM Scale Factor PWM Scale Factor PWM Scale Factor PWM Scale Factor PWM Scale Factor PWM Scale Factor PWM Scale Factor Input Input Input Input Input Input Input Input Geo Geo Geo Geo Geo Geo Geo Geo Brick Brick Brick Brick Brick Brick Brick Brick LV LV LV LV LV LV LV LV Specific Specific Specific Specific Specific Specific Specific Specific Motor Setup 159 Geo Brick LV User Manual 12T Protection Magnetization Current Ixx57 Ixx58 Ixx69 Ixx77 The lower values tighter specifications of the Continuous Instantaneous current ratings between the Geo Brick LV and motor are chosen to setup I2T protection If the peak current limit chosen is that of the Geo Brick LV e g 15 Amps then the time allowed at peak current is set to 1 seconds If the peak current limit chosen is that of the Motor check the motor specifications for
57. Note The commutation enable and position address would then be I101 1 Mtr l Commutation enable from X Register 1183 5853512 Mtr 1 Commutation Position Address User Input Connections And Software Setup 105 Geo Brick LV User Manual Absolute Power On Position Read Technique 2 With technique 2 the absolute power on position can be read directly from the serial data registers But proper scaling 5 bit right shift in a PLC is required to conform to the unshifted on going position Example 1 Channel 1 driving a 37 bit 25 bit single turn 12 bit multi turn rotary serial encoder 1180 0 Absolute power on read disabled 1110 78B20 Absolute power on position address chi serial data register A I195 SA50000 Parallel Read 37 bits Signed from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 37 bits or 100101 always 0 os Binary 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hex S _ ATs o o o In this mode PMAC reads 37 bits from the consecutive serial data registers Serial Register B Serial Register A Ch1 Y 578B21 Ch1 Y 78B20 47 23 0 With the setting of Ixx80 0 the actual position is not reported automatically on power up It will be reported after scaling i e in PLC below Example 2 Channel 1 driving a 25 bit 25 bit Si
58. Of X 83B bits starting at Integrate resul of X 43 Parallel Use 24 reaa Parallel Use 24 reaa Parallel Use 24 reaa Parallel Use 24 reaa t from t from t from t from t from t from t from t from bits starting a Integrate resul read of Y X SBF bits starting at X bit 0 Integrate resul read of Y X bits starting a z Integrate resul read of Y X bits starting a Integrate resul read of Y X 23F bits starting at X bit 0 8001 3F t X bit 0 8004 BF t X bit 0 8007 8010 bit 0 8 Yor bit 0 8 Horm bit 0 9 8 Horn t X bit 0 8022 Position Velocity Pointers Ixx03 Ixx04 The position and velocity pointers no external encoder used will be set to the integration result 1103 3503 1203 3506 1303 3509 T403 350C 1503 350F 1603 3512 1703 53515 1803 5853518 1104 3503 1204 3506 1304 53509 T404 350C 1504 350F 1604 3512 1704 3515 I1804 53518 Motor Motor Motor Motor Motor Motor Motor Motor 1 2 3 4 5 6 7 8 position position position position position position position position and and and and and and and and velocity velocity velocity velocity velocity velocity velocity velocity feedback feedback feedback feedback feedback feedback feedback feedback Motor Activation Commutation Enable Ixx00 Ixx01
59. On going Commutation Commutation Commutation Commutation Commutation Commutation Commutation Commutation Position Position Position Position Position Position Position Position Address Address Address Address Address Address Address Address from X register Motor Setup 165 Geo Brick LV User Manual 12T Protection Ixx57 Ixx58 Ixx69 The lower values tighter specifications of the Continuous Instantaneous current ratings between the Geo Brick LV and motor are chosen to setup I2T protection If the peak current limit chosen is that of the Geo Brick LV e g 15 Amps then the time allowed at peak current is set to 1 seconds If the peak current limit chosen is that of the Motor check the motor specifications for time allowed at peak current Examples e For setting up I2T on a Geo Brick LV driving a 3A 9A motor 3 amps continuous and 9 amps instantaneous will be used as current limits And time allowed at peak is that of the motor e For setting up I2T on a Geo Brick LV driving a 4A 16A motor 4 amps continuous and 15 amps instantaneous will be used as current limits And time allowed at peak is 1 seconds Motors 1 thru 8 have 5 amp continuous 15 amp peak current limits define ServoClk P8003 KHz Computed in Dominant Clock Settings Section define ContCurrent 5 Continuous Current Limit Amps User Input define PeakCurrent 15 Instantaneous Current Limit Amps User I
60. ST Sbit shift bits 18 bits The following diagram displays how Ixx91 is set up Bit 22 1 X Register 0 Y Register rao Binary a nes o d o o o o o e Technique 1 If Ixx01 3 Ixx91 is set up for unsigned Y register Singleturn bits For example A 30 bit 18 bit Singleturn 12 bit Multiturn rotary encoder would yield Ixx91 5120000 If Ixx01 1 Ixx91 is set up for unsigned X register Singleturn 5 bits For example A 20 bit 20 bit Singleturn 0 bit Multiturn rotary encoder or linear scale with similar protocol resolution 20 bits would yield Ixx91 5590000 e Technique 2 3 Since the commutation is limited to 18 bits and processed separately in the encoder conversion table Ixx91 is always 5520000 unsigned X register 18 bits Ixx91 is a 24 bit hexadecimal word The upper most two digits are the OD only relevant ones The lower 16 bits are reserved and should always be left at zero Note 186 Motor Setup Geo Brick LV User Manual Setting up Ixx75 the phase position offset The Phase position offset is set up using the following equation Ixx75 PhaseOffset x Ixx70 96 Ixx71 Where PhaseOffset is the recorded value found earlier from the phase force test In this mode and upon issuing a n5 command PMAC will compute the correct phase position then close the loop on the motor motor must be tuned to hold position It is imperative that the absolute po
61. Servo Node 12 ae 8 or 12 07842C Servo Node 5 gu 12 or 16 07843C Servo Node 13 e The commutation enable Ixx01 should be set to 3 indicating that commutation is performed from Y registers specified in Ixx83 e The current loop feedback address Ixx82 should be set per the following table eu Motor Ixx82 Register jennings Motor Ixx82 Register 1 Sor9 078422 Servo Node 0 a 9or13 S078432 Servo Node 8 P 6 or 10 078426 Servo Node 1 6 10 or 14 078436 Servo Node 9 a 7or 11 07842A Servo Node 4 7 11 or 15 07843A Servo Node 12 4 8 or 12 07842E Servo Node 5 g 12 or 16 07843E Servo Node 13 228 MACRO Connectivity Geo Brick LV User Manual e The current feedback mask Ixx84 should be set to SFFF000 e Commutation Cycle Size Ixx70 Number of pair poles Ixx71 Number of counts per revolution 32 e 2T Settings example for motor 9 I15 0 define define define define define define define define MaxPhaseFreq P8000 PWMC1k P8001 PhaseClk P8002 ServoClk P8003 MaxPhaseFreq 117964 8 241680043 PWMC1k 117964 8 441680046 PhaseC1k MaxPhaseFreq 16801 1 ServoClk PhaseClk 16802 1 Mtr9ContCurrent 3 Mtr9PeakCurrent 9 MaxADC 16 3 Mtr9I2TOnTime 2 F r F Trigonometric calculation in degrees Max Phase Clock KHz PWM Clock KHz Phase Clock KH
62. Suggested M Variable Mxx48 0 j The motor is now phased It is ready for open loop or closed loop commands if the position loop is tuned Hg Mm m The aforementioned procedure can be done online from the terminal window or implemented in a PLC for convenience Manual Phasing Example 1 define MtrlPhasePos M171 Motor 1 Phase Position Register Suggested M Variable MtrlPhasePos gt X B4 0 24 S define MtrlPhaseErrBit M148 Motor 1 Phasing Search Error Bit Suggested M Variable Mtr1PhaseErrBit 5Y S5SC0 8 Open plc 1 clear 5 500 8388608 110 while I5111 gt 0 Endw P129 1129 P179 1179 Store Ixx29 and Ixx79 129 0 1179 1000 Set Ixx29 0 and Ixx79 to positive value adjustable 5 100 8388608 110 while I1511150 Endw 100 msec delay CMD 100 Issue 0 open loop command output 5 3000 8388608 110 while I5111 gt 0 Endw 3 seconds delay to allow motor to settle Mtr1PhasePos 0 Set phase register to zero 5 500 8388608 110 while I5111 gt 0 Endw 1 2 second delay CMD 1K Kill Motor 5 100 8388608 110 while 1511150 Endw 100 msec delay 129 P129 1179 P179 Restore Ixx29 and Ixx79 to original values Mtr1lPhaseErrBit 0 Clear Phasing search error bit 5 500 8388608 110 while 1511150 Endw 1 2 second delay Dis ple 1 Execute PLC once Close Motor Setup 171 Geo Brick LV User Manual Alternately a more refined manual phasing method can be implemented Knowing a good v
63. Symbol Function Notes 1 AGND Ground Analog Ground 2 ADC Input 16 bit Analog Input channel 5 6 3 DAC Output 12 bit filtered PWM analog output channel 5 6 4 BR NC Output Brake 5 6 Relay Normally Closed 5 AMPFLT Input Amplifier fault Input 5 6 6 ADC Input 16 bit Analog Input channel 5 6 7 DAC Output 12 bit filtered PWM analog output channel 5 6 8 BRCOM Common Brake 5 6 Relay Common 9 BR NO Output Brake 5 6 Relay Normally Open X11 X12 Analog Inputs Outputs X11 X12 D Sub DE 9F Mating D Sub DE 9M Pin Symbol Function Notes 1 AGND Ground Analog Ground 2 ADC Input 16 bit Analog Input channel 7 8 3 DAC Output 12 bit filtered PWM analog output channel 7 8 4 BR NC Output Brake 3 4 Relay Normally Closed 5 AMPFLT Input Amplifier fault Input 7 8 6 ADC Input 16 bit Analog Input channel 7 8 7 DAC Output 12 bit filtered PWM analog output channel 7 8 8 BRCOM Common Brake 3 4 Relay Common 9 BR NO Output Brake 3 4 Relay Normally Open Connections And Software Setup 133 Geo Brick LV User Manual Setting up the Analog ADC Inputs Differential Analog Input Signal 10VDC Input Signal Single Ended Analog Input Signal 10VDC Input Signal Note For single ended connections tie the negative ADC pin to ground gt a The analog inputs use the ADS8321 Converter device Note Full 16 bit r
64. These are motors 1 through 8 or 4 if it is a 4 axis Geo Brick LV 5 Clock settings considerations e The MACRO ring is synchronized at phase rate The phase clock frequency must be the same on the master and each of the slaves Geo MACRO Drives e It is also advised that the MACRO and servo ICs be set to the same phase frequency I6800 17000 7 Macro ICO MaxPhase PWM Frequency Control T6801 17001 Macro ICO Phase Clock Frequency Control T6802 17002 Macro ICO Servo Clock Frequency Control It is not necessary for the master to have the MACRO IC sourcing the EF clock But if it is desired 119 can be simply set to 6807 followed by a Save and a reset Note 6 MACRO ring settings e 180 181 and 82 enable the ring error check function e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used I16840 4030 Macro ICO Ring Configuration Status typical master IC setting I16841 0FC003 Macro ICO Node Activate Ctrl Servo nodes 0 1 User Input 178 32 Macro Type 1 Master Slave Communications Timeout 1705853 Macro IC 0 Node Auxiliary Register Enable for 2 macro motors 171 853 Type 1 MX Mode define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage I80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ri
65. nA aed Channel Source A D converter Channel Source A D converter Address Address Address Address 78000 78B00 78100 78B08 78008 78B02 78108 78BOA 78010 78B04 78110 78B0C AIwIN INID Nn 78018 78B06 78118 78B0E Results are found in the processed data address which the position and velocity feedback pointers Ixx03 Ixx04 are usually assigned to Note Connections And Software Setup 55 Geo Brick LV User Manual The equivalent Turbo PMAC script code for 8 channel entries Channel 1 8000 SFF8000 High resolution interpolator 8001 5078B00 A D converter address 8002 000000 Bias Term and Entry result Channel 2 8003 SFF8008 High resolution interpolator 8004 5078B02 A D converter address 8005 000000 Bias Term and Entry result Channel 3 8006 SFF8010 High resolution interpolator 8007 078B04 A D converter address 8008 5000000 Bias Term and Entry result Channel 4 8009 SFF8018 High resolution interpolator 8010 5078B06 A D converter address 8011 5000000 Bias Term and Entry result Channel 5 8012 SFF8100 High resolution interpolator 8013 5078B08 A D converter address 8014 5000000 Bias Term and Entry result Channel 6 8015 SFF8108 High resolution interpolator 8016 5078B0A A D converter address 8017 000000 Bias Term and Entry result Channel 7
66. on battery then the use of an industrial USB hub is highly advised X14 RJ45 Ethernet Connector This connector is used to establish communication over Ethernet between the PC and the Geo Brick LV A crossover cable is required if you are going directly to the Geo Brick LV from the PC Ethernet card and not through a hub Delta Tau strongly recommends the use of RJ45 CAT5e or better shielded cable Newer network cards have the Auto MDIX feature that eliminates the need for crossover cabling by performing an internal crossover when a straight cable is detected during the auto negotiation process For older network cards one end of the link must perform media dependent interface MDI crossover MDIX so that the transmitter on one end of the data link is connected to the receiver on the other end of the data link a crossover patch cable is typically used If an RJ45 hub is used then a regular straight cable must be implemented Maximum length for Ethernet cable should not exceed 100m 330ft 140 Connections And Software Setup Geo Brick LV User Manual X15 Watchdog amp ABORT TB2 X15 has two essential functions e A 24VDC Abort Input mandatory for normal operation which can be used in various applications to halt motion when necessary i e opening machine door replacing tool e A watchdog relay output allowing the user to bring the machine to a stop in a safe manner in the occurrence of a watchdog These functions are d
67. s mounting gears to provide a good electrically conductive path in as many places as possible Mount the drive on the back panel so there is airflow at both the top and bottom areas of the drive at least three inches Mounting 19 Geo Brick LV User Manual Connector Locations Top View 24VDC Encoder 1 General Logic Power Encoder 5 AMP 1 Purpose I O N Encoder 2 _ AMP 2 Safe Torque Encoder 6 Off is Limits NI MACRO AMP 3 amp Flags Ethernet Abort amp WD AMP 4 RS232 Encoder 3 AMP 5 Encoder 7 Encoder 4 AMP 6 Encoder 8 AMP 7 Analog I O AMP 8 PWM Interface Alt Enc Pwr Analog I O AC DC Handwheel Bus Power Input Front View Bottom View 20 Mounting Geo Brick LV User Manual CAD Drawing GBD4 xx xxx xxx xxxxxx and GBD8 xx XXX XXX XXXXXX Width Depth Height Weight Case Dimensions 4 101 6mm 7 2 182 88mm 15 4 391 16mm 9 6 lbs 4 4Kg 14 62 371 35 mm L 2 50 63 50 mm mo mm m coin mien en mn m p a 3x M4 13 50 342 90 mm
68. 00 0 00 20000 00 410 00 o a 8 oas s13 Ayootaa 820 00 20000 00 A g 5 a 2 5 5 5 B 5 n4 5 E 3 5 o 1230 00 40000 00 1640 00 60000 00 200 Time msec You should see an increasing velocity curve during the positive segment of the current command and a decreasing velocity curve during the negative segment of the current command YOUR ENCODER IS DECODING CORRECTLY Acceptable Step and Parabolic position responses should look like the following Position Step Response Position Parabolic Response Motor 2 Parabolic Move Plot Result Executed at 7 34 14 PM 41712010 60000 00 48000 00 36000 00 100 200 300 400 500 600 700 800 900 24000 00 12000 00 0 00 12000 00 24000 00 36000 00 48000 00 60000 00 Actual and Commanded Velocity cts sec 100 200 300 400 500 600 700 800 900 1000 Time msec Time msec Velocity Correlation Time 0 5647 Average Fe Vel Time 0 0062 Acceleration Correlation Time 0 2995 Rise Time 0 016 s Peak Time 0 045 s Natural Freq 35 6 Hz Over Shoot 0 3 Damping 1 0 Settling Time 0 025 s Average Fe Acc Time 0 0201 Max Following Error 2 7643 Proportional Gain Ix30 700000 Derivative Gain Gain Ix31 4500 Velocity Feedforward Gain Ix32 4500 Integral Gain Ix33 5000 Integral Mode Ix34 0 Acceleration Feedforward Gain Ix35 50000 Command Limit Ix69 22209 Servo Cycle Extension Ix60 0 Command Limit Ix69 22209 Servo Cycle Extension Ix6
69. 10 838613 Servo Time Interrupt define ResExcMag M8000 Excitation Magnitude define ResExcFreq M800 Excitation Frequency ResExcMag gt Y 78B11 0 4 Excitation Magnitude register ResExcFreq gt Y 78B13 0 4 Excitation Frequency register ResExcMag 11 10 Volts User Input ResExcFreq 0 Phase Clock 1 10 KHz User Input PLC to establish Resolver Magnitude amp Frequency on power up Open plc 1 clear ResExcMag 11 ResExcFreq 0 Disable plc 1 Close 64 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback HiperFace Caution The majority of HiperFace devices requires 7 12 VDC power This has to be supplied externally and NOT wired into the brick unit Pins 4 and 12 are unused in this case leave floating X1 X8 D sub DA 15F Mating D Sub DA 15M 00000000 00000 Pin Symbol Function Notes 1 Sin Input Sine signal input 2 Cos Input Cosine signal input 3 Unused 4 EncPwr Output 5V encoder power 5 RS485 Input Data Packet 6 Unused 7 Unused 8 Unused 9 SIN Sine signal input 10 COS Cosine signal input 11 Unused 12 GND Common Common ground 13 Unused 14 RS485 Input Data Packet 15 Unused This option allows the Brick to connect to up to eight HiperFace type feedback devices The HiperFace on going position sinusoidal data is processed by the x 4096 interpolator The encoder conversio
70. 2 Protocol 4 Resolver Feedback Channels and Serial Enc BISS B amp C Protocol 4 Resolver Feedback Channels and Serial Enc Tamagawa Protocol 4 Resolver Feedback Channels and Serial Enc Panasonic Protocol 8A0 8B0 8 Sinusoidal Encoder Feedback Channels 8 Resolver Feedback Channels 8C1 8 Serial Encoder Feedback Channels Yaskawa Sigma Il amp Ill amp V Protocol 8 Serial Encoder Feedback Channels EnDat 2 2 Protocol 8 Serial Encoder Feedback Channels BISS B amp C Protocol 8 Serial Encoder Feedback Channels Tamagawa Protocol 8 Serial Encoder Feedback Channels SS Protocol 8 Sinusoidal Encoder and Serial Enc SSI Protocol 8 Sinusoidal Encoder and Serial Enc Yaskawa Sigma Il amp IIl amp V Protocol 8 Sinusoidal Encoder and Serial Enc EnDat 2 1 2 2 Protocol 8 Sinusoidal Encoder and Serial Enc HiperFace Protocol 8 Sinusoidal Encoder and Serial Enc BISS B amp C Protocol 8 Sinusoidal Encoder and Serial Enc Tamagawa Protocol 8 Sinusoidal Encoder and Serial Enc Panasonic Protocol 8 Resolver Feedback Channels and Serial Enc SSI Protocol 8 Resolver Feedback Ch and Serial Enc Yaskawa Sigma Il 8 Ill 8 V Prot 8 Resolver Feedback Channels and Serial Enc EnDat 2 2 Protocol 8 Resolver Feedback Channels and Serial Enc BISS B amp C Protocol 8 Resolver Feedback Channels and Serial Enc Tamagawa Protocol 8 Resolver Feedback Channels a
71. 24 Macro M351 gt Y 003444 0 24 Macro M353 gt X 003444 20 4 Macro M354 gt Y 003444 14 Macro M355 gt 003444 15 Macro M356 gt X 003444 16 Macro M357 gt X 003444 17 Macro M358 gt X 003444 18 Macro M359 gt X 003444 19 Macro Macro IC 0 Node 5 Flag Regis M450 gt X 003445 0 24 Macro M451 gt Y 003445 0 24 Macro M453 gt X 003445 20 4 Macro M454 gt Y 003445 14 Macro M455 gt X 003445 15 Macro M456 gt X 003445 16 Macro M457 gt X 003445 17 Macro M458 gt X 003445 18 Macro M459 gt X 003445 19 Macro Macro IC 0 Node 8 Flag Regis M550 gt X 003448 0 24 Macro M551 gt Y 003448 0 24 Macro M553 gt X 003448 20 4 Macro M554 gt Y 003448 14 Macro M555 gt X 003448 15 Macro M556 gt X 003448 16 Macro M557 gt X 003448 17 Macro M558 gt 003448 18 Macro M559 gt X 003448 19 Macro anaaanaaaanaa DDODO2202002000 ct O K n FT aaaaaaaaa oo oO OO OD Oo KW 0 ARORA ARANA oo0oo0oo0oo0o0000O aaaaaaaaag H 0 Omwmo om co TOO ct O K n aananaaaana DOO Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Node Ome mo oo oO O UU GU O Qi QI Wi Ul Ul o oO CO CO co flag status
72. 24 U M829 5Y SCO 8 1 S140 8 S1C0 8 240 8 2C0 8 340 8 3C0 8 440 8 BC 0 24 U 13C 0 24 U 1BC 0 24 U 23C 0 24 U 2BC 0 24 U 33C 0 24 U 3BC 0 24 U I196 8 100 1 Open plc 1 clear If M148 1 CMD M148 8 100 0 EndIF Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Motor Turbo M129 0 M229 0 M329 0 M429 0 M529 0 M629 0 M729 0 M829 0 Close r r r r 1 Phasing 2 Phasing 3 Phasing 4 Phasing 5 Phasing 6 Phasing 7 Phasing 8 Phasing 1 Direct 2 Direct 3 Direct 4 Direct 5 Direct 6 Direct 7 Direct 8 Direct PMAC PWM error error error error error error error error fault fault fault fault fault fault fault fault Current Loop Current Loop Current Loop Current Loop Current Loop Current Loop Current Loop Current Loop control for Brush motor This will ensure zero direct current loop output tuning bit bit bit bit bit bit bit bit Integrator Integrator Integrator Integrator Integrator Integrator Integrator Integrator Clear Phasing Error Bit Output Output Output Output Output Output Output Output Axis1 4 Zero Current Loop Integrator Output Axis5 8 Zero Current Loop Integrator Output For Brush Motor Control PLC has to be executing periodically Note Remember to configure the Tuning software to allow this PLC to run while perform
73. 4 100 816 Analog Outputs M502 gt Y 078102 8 16 S M602 gt Y 07810A 8 16 S M702 gt Y 078112 8 16 S M802 gt Y 07811A 8 16 S Analog Analog Analog Analog DAC Output DAC Output DAC Output DAC Output Connector X9 Connector X10 Connector X11 Connector X12 Testing the Analog Outputs With the setting of I7100 735 per the above example writing directly to the assigned M variable i e Mxx02 should produce the following voltage output Mxx02 Single Ended VDC Differential VDC 735 10 20 368 5 10 0 0 0 368 5 10 735 10 20 The output voltage is measured between AGND and DAC for single ended operation and between DAC and DAC for differential operation Writing values greater than I7100 i e 735 in Mx02 will saturate the output to 10 or 20 volts in single ended or differential mode respectively Note IN MACRO connectivity provides more analog output options e g ACC EN 24M2A Note 136 Connections And Software Setup Geo Brick LV User Manual Setting up the General Purpose Relay Brake This option provides either a general purpose relay which can be toggled in software OR a dedicated brake relay output tied to its corresponding channel amplifier enable line This option is built to order and is jumper configurable at the factory E6 E7 E8 and E9 The brake relay is commonly used in synchronizing in hardware extern
74. 4 53 Trigger at Phase 4MHz serial Clock User Input ChlEnDatCtr1 381425 Channel 1 EnDat control register User Input 15111 500 8388608 110 while I5111 gt 0 endw 4 sec delay Dis ple 1 Execute once on power up or reset Close HHHHHH f Some EnDat2 2 Encoders do not support additional information with the 38 111000 command code Try using 07 000111 command code if you cannot see data in the Serial Data Register A or in the Note position window after setting up the Encoder Conversion Table 90 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback BiSS C B X1 X8 D sub DA 15F G 2 Mating D Sub DA 15M 5 3 a E Pin Symbol Function Notes 1 Unused 2 Unused 3 Unused 4 EncPwr Output Encoder Power 5 Volts 3 Data Input Output Data packet SLO 6 Clock Output Serial Encoder Clock MO 7 Unused 8 Unused 9 Unused 10 Unused 11 Unused 12 GND Common Common Ground 13 Clock Output Serial Encoder Clock MO 14 Data Input Output Data Packet SLO 15 Unused e Some BiSS devices require 24V power which has to be brought in O externally Pins 4 and 12 are unused in this case leave floating N e Hardware capture is not available with Serial encoders ote Configuring BiSS Configuring the BiSS protocol requires the programming of two essential control registers e
75. 5 or 9 350A 5 9 or 13 3512 3 6 or 10 350C 6 10 or 14 3514 ce Tor 11 350E ga 11 or 15 3516 4 8 or 12 3510 g 12 or 16 53518 However if the Encoder Conversion Table has been modified then the MACRO motors nodes entries need to be configured properly This can be done using the Encoder Conversion Table utility in the PewinPro2 under Configure gt Encoder Conversion Table Click on End of Table to access the next available entry Conversion Type Parallel position from Y word with no filtering No Shifting Width in Bits 24 Source Address Servo node Address See table below Record the processed data address This is where the position and velocity pointers will be set to for a specific node motor number E g 1903 2 351A g Repeat steps for additional motors servo nodes mAonogp 210 MACRO Connectivity Geo Brick LV User Manual i Turbo Encoder Conversion Table Device SAE Download Entry Select a table entry to view edit End of Table First Entry of Table Enty Y 3519 Processed Data x 3519 Address Address Entry 17 View All Entries of Table Viewing Conversion Type End of Table Source Address pr Ae Conversion Shifting of Parallel Data Normal shift 5 bits to the left t No Shifting i Turbo Encoder Conversion Table Device DER Download Entry Select a table entry to view edit End of Table Eirst Entry of Table
76. 578110 Channel 4 578018 Channel 8 578118 Alternatively the above procedure can be performed using the Halls Automatic Utility software available on our forum The automatic software utility requires jogging the motor make sure O the motor is phased custom 2 guess or stepper method and that the position loop tuning is acceptable for closed loop movement Note 176 Motor Setup Geo Brick LV User Manual Fine Phasing Correcting for hall sensors error torque loss can be implemented using the following procedure performed once per installation Phase the motor manually as tight as possible See manual phasing section Home motor to machine zero location e g most commonly using flag and C index with or without home offset similarly to how the motor would home after the machine has been commissioned 3 Record the phase position Mxx71 at the home location Pa The above procedure reveals the optimum phase position at home or zero location of the motor Subsequently the motor is roughly phased on power up using hall sensors And the phase position Mxx71 is then corrected overwritten after the motor is homed to known location This is usually done in a PLC routine Example Channel 1 is driving a motor with home capture done using home flag and index pulse high true The recorded phase position from the manual phasing reference test was found to be 330 It is stored saved in
77. 6 display the axis current option 246 Troubleshooting Geo Brick LV User Manual ADC A Status Word ADC A Current Value Status Bits Reserved Sakin Bit 23 22 21 20 19 1817 16 15 14 13 12 11 10 9 8 7 6 5 4 3 Pali o 0 Servo 1 Stepper Bits 8 6 hex Error Code 000 0 No error Not ready 001 1 No error Ready 010 2 Bus Under Voltage Warning 011 3 Over Temperature gt 70 C 100 4 Over Voltage gt 85 VDC 101 5 I2T Warning Fault 110 6 Over Current Fault IN These status bits can be useful for custom written graphic user A interface allowing the display of faults to the operator Note ADC B Status Word Axis Current Option ADC B Current Value Reserved Bit 23 22 21 20 19 1817 16 15 14 13 12 11 10 9 8 7 Gus 4 3 a o Amplifier Firmware Version Code If bits 11 10 of the Strobe Word are 11 then ADC B bits 9 6 display the amplifier firmware version If bits 11 10 of the Strobe Word are 00 then ADC B bits 7 6 display the axis current option Bits 7 6 Current Option 00 5A 15A 01 IA 3A 10 11 0 25A 0 75A Troubleshooting 247 Geo Brick LV User Manual
78. 78B24 8003 011006 Width and Bias total of 17 bits LSB starting at bit 6 8004 5278B28 Entry 3 Unfiltered parallel pos of location Y 78B28 8005 5011006 Width and Bias total of 17 bits LSB starting at bit 6 8006 5278B2C Entry 4 Unfiltered parallel pos of location Y 78B2C 8007 011006 Width and Bias total of 17 bits LSB starting at bit 6 8008 5278B30 Entry 5 Unfiltered parallel pos of location Y 78B30 8009 5011006 Width and Bias total of 17 bits LSB starting at bit 6 8010 278B34 Entry 6 Unfiltered parallel pos of location Y 78B34 8011 5011006 Width and Bias total of 17 bits LSB starting at bit 6 8012 278B38 Entry 7 Unfiltered parallel pos of location Y 78B38 8013 011006 Width and Bias total of 17 bits LSB starting at bit 6 8014 5278B3C Entry 8 Unfiltered parallel pos of location Y 78B3C 8015 011006 Width and Bias total of 17 bits LSB starting at bit 6 Position Ixx03 and Velocity Ixx04 Pointers 103 3502 Motor 1 Position feedback address ECT processed data 104 3502 Motor 1 Velocity feedback address ECT processed data 203 3504 Motor 2 Position feedback address ECT processed data 204 S 3504 Motor 2 Velocity feedback address ECT processed data 303 3506 Motor 3 Position feedback address ECT processed data 304 53506 Motor 3 Velocity feedback address ECT processed data 403 3508 Motor 4 Position feedback address ECT processed data 404 53508 Motor 4 Velocity
79. 78B3C Turbo Encoder Conversion Table Device Cie Select a table entry to view edit End of Table Entry 1 Download Entry i First Entry of Table Processed Data X g3502 Address View All Entries of Table Enty Y 83501 Address Yiewing Conversion Type Parallel pos from Y word with no filtering x Source Address 578B20 z Width in Bits 113 Offset Location of LSB at Source Address 0 Based Index 0 Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting This is a 2 line ECT entry its equivalent script code I18000 278B20 Unfiltered parallel pos of location Y 78B20 I18001 500D000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to the processed data address e g 3502 I100 1 Mtr 1 Active Remember to activate the channel to see feedback 110353502 Mtr 1l position loop feedback address T104 3502 Mtr 1 velocity loop feedback address At this point you should be able to move the motor encoder shaft by hand and see motor counts in the position window Note 100 Connections And Software Setup Geo Brick LV User Manual Counts per User Units Technique 1 With technique 1 the user should expect to see 2 counts per revolution for rotary encoders and 1 Resolution counts per user unit for linear scales in the motor position window
80. Address 425 5078018 Motor 4 Flag Address 525 5078100 Motor 5 Flag Address 6255078108 Motor 6 Flag Address 7255078110 Motor 7 Flag Address 8255078118 Motor 8 Flag Address 1245800401 Motor 1 Flag Control High True Amp Fault disable 3 Harmonic 224 5800401 Motor 2 Flag Control High True Amp Fault disable 3 Harmonic 324 5800401 Motor 3 Flag Control High True Amp Fault disable 3 Harmonic 424 5800401 Motor 4 Flag Control High True Amp Fault disable 3 Harmonic 524 5800401 Motor 5 Flag Control High True Amp Fault disable 3 Harmonic 624 5800401 Motor 6 Flag Control High True Amp Fault disable 3 Harmonic 7124 5800401 Motor 7 Flag Control High True Amp Fault disable 3 Harmonic 824 5800401 Motor 8 Flag Control High True Amp Fault disable 3 Harmonic Commutation Address Cycle size Ixx83 Ixx70 Ixx71 183 3503 Motor 1 on going Commutation Address ECT Integration Result 283 S 3506 Motor 2 on going Commutation Address ECT Integration Result 383 3509 Motor 3 on going Commutation Address ECT Integration Result 483 5350C Motor 4 on going Commutation Address ECT Integration Result 583 S350F Motor 5 on going Commutation Address ECT Integration Result 683 3512 Motor 6 on going Commutation Address ECT Integration Result 783 53515 Motor 7 on going Commutation Address ECT Integration Result 883 3518 Motor 8 on going Commutation Address ECT Integration Result 170 8 10
81. Device 0 Geo Brick Drive DER Select a table entry to view edit End of Table Download Sei Entry 9 a Kal First Entry of Table Done Enty Y 3511 Processed Data y Ca Address Ca Yiew All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering v Source Address 578B20 x Width in Bits 118 Offset Location of LSB at Source Address 0 5 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting This is a 2 line ECT entry its equivalent script code I18016 52F8B20 Unfiltered parallel pos of location Y 78B20 User Input I8017 12002 Width and Offset Processed result at X 3512 User Input Record the processed data address e g 3512 This is where the wT commutation position address Ixx83 will be pointing to Also this will be used in setting up the power on phasing routine Note The commutation enable and position address would then be I101 1 Mtr l Commutation enable from X Register 1183 3512 Mtr 1 Commutation Position Address User Input 110 Connections And Software Setup Geo Brick LV User Manual Absolute Power On Position Read Technique 3 With Technique 3 the absolute power on read can be performed using PMAC s automatic settings Ixx80 Ixx10 and Ixx95 Example 1 Channel 1 driving a 32 bit 20 bit single turn 12 bit multi turn rotary serial encoder 1180 2
82. EndW ite protect channel from strobe word gt 0 EndwW and set motor mode Servo gt 0 EndwW s on selected axis in Servo mode gt 0 EndwW ite protect channel from strobe word gt 0 EndwW and set motor mode Servo gt 0 Endw s on selected axis in Servo mode gt 0 EndwW ite protect channel from strobe word gt 0 EndwW and set motor mode Servo gt 0 EndwW s on selected axis in Servo mode gt 0 EndwW ite protect channel from strobe word gt 0 EndW and set motor mode Servo gt 0 EndwW s on selected axis in Servo mode gt 0 Endw ite protect channel from strobe word gt 0 Endw and set motor mode Servo gt 0 EndwW s on selected axis in Servo mode gt 0 Endw ite protect channel from strobe word gt 0 Endw and set motor mode Servo gt 0 EndW s on selected axis in Servo mode gt 0 EndW ite protect channel from strobe word gt 0 EndwW changes changes changes changes changes changes changes changes Motor Type amp Protection Power On PLCs Geo Brick LV User Manual Hybrid Motor Power On PLC Sample DV It is possible to mix and match motor types per channel Note The following PLC sets up a 4 axis Geo Brick LV to drive stepper motors on channels 1 2 and servo motors on channels 3 4 Open plc 1 clear Disable all other PLCs and kill motors DIS PLC 0 DIS PLCC 0 31 DIS PLC 2 3 CMD K
83. Erro AA AN 256 Watchdog Timer Ipis aaa AGDAL MANA AG 257 APPENDIX 2mp KABA ABA PADA KAANAK 258 D Sub Connector Spacing Specifications cccsccccccceeeeseeennneeceeeeeeeseeeeanaeeeeeeceeeseeetenaeeeeeeees 258 APFPENDIX Pi cciscvasinvscinnanesiadudnnneadasdeniadnwedunoramemanedesane 259 Control Board Jumpers For Internal USE ana a Aa 259 APPENDIX Cinananaaananiianaaaaaaaaanaunaananaaaaaaahananahiaaar 261 Schematic Samples aaa aaah Abai 261 APPENDIX Pipa pA NAAAKIT aiiin 264 Absolute Serial Encoders Limitation with Turbo PMAC 000000000 264 Table of Contents 9 Geo Brick LV User Manual INTRODUCTION The Geo Brick LV Low Voltage combines the intelligence and capability of the Turbo PMAC2 motion controller with advanced MOSFET technology resulting in a compact smart 4 or 8 axis servo drive package The flexibility of the Turbo PMAC2 enables the Geo Brick LV to drive stepper brush or brushless motors with unsurpassed pure digital DSP performance The absence of analog signals required for typical motion controller drive interfacing enables higher gains better overall performance and tighter integration while significantly driving down costs and setup time The Geo Brick LV s embedded 32 axis Turbo PMAC2 motion controller is programmable for virtually any kind of motion control application The built in software PLCs allow for complete machine logic control The Geo Brick LV supports the f
84. Frequency Control 16801 17001 Macro IC 0 Phase Clock Frequency Control T6802 17002 Macro IC 0 Servo Clock Frequency Control 6 Make sure that the motors are fully operational and can be controlled in closed loop e g jog commands Position PID tuning is not critical at this point Fine tuning of the slave motors should be eventually performed from the master side 7 Kill all motors Macro Connectivity 215 Geo Brick LV User Manual 8 aag ring settings I80 I81 and I82 enable the ring error check function e I85 specifies a station number which the slave unit is assigned to e g multiple slave stations e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used 80 INT RingCheckPeriod 8388608 110 I8 1 1 81 INT I80 FatalPackErr 100 1 82 180 18144 85 Station number 1 if multiple slaves User Input 684054080 Macro ICO Ring Configuration Status typical slave setting 6841 SOFF333 Macro ICO Node Activate Ctrl Servo nodes 0 1 12 13 User Input define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 1 5 Suggested Fatal Packet Error Percentage 5 Macro Ring Check Period Servo Cycles Macro Maximum Ring Error Count Macro Minimum Sync Packet Count 9 MACRO slave command address Ixx44 specifies the MACRO command address an
85. Global Control Registers e Channel Control Registers The resulting data is found in e BiSS C BiSS B Data Registers Connections And Software Setup 91 Geo Brick LV User Manual Global Control Registers X 78BnF default value 18000B where n 2 for axes 1 4 n 3 for axes 5 8 Global Control Register Axes 1 4 X 78B2F Axes 5 8 X 78B3F The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock SER_Clock is generated from a two stage divider clocked at 100 MHz as follows Ser_Clock MH orn MI x 25 3 M N Clock Frequency 49 0 2 0 MHz 99 0 1 0 MHz 99 1 500 0 KHz 99 2 250 0 KHz Default Settings M 24 N 0 gt 4 MHz transfer rates There are two external trigger sources phase and servo Bits 9 8 in the Global Control register are used to select the source and active edge to use as the internal serial encoder trigger The internal trigger is used by all four channels to initiate communication with the encoder To compensate for external system delays this trigger has a programmable 4 bit delay setting in 20 psec increments 23 16 15 12 11 10 9 8 T 6 35 4 3 2 1 0 M Divisor N Divisor Trigger Clock Trigger Edge Trigger Delay Protocol Code Bit Type Default Name Description Intermediate clock frequency for SER Clock The
86. Loss Status Bit MtrlEncLoss gt Y 078807 0 1 H define Mtr2EncLoss M280 Motor 2 Encoder Loss Status Bit Mtr2EncLoss 5Y 5078807 1 1 define Mtr3EncLoss M380 Motor 3 Encoder Loss Status Bit Mtr3EncLoss gt Y 078807 2 1 define Mtr4EncLoss M480 Motor 4 Encoder Loss Status Bit Mtr4EncLoss gt Y 078807 3 1 define SysEncLoss P1080 System Global Encoder Loss Status user defined SysEncLoss 0 Save and Set to 0 at download normal operation 1 System Encoder Loss Occurred OPEN PLC 1 CLEAR If SysEncLoss 0 No Loss yet normal mode If MtrlEncLoss 0 or Mtr2EncLoss 0 or Mtr4EncLoss 0 or Mtr4EncLoss 0 CMD K One or more Encoder Loss es detected kill all motors SysEncLoss 1 Set Global Encoder Loss Status to Fault EndIf EndIF If SysEncLoss 1 Global Encoder Loss Status At Fault If MtrlAmpEna 1 or Mtr2AmpEna 1 or Mtr4AmpEna 1 or Mtr4AmpEna 1 Trying to Enable Motors CMD K Do not allow Enabling Motors Kill all EndIF EndIF CLOSE 58 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback Resolver X1 X8 D sub DA 15F 4 3 2 Mating D sub DA 15M 5 B D a Pin Symbol Function Notes 1 Sin Input Sine 2 Cos Input Cosine 3 CHC Input Index 4 EncPwr Output Encoder Power 5 Volts 5 Unused 6 Unused 7 2 5 Volts Output Reference Power 2 5 volts 8 Unused 9 Sin Input Sine 10 Cos Inp
87. M328 M428 M528 M628 M128 M828 ChlYasIncHalls ChlYasIncBits0_ 3 2 Ch2YasIncHalls Ch2YasIncBits0 3 2 Ch3YasIncHalls Ch3YasIncBits0_3 2 Ch4YasIncHalls Ch4YasIncBits0_ 3 2 Ch5YasIncHalls Ch5YasIncBits0 3 2 Ch6YasIncHalls Ch6YasIncBits0 3 2 Ch7YasIncHalls Ch7YasIncBits0 3 2 Ch8YasIncHalls Ch8YasIncBits0 3 2 Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel 1 2 3 4 5 6 7 8 Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Inc Inc Inc Inc Inc Inc Inc ING Inc Inc Inc ING Inc ING ING Inc Data Data Data Data Data Data Data Data Hall Hall Hall Hall Hall Hall Hall Hall first first first first first first first first Sensors Sensors Sensors Sensors Sensors Sensors Sensors Sensors Data Data Data Data Data Data Data Data e Restore Ixx29 and Ixx79 to their original values Motor Setup 179 Geo Brick LV User Manual Example Channel 1 is driving a Yaskawa Incremental Encoder with the test procedure above resulting in zone 1 definitions Halls power on phasing can be done in a PLC as follows define define ChlIncData ChiHalls M7030 M7031 ChlIncData gt Y 78B20 0 24 ChiHall s gt define MtrlPhasePos define Mtr1lPhaseSrchErr
88. PLC Sample The following PLC sets up an 8 axis Geo Brick LV to drive 8 stepper motors Open PLC 1 Clear Disable all other PLCs and kill motors DIS PLC 0 DIS PLCC 0 31 DIS PLC 2 3 CMD K Axis 1 Settings CMD WX 78014 SF8CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF84DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SFOODFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 2 Settings CMD WX 78014 SF9CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF94DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF10DFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 3 Settings CMD WX 78014 SFACDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SFA4DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF20DFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 4 Settings CMD WX 78014 SFBCDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 End
89. SS M5990 5999 gt Self referenced M Variables M5990 5999 0 Reset at download GLOBAL CONTROL REGISTERS define HFGlobalCtrll 4 M5990 Channels 1 4 HiperFace global control register define HFGlobalCtr15 8 M5991 Channels 5 8 HiperFace global control register HFGlobalCtr11 4 gt X 78B2F 0 24 U Channels 1 4 HiperFace global control register address HFGlobalCtr15 8 gt X 78B3F 0 24 U Channels 5 8 HiperFace global control register address CHANNEL CONTROL REGISTERS define Ch1lHFCtrl M5992 Channel 1 HiperFace control register define Ch2HFCtrl M5993 Channel 2 HiperFace control register define Ch3HFCtrl M5994 Channel 3 HiperFace control register define Ch4HFCtrl M5995 Channel 4 HiperFace control register define Ch5HFCtrl M5996 Channel 5 HiperFace control register define Ch6HFCtrl M5997 Channel 6 HiperFace control register define Ch7HFCtrl M5998 Channel 7 HiperFace control register define Ch8HFCtrl M5999 Channel 8 HiperFace control register Ch1HFCtr1 5X 578B20 0 24 U Channel 1 HiperFace control register Address Ch2HFCtr1 5X 578B24 0 24 U Channel 2 HiperFace control register Address Ch3HFCtr1 5X 578B28 0 24 U Channel 3 HiperFace control register Address Ch4HFCtr1 5X 578B2C 0 24 U Channel 4 HiperFace control register Address Ch5HFCtr1 5X 578B30 0 24 U Channel 5 HiperFace control r
90. T AG AAAN 37 Setting up the Analog Output J9 svcccscctassssersveeiscctaysiseasnsasacetavaisevinsa sstateseiiegavaaantoaaseiwesavngenes 39 Setting up Pulse and Direction Output PFM J9 aaa 4 Table of Contents 5 Geo Brick LV User Manual Setting up the Handwheel Port J9 GANG NGA 43 X1 X8 Encoder Feedback Digital A Quad B ivissccaccvesanatevessuanseasevananeeavasepnceuebaunecnsasuaecameneaneanst 44 Settin p Quadrat re Encoders misisse nre E T E E SEE 46 Encoder Count Error MELO saaan AABANGAN BIGYAN AA AAA 46 Encoder Loss Detection Quadrature ccccccccc cece eeeeseseeceeeeeceeaeeeseeeeeeeeeeeaaaesseeeesseessaaaaesseeeees 47 Step and Direction PFM Output To External Stepper Amplifier asoson 49 X1 X8 Encoder Feedback Sinusoidal 2 7 0 7202Q2Q Q Q a 54 Setting up Sinusoidal PNCOGETS GING AABANGAN AN 55 Counts per User EN amma eurre naik nani ne unni E E EEEE REEERE REEE EREEREER 56 Encoder Count Error MIXI 8 iss os sees en E 0k a E eae ks 57 Encoder Loss Detection SInUSO1d dl scsssccnssacssccncennsonnseansenananndonscncndesnaeandenssaarsennaensdenncnnndennaanns 58 X1 X8 Encoder Feedback Resolver ccccccccccecccccceesecccceesscceceeeecsceueeecsscuececsseseeeeseeueeesseeuens 59 Setting up TRA SOIVEN Ns axcnesananacacsgucisataeatanadssapasanarananepiaadatasmeasace NAA ANA AA 59 Resolver Excitation Magnitude AA PE BAO PA AAP 60 Resolver Excitation Frequency sisicisccasginnnneieceedaas piannaboceaane
91. a 24 bit hexadecimal word which is set up as follows 0 Rising Edge 1 Falling Edge t Senc_Clock 25 x M 1 x 2N 100 3 for EnDat 0 Trigger on Phase 1 Trigger on Servo Typically 0 Description M Divisor N Divisor 0 0 o Trigger Delay Protocol o Lu Bit 9 8 Binary 0 0 Hex S Field Value Notes Global Control Word M divisor 0 Hex 0x00 N divisor 0 Hex 0x0 Tri lock 0 Tri Ph ded rigger cloc rigger on Phase recommended 000003 Trigger Edge 0 Rising edge recommended Trigger Delay 0 No delay typical Protocol Code 3 Hex 0x3 EnDat Channel Control Register The Channel Control register is a 24 bit hexadecimal word which is set up as follows 010101 15 Reset EnDat 2 2 only 111000 38 Send Position EnDat 2 2 only 0 Disabled 1 Enabled 1 000111 07 Send Position EnDat 2 1 2 2 0 Continuous 0 Disabled Encoder Resolution 101010 2A Reset EnDat 2 1 2 2 1 One shot 1 Enabled ST MT ovo ow Description O O Command Code o o gose 058 Reserved Bit Length ESE 5 ns always 0 Resolution Bit Binary Hex S Connections And Software Setup Geo Brick LV User Manual
92. a user defined variable 17012 3 Motor 1 Capture Control Index high and Flag high 17013 0 Motor 1 Capture Control flag select Home Flag define MtrlDesVelZero M133 Motor 1 Desired velocity zero bit Suggested M Variable Mtr1DesVelZero 5X S0000B0 13 1 define MtrlInPosBit M140 Motor 1 Background in position bit Suggested M Variable MtrlInPosBit gt Y 0000C0 0 1 define MtrlPhasePos M171 Motor 1 Phase Position Register Suggested M Variable MtrlPhasePos gt X B4 0 24 S define MtrlRecPhasePos P7027 Recorded Phase Position Manual phasing reference test Mtr1RecPhasePos 330 User Input Open plc clear 5 500 8388608 110 while 15111 gt 0 Endw 1 2 sec delay CMD 1S Phase motor using Hall Effect Sensors 5 50 8388608 110 while 1I5111 gt 0 Endw 50 msec Delay While MtrlDesVelZero 0 or MtrlInPosBit 0 Endw Wait until motor settles and in position CMD 1hm Issue a home command 5 50 8388608 110 while 1I5111 gt 0 Endw 50 msec Delay While MtrlDesVelZero 0 or MtrlInPosBit 0 Endw Wait until motor settles and in position MtrlPhasePos MtrlRecPhasePos Adjust Phase Position 5 500 8388608 110 while 1I5111 gt 0 Endw 1 2 sec delay CMD 1K Kill Motor Optional Disable plc 1 Execute once Close Motor Setup 177 Geo Brick LV User Manual Hall Effect Phasing Yaskawa Incremental encoders Hall effect sensors can be used for rough phasing on
93. be set for either trigger mode If the Trigger Mode bit is set for one shot mode the hardware will automatically clear this bit after the trigger occurs 11 0 Reserved Reserved and always reads zero This read only bit provides the received data status It is low while the interface logic is communicating busy with the sa 0 Kaban Ready serial encoder It is high when all the data has been received 10 and processed This write only bit is used to enable the output drivers for W 1 SENC_MODE the SENC_SDO SENC_CLK SENC_ENA pins for each respective channel 09 08 0x00 Reserved Reserved and always reads zero This bit field is normally used to define the encoder address Encoder transmitted with each command Delta Tau does not support LOE ODI IW OEE address multiple encoders per channel a value of FF sends a general broadcast 70 Connections And Software Setup Geo Brick LV User Manual HiperFace Data Registers The HiperFace absolute power on data is conveyed into 4 memory locations Serial Encoder Data A B C and D The Serial Encoder Data A register holds the 24 bits of the encoder position data If the data exceeds the 24 available bits in this register the upper overflow bits are LSB justified and readable in the Serial Encoder Data B which also holds status and error bits Serial Encoder Data C and D registers are reserved and always read zero
94. can be used as a primary communication mean or employed as a secondary port that allows simultaneous communication RS 232 D Sub DE 9F Mating D Sub DE 9M Pin Symbol Function Description Notes 1 N C NC 2 TXD Output Receive data Host transmit Data 3 RXD Input Send data Host receive Data 4 DSR Bi directional Data set ready Tied to DTR 5 GND Common Common GND 6 DTR Bi directional Data term ready Tied to DSR 7 CTS Input Clear to send Host ready bit 8 RTS Output Req to send PMAC ready bit 9 N C NC The baud rate for the RS 232 serial port is set by variable 154 At power up reset The Geo Brick LV sets the active baud based on the setting of 154 and the CPU speed I52 Note that the baud rate frequency is divided down from the CPU s operational frequency The factory default baud rate is 38400 This baud rate will be selected automatically on re initialization of the Geo Brick LV either in hardware using the re initialization RESET SW button or in software using the command To change the baud rate setting on the Geo Brick LV set I54 to the corresponding value of desired frequency Issue a SAVE and recycle power on the unit For odd baud rate settings refer to the Turbo Software Reference Manual 154 Baud Rate I54 Baud Rate 8 9600 12 38 400 9 14 400 13 57 600 10 19 200 14 76 800 11 28 800 15 115 200
95. code may differ from one motor manufacturer to another EF Review the motor documentation carefully before making this connection Note Connections And Software Setup 145 Geo Brick LV User Manual 5V ENC PWR Alternate Encoder Power Typically feedback devices are powered up through the X1 X8 connectors on the Geo Brick LV using the internal 5 VDC power supply In some cases feedback devices consume power excessively and risk of surpassing the internal power supply limitation This connector provides an alternate mean to power up the feedback devices 5V only if the total encoder budget exceeds the specified thresholds Note Encoders requiring greater than 5VDC power must be supplied externally and NOT through the X1 X8 connectors NOR through this connector GIB DIXIE Kala aala mdf Cael ene kalakal a Cy lO ka ey Gem Add in Board Options The add in board any non zero digit in the highlighted part number field for MACRO and special feedback requires an additional 0 5A 5V power This alters the total power available for encoders The newer models of the Geo Brick LV have a beefier power supply and can handle more 5V power drain The following tables summarize the 5V power available for encoder devices X1 X8 The maximum current draw out of a single encoder channel must not exceed 750 mA Caution T
96. counter value will result lost counts Suggested M Variable Mxx18 for this channel is then set and latched to 1 until reset or cleared The three most common root causes of this error e Real encoder hardware problem e Trying to move the encoder motor faster than it s specification e Using an extremely high resolution speed encoder This may require increasing the SCLK The default sampling clock in the Geo Brick LV is 10MHz which is acceptable for virtually all applications A setting of I7m03 of 2257 from default of 2258 sets the sampling clock SCLK at about 20MHz It can be increased to up to 40 MHz No automatic action is taken by the Geo Brick LV if the encoder count error bit is set Note Connections And Software Setup 57 Geo Brick LV User Manual Encoder Loss Detection Sinusoidal The Encoder Loss circuitry uses the internal differential quadrature counts It monitors each quadrature pair with an exclusive or XOR gate In normal operation mode the two quadrature signals are in opposite logical states that is one high and one low yielding a true output from the XOR gate Channel Address Channel Address 1 Y 78807 0 1 5 Y 78807 4 1 Status Bit Definition 2 Y 78807 1 1 6 Y 78807 5 1 0 Encoder lost Fault 3 Y 78807 2 1 7 Y 78807 6 l Encoder present no Fault 4 Y 78807 3 1 8 Y 78807 7 1 Appropriate action user written plc needs to be i
97. current incrementally Delay Wait for motor to settle Delay Set phase position register to zero 1 2 second delay Kill Motor Delay Restore Ixx29 and Ixx79 to original values Clear Phasing search error bit Delay Run PLC once 172 Motor Setup Geo Brick LV User Manual 2 Guess Phasing Method The 2 guess is a rough phasing method for motors with relatively small loads It is not ideal for high torque requirements It can be used with any type of feedback Example of typical settings Ixx73 1200 5 Phase finding output value adjustable in units of 16 bit DAC Ixx74 12 Units of servo cycles adjustable Ixx80 4 2 guess method no absolute position read no power on phasing Stepper Phasing Method The stepper is a finer phasing method than the 2 guess It is generally used for motors with significant loads and higher torque demands It can be used with any type of feedback Example of typical settings Ixx73 1200 Phase finding output value adjustable in units of 16 bit DAC Ixx74 80 Units of Servo Cycles 256 adjustable Ixx80 6 Stepper method no absolute position read no power on phasing The 2 guess or stepper method s phase the motor upon issuing a n Note Motor Setup 173 Geo Brick LV User Manual Hall Effect Phasing Digital quadrature encoders Digital hall sensors can be used for rough phasing on power up without the need for a phasing search operation such as the manual
98. flag 7 input status M721 gt 078110 17 Positive Limit 7 flag input status M722 5X 5078110 18 Negative Limit 7 flag input status M815 gt X 078118 19 User 8 flag input status M816 gt X 078118 9 EQU8 ENC4 compare output value M820 5X S078118 16 Home flag 8 input status M821 gt X 078118 17 Positive Limit 8 flag input status M822 gt X 078118 18 Negative Limit 8 flag input status Connections And Software Setup Geo Brick LV User Manual J6 General Purpose Inputs and Outputs J6 is used to wire general purpose digital inputs outputs to the Geo Brick LV J6 D sub DC 37F Mating D sub DC 37M 8 200000000000 AAD Pin Symbol Function Description 1 GPI1 Input Input 1 2 GPI3 Input Input 3 3 GPI5 Input Input 5 4 GPI7 Input Input 7 5 GPI9 Input Input 9 6 GPI11 Input Input 11 7 GPI13 Input Input 13 8 GPI15 Input Input 15 9 IN COM1 8 Common 01 08 Input 01 to 08 Common 10 N C Not Connected 11 COM EMT Input Common Emitter 12 GP01 Output Sourcing Output 1 13 GP02 Output Sourcing Output 2 14 GP03 Output Sourcing Output 3 15 GP04 Output Sourcing Output 4 16 GP05 Output Sourcing Output 5 17 GP06 Output Sourcing Output 6 18 GP07 Output Sourcing Output 7 19 GP08 Output Sourcing Output 8 20 GPI2 Input Input 2 21 GPI4 Inpu
99. following steps ensure proper firmware reload upgrade Step1 Power up the unit while holding the BOOT SW switch down Step2 Release the BOOT SW switch approximately 2 3 seconds after power up Step3 Launch the Pewin32Pro2 Run the PMAC Devices window under Setup 5 Force All Windows To Device Number Click Test for the corresponding communication method Click ok for message The PMAC is in Boostrap Mode Z PEWIN32PRO2 C PROGRAM FILES DELTA TAU PMAC EXECUTIVE PRO2 SUITE PEWIN32PROZ PEWIN32PRO2_Default INI File Configure View PMACResources Backup ES Tools Window Help v Show Message Window Show Project Manager F2 PMAC Devices Pcomm Version 4 2 11 0 PMAC 00 USBO Plug and ple SER COM1 Baudrate 33400 Parity None KB PcommServer A The PMAC is in Bootstrap Mode Cancel Results Change Monitor Interrupt Monitor UnSolicited Response 250 Troubleshooting Geo Brick LV User Manual Step4 The download utility will prompt for a BIN file MAKE SURE you open the correct file Look in C3 VS1 947 ek E TURB01 B1N 2 My Recent TURBO2A BIN E2 TURBO2I BIN Downloading Firmware Press Begin to initiate firmware download Percent Done Ml PcommServer IMPORTANT NOTE After the Firmware download is complete you must close all applications including Pro Suite2 Packages NC applications if any and or all your appl
100. has been applied In general it is NOT recommended to execute any phasing search 170 Motor Setup Geo Brick LV User Manual Manual Custom Phasing Manual phasing can be used with virtually any type of feedback It is ideal for e Quick Phasing e Troubleshooting phasing difficulties e Finding a good phase finding output value to use in the 2 guess or stepper phasing Manual phasing consists of locking the motor tightly onto one of its phases then zeroing the phase position register suggested M Variable Mxx71 When implemented properly locking the motor tightly to a phase it is considered to be one of the finest phasing methods The following is the most common manual phasing procedure a Record the values of Ixx29 and Ixx79 These will be restored at the end of test b Set Ixx29 0 and write a positive value in Ixx79 Ixx79 500 is a good starting point for most motors c Issue nO0 where n is the motor number d Increase for larger motors or decrease for smaller motors Ixx79 as necessary until the motor is locked tightly onto one of its phases e Wait for the motor to settle In some instances it oscillates around the phase for an extended period of time Some motors are small enough that you could safely stabilize by hand Zero the phase position register suggested M variable Mxx71 0 Issue a nK to kill the motor Restore Ixx29 and Ixx79 to their original values Clear the phasing search error bit
101. large systems e High Speed data transfer rate at 125 Megabits per second and servo update rates as high as 65 KHz e Centralized Synchronized Control No software intervention is required on the MACRO stations One or multiple rings can be controlled synchronized and accessed using a single ring controller The following diagram depicts the general formation of a simple MACRO ring Station Station 2 Motors I Os Motors I Os Station n Station 1 Motors I Os Motors I Os Ring Controller p It is possible to have multiple redundant rings and master controllers in one system For simplicity we will limit the discussion in the following section s to the basic setting parameters of a single MACRO ring and controller Also we will address the stations as slaves and the ring controller as master Note 198 MACRO Connectivity Geo Brick LV User Manual MACRO Configuration Examples The Geo Brick LV with its MACRO interface supports a wide variety of MACRO ring formations The following common MACRO configurations are described in detail Configuration MACRO Ring Controller MACRO Ring Configuration Example Master Slave s Type f Geo Brick LV naa 1 Geo Brick LV MACRO Auxiliary DC Brush Brushless motors Geo Brick LV 2 Geo Brick LV MACRO Auxiliary Stepper motors 3 Geo Brick LV Geo MACRO Drive MACRO Slave
102. nput10 5X nput11 9X nput12 5X nputl3 5XK nput14 9X nput15 gt X nput16 7X nputl17 gt Y nput18 gt Y nputl9 gt nput20 gt Y nput21 5Y nput22 gt Y nput23 5Y nput24 gt Y nput25 gt Y nput26 gt Y nput27 gt Y nputz8 gt nput29 5Y nput30 gt Y nput31 gt Y nput32 gt Y nn mn nm mn nman hn no nh nm nm a mm ma mm WH OOD OO Oo 2 2 OOM Oo SO O sss pa AA PALPA E3 FE FE FE FE FE 20 FE 21 FE 22 Oo TYTAUBWN H OF Ke Ooo oOo oO oOo OO OO O Go O FE 23 nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput nput o DIN UA bb WN H DUB WN FH O 20 21 22 23 24 25 26 27 28 29 24 32 236 MACRO Connectivity Geo Brick LV User Manual Transferring The X9 X12 Analog Inputs Outputs A Geo Brick LV MACRO slave can be populated with up to e 4x 16 bit analog inputs connectors X9 through X12 e 4x 12 bit filtered PWM 10V analog outputs connectors X9 through X12 These inputs and outputs are typically mapped using suggested or pre defined M Variables at the following addresses Analog Inputs connectors X9 X12 Analog Outputs connectors X9 X12 M505 gt Y 078105 8 16 S ADC Input M605 5Y 507810D 8 16 5 ADC Input M705 gt 078115 8 16 S5 ADC Input M805 5
103. of the data to be read and bit location of the LSB of the data in the source word Channel 1 Yaskawa Sigma III 20 bit Absolute Encoder Setup Example Turbo Encoder Conversion Table Device ER Select a table i i E End of Table Download Entry 3 First Entry of Table Done Enty Y g3501 Processed Data X g3502 Address Address View All Entries of Table Yiewing Conversion Type Parallel pos from Y word with no filtering Source Address 78B20 T Width in Bits 36 Offset Location of LSB at Source Address 0 B a ased Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting 124 Connections And Software Setup Geo Brick LV User Manual Encoder Conversion Table Setup Motors 1 8 The ECT automatic entry is equivalent to 8000 278B20 Entry 1 Unfiltered parallel pos of location Y 78B20 8001 024004 Width and Bias total of 36 bits LSB starting at bit 4 8002 278B24 Entry 2 Unfiltered parallel pos of location Y 78B24 8003 024004 Width and Bias total of 36 bits LSB starting at bit 4 8004 5278B28 Entry 3 Unfiltered parallel pos of location Y 78B28 8005 024004 Width and Bias total of 36 bits LSB starting at bit 4 8006 5278B2C Entry 4 Unfiltered parallel pos of location Y 78B2C 8007 024004 Width and Bias total of 36 bits LSB starting at bit 4 8008 5278B30 Entry 5 Unfiltered parallel pos of locat
104. position PresPhasePos M ActPos I xx08 32 PresPhasePos PresPhasePosS P MtrSF PresPhasePos PresPhasePos PresPhasePos PresPhasePoss I5111 100 8388608 110 whil Ixx70 Ixx71 le 1511150 endw from user force phase test input endw endw Correct for Mxx71 to apply power on phasing and clear phase error search bit M Mxx71 PresPhasePos PhaseOffset I Ixx71 M PhaseErrBit 0 I5111 100 8388608 110 whil EndIf Endw Dis ple 1 close le 1511150 endw Motor Setup 183 Geo Brick LV User Manual Absolute Power On Phasing EnDat SSI BiSS With absolute serial encoders the absolute serial data can be used to establish a phase reference position on power up without moving the motor or executing a phase search move The automatic setup of power on phasing with PMAC is established through finding the motor s phase offset a one time test per installation and storing the result scaled properly in the phase position offset register Ixx75 It also requires specifying the power on phase source Ixx81 and format Ixx91 The following is a summary of the settings with the various proposed setup techniques Technique 1 Technique 2 3 For Ixx01 3 For Ixx01 1 Ixx01 1 PhaseOffset Read from Read from Read from found experimentally Serial data register A Position ECT result Commutation ECT result Ixx81 Serial data register A Ixx83 Pos
105. resolution User Input 15111 500 8388608 110 while I5111 gt 0 endw 4 sec delay Dis ple 1 Execute once on power up or reset Close SSS sss SSS SS SS SS SS SS SSS SS SS SS SS SS SSS SS SS SS SS SS SSS SS SS SS SS SS SSS SS SS SS SSS SSS SSS SS ssssssssss5 96 Connections And Software Setup Geo Brick LV User Manual Setting up SSI EnDat BiSS In Turbo PMAC i e Brick family the absolute serial encoder data is brought in as an unfiltered parallel Y word into the Encoder Conversion Table ECT where it is processed for the PMAC to use for on going position in the motor servo loop power on absolute position and power on on going phase referencing In general encoder data is left shifted 5 bits in the ECT to provide fractional data This process can cause saturation of certain registers with higher resolution absolute serial encoders thus for this type of encoders it is recommended to process the data as unshifted Moreover special considerations need to be taken in setting up commutation for commutated motors e g brushless Details about registers overflow and examples can be found in the appendix section Note The following flowchart summarizes the recommended method to use regardless of the Multiturn MT data specification It is only dependent on the Singleturn ST resolution for rotary encoders or protocol resolution for linear scales IN Technique 1 Na D Start Here
106. source for position Ixx03 and velocity Ixx04 feedback pointers Connections And Software Setup 61 Geo Brick LV User Manual Calculating the Tracking Filter Gains The tracking filter gains are system dependent and need to be fine tuned This can be done by gathering and plotting filtered versus unfiltered data while moving the motor shaft manually Best case scenario is super imposing the filtered data on top of the unfiltered with minimum ripple and overshoot The empirical equations for the filter s proportional and integral gains usually acceptable most applications present a good starting point Fe Filter Frequency Hz S Servo Frequency Hz Proportional Gain Fgx2r1 X 2 x223 Sr 2 1 Integral Gain 0 707X2XxFrx2T X x 223 f Motors 1 8 Resolver Encoder Conversion Table Setup Example Channel 1 8000 SF78B00 8001 478B10 8002 000000 8003 D83503 8004 5400 8005 80000 8006 S0 8007 58 Channel 2 8008 SF78B02 8009 478B10 8010 000000 8011 SD8350B 8012 5400 8013 80000 8014 S0 8015 Channel 3 8016 SF78B04 8017 478B10 8018 000000 8019 D83513 8020 400 8021 80000 8022 S0 8023 S Channel 4 8024 SF78B06 8025 478B10 8026 000000 8027 SD8351B 8028 5400 8029 80000 8030 S0 8031 85 Channel 5 8032 SF78B08 8033 478B10 8034 000000 8035 D83523 8036 400 8037 80000 8038 S0 8039 S Channel 6 8040 SF78BOA 8041 478B10
107. that can be used to implement both the Resolver entry and Tracking Filter Under Configure gt Encoder Conversion Table Channel 1 Resolver Setup Example Resolver Entry Turbo Encoder Conversion Table Device DER Select a table entry to view edit End of Table Download Entry 3 First Entry of Table Done Processed Data g3503 Address Enty 1 Enty Y 43501 Address Viewing Conversion Type Resolver X X Source Address 578B00 Excitation address 5478B10 SIN COS bias word 000000 Direction Cw Direction CCW 1 Choose Resolver from Conversion Type pull down menu 2 Enter Source Address See Resolver Data Registers table above 3 Enter Excitation Address 4 Source address 10 4 Download Entry 5 Record Processed Data Address 3503 for channel 1 Tracking Filter Turbo Encoder Conversion Table Device BAE Select a table entry to view edit End of Table Download Entry Enty 2 First Entry of Table Done Processed Data X 43508 Enty Y 3504 d Address Addres Yiewing Conversion Type Tracking filter Zi 28 Source Address onga Max change fsg00 Proportional gain s1000 Reserved setup word pooo Integral gain 510000 6 Move up to the next Entry 7 Choose Tracking from Conversion Type pull down menu 8 Enter Source address This is the result recorded in step5 9 Download Entry 10 Record Processed Data Address This is the
108. the commercial carrier that delivered the drive Electronic components in this product are design hardened to reduce static sensitivity However use proper procedures when handling the equipment If the Geo Brick LV is to be stored for several weeks before use be sure that it is stored in a location that conforms to published storage humidity and temperature specifications Use of Equipment The following restrictions will ensure the proper use of the Geo Brick LV The components built into electrical equipment or machines can be used only as integral components of such equipment The Geo Brick LV must not be operated on power supply networks without a ground or with an asymmetrical ground If the Geo Brick LV is used in residential areas or in business or commercial premises implement additional filtering measures The Geo Brick LV may be operated only in a closed switchgear cabinet taking into account the ambient conditions defined in the environmental specifications 18 Receiving Unpacking And Mounting Geo Brick LV User Manual Mounting The location of the Geo Brick LV is important Installation should be in an area that is protected from direct sunlight corrosives harmful gases or liquids dust metallic particles and other contaminants Exposure to these can reduce the operating life and degrade performance of the drive Several other factors should be carefully evaluated when selecting a location for insta
109. to implementing a power on phasing routine you should try and be able to phase the motor manually successfully execute open loop moves output and encoder direction matching and jog commands require PID tuning Remember to increase the fatal following error limit with high resolution encoders when executing closed loop moves The U phase in the Yaskawa motor encoder assemblies is usually aligned with the index pulse which should result in the same motor phase offset per one revolution for each encoder type i e 16 17 or 20 bit Yaskawa Absolute Encoders Single Turn Data 16 bit 17 bit 20 bit define define define define define define define define Mtr1STD4 15 Mtr2STD4 15 Mtr3STD4 15 Mtr4STD4 15 Mtr5STD4 15 Mtr6STD4 15 Mtr7STD4 15 Mtr8STD4 15 M180 M280 M380 M480 M580 M680 M780 M880 define define define define define define define define Mtr1STDO 23 Mtr2STDO 23 Mtr3STDO 23 Mtr4STDO 23 Mtr5STDO 23 Mtr6STDO 23 Mtr7STDO 23 Mtr8STDO 23 M180 M280 M380 M480 M580 M680 M780 M880 define define define define define define define define Mtr1STD4 23 Mtr2STD4 23 Mtr3STD4 23 Mtr4STD4 23 Mtr5STD4 23 Mtr6STD4 23 Mtr7STD4 23 Mtr8STD4 23 M180 M280 M380 M480 M580 M680 M780 M880 Mtr1STD4 15 5Y Mtr2STD4 15 5Y Mtr3STD4 15 5Y Mtr4STD4 15 5Y Mtr5STD4 15 5Y Mtr6STD4 15 gt Y Mtr7STD4 15 5Y Mtr8STD4 15 gt Y 278B20 4 16 2
110. to service local channels 4 or 8 The next available channel will be the first macro slave motor This allows taking advantage of some of the default MACRO settings set by the firmware upon detecting a MACRO IC e If 14900 1 then only Servo IC 0 is present and the first macro motor is 5 I500 8 100 1 Activate channels 5 12 1524 8 100 840001 Channels 5 12 flag control e If 14900 S3 then Servo ICs 0 and 1 are present and the first macro motor is 9 I1900 8 100 1 Activate channels 9 16 1924 8 100 840001 Channels 9 16 flag control 220 MACRO Connectivity Geo Brick LV User Manual 9 Position And Velocity Pointers Ixx03 Ixx04 If all local motors have digital quadrature encoders or 1 line ECT entries and no other entries are used in the Encoder Conversion Table then the position Ixx03 and Velocity Ixx04 pointers of the MACRO motors are valid by default set by firmware and need not be changed bilan Motor Ixx03 Ixx04 amag Motor Ixx03 Ixx04 1 5 or 9 350A 5m 9 or 13 3512 a 6 or 10 350C 6 10 or 14 3514 3 Tor 11 350E 7 11 or 15 3516 4b 8 or 12 3510 8 12 or 16 3518 However if the Encoder Conversion Table has been modified then the MACRO motors nodes entries need to be configured properly This can be done using the Encoder Conversion Table utility in the PewinPro2 under Configure gt Encoder Conversion
111. tuning of the slave motors should be eventually performed from the master side 7 Kill all motors 8 MACRO ring settings e 180 181 and 82 enable the ring error check function e 85 specifies a station number which the slave unit is assigned to e g multiple slave stations e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used 185 Station number 1 if multiple slaves User Input 16840 4080 Macro ICO Ring Configuration Status typical slave setting I6841 50FF333 Macro ICO Node Activate Ctrl Servo nodes 0 1 4 5 8 9 12 13 User Input define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage I80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ring Check Period Servo Cycles I81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count I182 180 18144 Macro Minimum Sync Packet Count Macro Connectivity 203 Geo Brick LV User Manual 9 Flag Control Ixx24 disable over travel limits on slave side enable on master side 1124 8 100 820001 Disable over travel limits channels 1 8 10 MACRO slave command address Ixx44 specifies the MACRO command address and mode for slave motors 1144 178423 Macro ICO Node 0 Command Address Torque Mode 1244 178427 Macro ICO Node 1 Command Addres
112. will result in the maximum calculated frequency output 1500 4 100 1 Channels 5 8 active Going back to the setup example these are some open loop commands Open Output resulting frequencies Loop Frequency Command PFM KHz 0 0 50 11 100 22 Connections And Software Setup 51 Geo Brick LV User Manual Issuing Closed Loop Commands Issuing closed loop commands requires activating the channel setting the flag control assigning the position and velocity pointers and implementing PID gains Activating channels Ixx00 I1500 4 100 1 Channels 5 8 active Assigning position and velocity pointers Ixx03 and Ixx04 1503 53505 1504 53505 Channel I603 53506 1604 53506 Channel 170353507 I1704 3507 Channel 1803 3508 1804 53508 Channel 5 position and velocity pointers 6 position and velocity pointers 7 position and velocity pointers 8 position and velocity pointers Flag Control Ixx24 The following diagram showcases important bit settings pertaining to flags and amplifier information Amplifier Fault Use Bit z0 Enable amp fault input 1 Disable amp fault input Amplifier Enable Use Bit 0 Use amp enable output 1 Don t use amp enable A Flag Register Type Always 1 for Brick Controller Turbo PMAC Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10
113. 0 0 Friction Feedforward Gain Ix68 0 Fatal Following Error Limit lx11 32000 Friction Feedtorward Gain Ix68 0 Fatal Following Error Limit lx11 32000 192 Motor Setup s10 40 43 Burolo 4 Geo Brick LV User Manual DC Brush Motor Software Setup Before you start Remember to create edit the motor type and protection power on PLC Phasing Search Error Bit Current Loop Integrator Output Ixx96 At this point of the setup it is assumed that the encoder has been wired and configured correctly in the Encoder Feedback section And that moving the motor encoder shaft by hand shows encoder counts in the position window Parameters with Comments ending with User Input require the user to enter information pertaining to their system hardware Downloading and using the suggested M variables is highly recommended Detailed description of motor setup parameters can be found in the Turbo SRM Link On power up the phasing search error bit has to be cleared to allow motor move commands to DC Brush motors The current loop integrator output should not be allowed to build up over time The motor non existent direct current loop output should be zero ed periodically This is equivalent but more efficient than setting Ixx96 to 1 M148 gt Y M248 gt Y M348 gt Y M448 gt Y M548 gt Y M648 gt Y M748 gt Y M848 gt Y M129 5Y M229 5Y M329 5Y M429 gt Y M529 gt Y M629 gt Y M729 gt Y 843C 0
114. 0 100 200 300 400 500 600 700 800 900 Time msec Velocity Correlation Time 0 0492 Average Feel Time 0 0095 Acceleration Correlation Time 0 3813 Average Fe Acc Time 0 0215 Max Following Error 2 5313 Proportional Gain b30 450000 Derivative Gain Gain x31 4200 Velocity Feedforward Gain Ix32 4250 Integral Gain Ix33 20000 Integral Mode Ix34 0 Acceleration Feedforward Gain bx35 15000 Command Limit Ix69 11853 Servo Cycle Extension Ix60 0 Friction Feedforward Gain Ix68 0 Fatal Following Error Limit Ix11 32000 Motor Setup 197 Geo Brick LV User Manual MACRO CONNECTIVITY Introduction to MACRO MACRO Ring for Distributed Motion Control www macro org MACRO stands for Motion and Control Ring Optical It is a high bandwidth non proprietary digital interface industrialized by Delta Tau Data Systems for distributed multi axis systems MACRO can be connected using either fiber optic or twisted copper pair RJ45 cables The RJ45 electrical interface can extend to up to 30 meters or about 100 feet and the fiber optic interface can extend to up to 3 kilometers or about 2 miles The following are some of the many advantages which MACRO offers e Noise Immunity MACRO transfers data using light rather than electricity which renders it immune to electromagnetic noise and capacitive coupling e Wiring Simplicity Single plug connection between controllers amplifiers and I O modules minimizing wiring complexity in
115. 0 1 Motors 1 8 Single cycle size Motor Setup 157 Geo Brick LV User Manual Maximum Achievable Motor Speed Output Command Limit Ixx69 In Micro Stepping the maximum achievable speed is proportional to the Servo clock and Motor Step angle A faster Servo Clock results in higher achievable motor speeds To ensure the safety of the application and reliability of the micro stepping technique the smaller value between the Theoretical and the Calculated output command limit Ixx69 must be chosen Theoretical Ixx69 Sine Table 2048 Electrical Length 204832 5 bit shift 65536 Max Electrical Length per Servo Cycle Electrical Length 6 10922 66667 Micro Stepping Theoretical Ixx69 Max Electrical Length per Servo Cycle 256 42 6667 Calculated Ixx69 Servo Clock KHz 8 Stepper Angle 1 8 Motor Speed rpm 1500 Electrical Cycles per Revolution 360 4 Stepper Angle Maximum Achievable Motor Speed RPM Servo Clock 1000 Electrical Cycles per Revolution 6 60 Calculated Ixx69 Max Motor Speed Electrical Cycles per Revolution 60 2048 6 Servo Clock 1000 define ServoClk P8003 KHz Computed in Dominant Clock Settings Section define StepAngle 1 8 Step Angle Degrees User Input define MotorSpeed 1500 Motor Speed Spec RPM User Input define ElecCyclePerRev P7004 Electrical Cycle Per Revolution ElecCyclePerRev 360 44 StepAngle define MaxMtrSpeed P7005 This is the maximum ach
116. 00000asasasasasasasasssans 232 Transferring The X9 X12 Analog Inputs OUtput ccccccccccccccccccccccccccccccccccccscccscscssseseeees 237 Transferring The J9 Analog TADIA GANA NAAN ENNA NGA NAGANA ANasNAA 239 MACRO Limits Flags and Homing naawa kakanan Ganda kaanak pnaka kn AA 240 PUES ANE INE AA AN 240 Homing from MasteT NO 240 Homing from SLUG eh BA wheat i AA AA AA Alcalde 240 MACRO Suggested M gt VarigDles si ccvcercscavcatercaeiaanpiadsaanacandapepiadsadansardaeupiadiaaracardaarpiadiatetaauaeds 241 Absolute Position Reporting Over MACRO ccccccccccccsssssssncccceeeeeessssssneaceeeeeeesesesneaeaeeeeeees 243 TROUBLESHOOTING osiensa AAE 244 Serial Number and Board Revisions Identification ccccceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 244 IDAEA E nn BUAN 245 Strobe Word and Axes Data SU UCU GAAN AA AA 246 Strobe Word BITUCIEE 2am D BANNA NAAGAPAN ABANGAN INAABANGAN 246 ADC A SIGS WORM naani AGARAN AA ae 247 ADC B Status Word p sic naainin een ANAKAN NG noe MAb ea ORE was 247 LED Slats AA AA E EE 248 Boot Switch SW Firmware Reload Write Protect Disable 2 2ZX aaa 249 Reloading PMAC fir MWA nada RURU HAHAA AKA NAA aaa 250 Changing IP Address Gateway IP Or Gateway MASK 0000000000000aasasasasasasasasasasas 252 Enabling MAIBENTA AA aaaea 253 Reloading Boot And Communication PIIIWATE aa KIA GAGA KALAN 254 Reset Switch SW Factory Reset L A AGA KG ING Gum G iN 255 Error LS
117. 024 Ixx34 1 13 Issue a SAVE followed by a to maintain changes The motor setup is now finished and both Master and Slave units are in post reset mode power up therefore local and Macro motors need to be phased Motors attached directly to the master are initialized and phased in the traditional manner Motors attached to the slave are initialized by executing the handshaking PLC e g issuing MXO P8000 1 222 MACRO Connectivity Geo Brick LV User Manual Configuration Example 3 Brick Geo MACRO Drive This configuration example discusses the necessary I Geo MACRO Drive steps for setting up a MACRO ring with an 8 axis H Slave 4 Geo Brick LV as a master and up to 4 x dual axes Geo MACRO drives as slaves For simplicity we will cover guidelines for setting up one Geo MACRO drive in detail The others can be configured similarly Geo Brick LV Master Geo MACRO Drive Slave 3 For non MACRO experienced users it may be practical to configure one Geo MACRO drive at a time as shown below That is by connecting it to the Geo Brick LV via two fiber optic cables while leaving the other drives outside of the ring Pa MAGA PP SATAN Slave 2 Geo Brick LV Geo MACRO Drive Master Slave Geo MACRO Drive Slave 1 mi gi rN The following table summarizes the basic clock Geo Brick LV recommended and MACRO settings for the ring in the diagram above MS commands are allowed onc
118. 0340A 12 12 S 00340C 12 12 8 00340E 12 12 S r r ADC1 ADC2 ADC3 ADC4 ADC5 ADC6 ADC7 ADC8 Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar M6991 gt Y M6992 gt Y M6993 gt Y M6994 gt Y M6995 gt Y M6996 gt Y M6997 gt Y M6998 gt Y 003400 12 12 U 003402 12 12 U 003404 12 12 U 003406 12 12 U 8003408 12 12 U 00340A 12 12 U 00340C 12 12 U 00340E 12 12 U ADC1 ADC2 ADC3 ADC4 ADC5 ADCE ADC7 ADC8 Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar We will use the MACRO auxiliary MX read commands to transfer the J9 analog inputs This is done in a background PLC which copies M6991 M6998 from the slave into eight consecutive self referenced Mxx05 variables at the master Master Settings M1705 8 100 gt Open PLC 1 Clear Analog Inputs MXRO M6991 M1705 MXRO M6992 M1805 MXRO M6993 M1905 MXRO M6994 M2005 MXRO M6995 M2105 MXRO M6996 M2205 MXRO M6997 M2305 MXRO M6998 M2405 15111 1 8388608 110 while 1I5111 gt 0 close 7 J9 7 J9 fe JO J9 J9 J9 7 J9 J9 Analog Analog Analog Analog Analog Analog Analog Analog Input Input Input Input Input Input Input Input Endw XO JIA UB WN H r 1 msec delay At the slave side the J9 analog ADC inputs can now be read using these Mxx05 variables CT Note This setup example assumes that the J9 ADC inputs have been
119. 07811E Motor 8 Current Feedback Address Motor Setup 163 Geo Brick LV User Manual Commutation Position Address Commutation Enable Ixx83 Ixx01 Quadrature Sinusoidal HiperFace For these types of feedback devices it is recommended to use the quadrature data for commutation And Ixx01 should be equal to 1 indicating commutation from an X register 183 07800 Motor 1 Commutation source address 283 S078009 Motor 2 Commutation source address 383 07801 Motor 3 Commutation source address 483 S078019 Motor 4 Commutation source address 583 07810 Motor 5 Commutation source address 683 S078109 Motor 6 Commutation source address 783 S07811 Motor 7 Commutation source address 8 883 5078119 Motor Commutation source address 101 8 100 Motors 1 8 Commutation Enabled from X register SSI EnDat BiSS e Technique 1 PMAC expects the commutation data to be left most shifted With technique 1 this is satisfied if the encoder data fulfills or exceeds 24 bits But if the data length is less than 24 bits then it is recommended for simplicity to use the processed encoder conversion table result Ixx01 is then set up correspondingly for either a Y or X register If the Singleturn Multiturn data fulfills 24 bits ST MT 24 bits 183 78B20 Motor 1 Commutation source address 283 S78B24 Motor 2 Commutation source address 383 78B28 Motor 3 Commutation source address 483 S
120. 080 Macro IC 0 Ring Configuration Status 6841 S0FF333 Macro IC 0 Node Activate Ctrl servo nodes 0 1 4 5 8 9 12 and 13 124 8 100 820001 Flag mode control disable limits on slave enable on master define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage 5 80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ring Check Period Servo Cycles 81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count 82 180 18144 Macro Minimum Sync Packet Count 144 078423 MacroICQ Node 0 Command Address PWM Mode 244 S078427 MacroICO Node 1 Command Address PWM Mode 344 S07842B MacroICO Node 4 Command Address PWM Mode 444 S07842F MacroICO Node 5 Command Address PWM Mode 544 S078433 MacroICO Node 8 Command Address PWM Mode 644 078437 MacroICO Node 9 Command Address PWM Mode 744 S07843B MacroICO Nodel2 Command Address PWM Mode 844 07843F MacroICO Nodel3 Command Address PWM Mode 6 Issue a Save followed by a to maintain changes 208 MACRO Connectivity Geo Brick LV User Manual Setting up the Master in PWM Mode 1 Establish communication to the Geo Brick LV using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a reset 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 The master s motor
121. 09 define N2Second16 M7010 N2Twenty4 5X 578420 0 24 U N2First16 5X 578421 8 16 U N2Second16 gt X 78422 8 16 U r Make sure that I O node 2 is active Open memory register 16 Y word Open memory register 16 X word Open memory register 15 Y word Holding 24 digital Outputs Holding 1st 16 bit digital Inputs Holding 2nd 16 bit digital Inputs Initialization Self referenced Initialization Digital Outputs Latch Digital Inputs Latch 1 Digital Inputs Latch 2 Node 2 24 bit register Node 2 1st 16 bit register Node 2 2nd 16 bit register Digital I O Data Transfer PLC Open plc 1 clear If LatchOut OpenReg16Y LatchOut OpenReg1 6Y N2Twenty4 LatchOut EndIf If LatchIn1 N2First16 LatchIn1 N2First16 OpenReg1 6X LatchIn1l EndIf If LatchIn2 N2Second16 LatchIn2 N2Second16 OpenReg15Y LatchIn2 EndIf Close Bitwise Outputs J6 define Output1 M7101 define Output2 M7102 define Output3 M7103 define Output4 M7104 define Output5 M7105 define Output6 M7106 define Output7 M7107 define Output8 M7108 Bitwise Outputs J7 define Output9 M7109 define Output10 M7110 define Output11 M7111 define Output12 M7112 define Output13 M7113 define Output14 M7114 define Output15 M7115 define Output16 M7116 r Output Open Register Changed Latch data Update Output Word nput Node word changed Latch data Update Input Open Register word nput Node word changed Latch data Update Input Open Registe
122. 1 X12 amp 4 GPIO Relays On connectors X9 X12 4 Four Analog In four analog Out On conn X9 X12 amp 4 GPIO Relays On connectors X9 X12 5 Two Analog In two analog Out On conn X11 X12 amp 2 AENA Relays for Chan 3 amp 4 On conn X11 X12 and 2 GPIO Relays On conn X9 X10 6 Four Analog In four analog Out Connectors X9 X12 with 2 AENA Relays for Chan 3 amp 4 On conn X11 X12 and 2 GPIO Relays On conn X9 X10 Two AENA Relays for Chan 3 amp 4 Conn X11 i and 2 GPIO Relays On conn X9 SAO No options Default Four GPIO Relays On connectors X9 X12 Two Analog In 2 analog Out Conn X9 X10 amp 4 GPIO Relays On connectors X9 X12 Two Analog In 2 analog Out Conn X9 X10 amp 2 AENA Relays for Chan 3 amp 4 On conn X11 X12 and 2 GPIO Relays On connectors X9 X10 Two AENA Relays for Chan 3 amp 4 Conn X11 X12 and 2 GPIO Relays On conn X9 X10 0 No Analog Options available for this configurations To receive Analog Inputs for these configurations you must order GBD ABB CDD EFGHHHI0 MUXED ADC Option in MACRO and Special Feedback Options 2 Four GPIO Relays On connectors X9 X12 9 Four AENA Relays for Chan 3 amp 4 On conn X11 X12 and Chan 5 amp 6 On conn X9 X10 Note Analog outputs are 12 bit filtered PWM and Analog Inputs are 16 bit 12 Specifications Geo Brick LV User Manual MACRO and Special Feedback Opt
123. 17000 17106 eliminates the watchdog problem Troubleshooting 257 Geo Brick LV User Manual APPENDIX A D Sub Connector Spacing Specifications X1 X8 DA 15 Connectors for encoder feedback ad 3 115 05 a lt 1 541 015 Os O7 Oe O58 Of O3 Oz fF Ms O14 O13 Or O11 Oto Os Os O7 O6 OF O4 O3 O FA Op O14 O13 Oi On Oto Og X9 12 DE 9 Connectors for Analog I O po 2 45 05 gt 1 213 01 Screw Lock Size for all D sub connectors 18 235 ag DIA i7 CI AA VEN EEO i Ng DIA 4 40 FEMALE SCREWLOCK LOCKWASHER QTY 2 per connector QTY 2 per connector Steel Zinc Plated Clear Chromate 258 Appendix A Geo Brick LV User Manual APPENDIX B Control Board Jumpers For Internal Use E6 E9 AENA GPIO Selection Jumper E Point Description Default Jump pins 1 to 2 for GPIO1 on X9 Jump Pins 2 to 3 for AENAS on X9 See Part Number Jump pins 1 to 2 for GPIO2 on X10 Jump Pins 2 to 3 for AENA6 on X10 See Part Number Jump pins 1 to 2 for GPIO3 on X11 Jump Pins 2 to 3 for AENA3 on X11 See Part Number OFO Jump pins 1 to 2 for GPIO4 on X12 Jump Pins 2 to 3 for AENA4 on X12 See Part Number E10 E12 Power Up Reset Load Source E Point Description Default E10 E10 removed to load active memory from Flas
124. 171 define Mtr1CommCycles 1170 define MtriCommRatio P170 Motor 1 commutation cycle size Ixx71 Ixx70 counts Mtr1CommRatio Mtr1CommSize Mtr1CommCycles Open plc 1 clear MtrlPhasePos Int Mtr1STDO 23 amp 1FFFF0 F 3 MtrlCommRatio PhaseOffset 17Bit 32 Mtr1CommCycles MtrlPhaseErr 0 Disable plc 1 Close Channel 1 driving a 20 bit Yaskawa absolute encoder define MtrlPhasePos M171 Suggested M Variables MtrilPhasePos gt X B4 24 8 define MtrlPhaseErr M148 Suggested M Variables MtrlPhaseErr gt Y S C0 8 define Mtr1CommSize 1171 define Mtr1CommCycles T170 define Mtr1lCommRatio P170 Motor 1 commutation cycle size Ixx71 Ixx70 counts Mtr1CommRatio Mtr1CommSize Mtr1CommCycles define TwoToThe20th 1048576 Open plc 1 clear If Mtr1STD4 23 lt PhaseOffset_20Bit MtrlPhasePos Mtr1STD4 23 PhaseOffset 20Bit 32 Else MtrlPhasePos TwoToThe20th PhaseOffset 20Bit Mtr1STD4 23 32 EndIf MtrlPhaseErr 0 Disable plc 1 Close It is highly recommended to try the sequence in this PLC manually at first using the terminal window In some cases the Motor Phase O Position Offset has to be added instead of subtracted depending on the direction of the encoder mounting decoding The Geo Brick LV has Note no control on the direction of the serial encoder data Motor Setup 189 Geo Brick LV User Manual Open Loop Test Encoder Decode 17mn0 Having phase
125. 2 8 x 12 bit analog inputs connector J9 There is a variety of ways to transfer I O data over MACRO Using I O nodes This method consists of assembling the data in a PLC code at the slave side and conveying it over to MACRO I O nodes These I O nodes are then extracted in a PLC code on the master side and placed into open memory registers This technique is suitable for digital inputs and outputs Using servo nodes This method is primarily used for the X9 X12 analog inputs and outputs which in some applications may require being processed at servo or phase rate e g servo feedback cascaded loop or output to a spindle drive This is the fastest transfer method possible Note that in this mode axes 5 8 on the slave cannot be configured to drive motors The corresponding servo nodes will be occupied Using MACRO Auxiliary MX reads and writes in a background PLC This method is ideal for transferring a large amount of data without much coding and complexity It is suitable for monitoring and toggling inputs and outputs But it is not deterministic relies on background PLCs and phase cycle delays with MX commands or as fast as other methods Macro Connectivity 231 Geo Brick LV User Manual Transferring the Digital Discrete Input and Outputs A Geo Brick LV can be populated with up to 32 digital inputs and 16 digital outputs connectors J6 and J7 for a total of 48 I O points bits mapped as follows
126. 2 CS Axis definition bit 1 Foreground in position Desired position limit stop Stopped on position limit Home complete Motor Phase Request Trigger move Integrated fatal following error 12T Amplifier fault error Backlash direction flag Amplifier fault error Fatal following error exceeded Wearing following error exceeded In position true Troubleshooting Geo Brick LV User Manual Watchdog Timer Trip The watchdog timer trigger in the Geo Brick LV illuminates the red WD LED and interrupts communication It occurs if any of the following is true PMAC CPU over clocked In this mode the CPU signals that is has been overloaded with computation and cannot accomplish tasks in a timely manner i e bad programming such as an infinite loop or too much computation Kinematics requiring faster CPU option Wrong clock settings In this mode the user has downloaded or written bad values to clock setting parameters Hardware 5V failure internal In this mode the internal 5V logic circuitry has failed Check 5V Led Status Downloading wrong configuration file 14900 In this mode the user has reloaded a bad configuration file For example a configuration file uploaded from a 4 axis Geo Brick LV Servo IC 1 parameters set to zero and restored into an 8 axis unit thus writing zero to the second Servo IC clock parameters will cause a watchdog Commenting out variables 17100 7106 or forcing them to hold the same values as
127. 2 cts rev A 20 pm resolution linear encoder produces 128 0 02 6400 cts mm Connections And Software Setup 67 Geo Brick LV User Manual Setting up HiperFace Absolute Power On Position Setting up the absolute position read with HiperFace requires the programming of two essential control registers e Global Control Registers e Channel Control Registers The resulting data is found in e HiperFace Data Registers 68 Connections And Software Setup Geo Brick LV User Manual Global Control Registers X 78BnF default value 5812004 where n 2 for axes 1 4 n 3 for axes 5 8 Global Control Register Axes 1 4 X 78B2F Axes 5 8 X 78B3F The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock SER_Clock is generated from a two stage divider clocked at 100 MHz as follows 100 Ser_Clock M x2 x ON MHz a ee Ser_Clock aud Rate 70 M N SER Clock KHz Baud Rate Global Register Setting 129 2 192 30 9600 8 12004 129 3 96 15 4800 8 13004 129 1 394 61 19200 8 12004 Default Settings M 129 N 2 There are two external trigger sources phase and servo Bits 9 8 in the Global Control register are used to select the source and active edge to use as the internal serial encoder trigger The internal trigger is used by all four channels to initiate c
128. 2MTDec exp MTRes 1n 2 Two2MTHex Two2MTDec 1 f MTRes 0 LowerMTBits 0 UpperMTBits 0 Two2MTDec 0 Two2MTHex 0 MTData 0 Else LowerMTBits 24 STRes STTemp1 exp LowerMTBits 1n 2 STTemp2 0 UpperMTBits MTRes LowerMTBits MTTemp1 exp LowerMTBits 1n 2 MTTemp2 exp UpperMTBits 1n 2 Temp1 SerialRegA Two2STDec amp MTTemp1 1 Temp2 SerialRegB amp MTTemp2 1 MTData Temp2 STTemp1 Temp1 EndIf Else Single Turn Res gt 24 SINGLE TURN DATA LowerSTBits 24 UpperSTBits STRes 24 STTemp1 exp UpperSTBits 1n 2 STTemp2 STTemp1 1 Two2STDec 16777216 STTemp1 Two2STHex Two2STDec 1 TData SerialRegB STTemp2 16777216 SerialRegA n f MTRes 0 LowerMTBits 0 UpperMTBits 0 Two2MTDec 0 Two2MTHex 0 MTData 0 Else Two2MTDec exp MTRes 1n 2 Two2MTHex Two2MTDec 1 LowerMTBits 0 UpperMTBits MTRes MTTemp1 exp UpperMTBits 1n 2 MTTemp2 MTTemp1 1 MTData SerialRegB STTemp1 amp MTTemp2 EndIf ChBase 162 ChNo 1 100 PsfBase 108 ChNo 1 100 NegTh Two2MTDec 2 If MTData gt NegTh M ChBase MTData Two2STDec STData 32 I PsfBase Else M ChBase Two2MTHex MTData Two2STDec Two2STDec STData 32 I PsfBase EndIf EndIf Endw ChNo 0 Dis ple 1 Close 76 Connections And Software Setup Geo Brick LV User Manual Encoder Count Error Mxx18 The Geo Brick LV has an encoder count error detection feature I
129. 3 0 Parity Err Position Data 31 24 Position Data 23 0 SSI Encoder Data A SSI Encoder Data B Channel 1 Y 78B20 Y 78B21 Channel 2 Y 78B24 Y 78B25 Channel 3 Y 78B28 Y 78B29 Channel 4 Y 78B2C Y 78B2D Channel 5 Y 78B30 Y 78B31 Channel 6 Y 78B34 Y 78B35 Channel 7 Y 78B38 Y 78B39 Channel 8 Y 78B3C Y 78B3D Data Registers C and D are listed here for future use and documentation purposes only They do not pertain to the SSI setup and always read zero SSI Encoder Data C SSI Encoder Data D Channel 1 Y 78B22 Y 78B23 Channel 2 Y 78B26 Y 78B27 Channel 3 Y 78B2A Y 78B28 Channel 4 Y 78B2E Y 78B2F Channel 5 Y 78B32 Y 78B33 Channel 6 Y 78B36 Y 78B37 Channel 7 Y 78B3A Y 78B38 Channel 8 Y 78B3E Y 78B3F 82 Connections And Software Setup Geo Brick LV User Manual SSI Control Registers Setup Example Channel 1 is driving a 25 bit 13 bit Singleturn 12 bit Multiturn SSI encoder The encoder outputs binary data with no parity and requires a 1 MHz serial clock Global Control Register The Global Control register is a 24 bit hexadecimal word which is set up as follows 0 Rising Edge 1 Falling Edge _ 100 0 Trigger on Phase _ 2 for AE M41 x 2N ae 1 Trigger on Servo Typically 0 SSI x o De
130. 3519 Address View All Entries of Table Yiewing Conversion Type End of Table Source Address m Ao Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting DER i Turbo Encoder Conversion Table Device Select a table entry to view edit End of Table Download Entry First Entry of Table Done Enty Y 53519 ress Data x A Address View All Entries of Table Entry NG res Viewing Conversion Type Parallel pos from Y word with no filtering x Source Address 578420 z Width in Bits 124 Offset Location of LSB at Source Address 0 f5 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting 206 MACRO Connectivity Geo Brick LV User Manual Servo Node Addresses MACRO Motor Address Register MACRO Motor Address Register motor motor 1 5 or 9 78420 Servo Node 0 5 9 or 13 78430 Servo Node 8 PN 6 or 10 578424 Servo Node 1 6 10 or 14 78434 Servo Node 9 a Toll 578428 Servo Node 4 7 11 or 15 78438 Servo Node 12 ae 8 or 12 7842C Servo Node 5 gn 12 or 16 7843C Servo Node 13 At this point of the setup you should be able to move the EF motor encoder shaft by hand and see encoder counts in the position window Note 10 The flag address Ixx25 is initiated by default in the firmwa
131. 4 Output Sourcing Output 14 18 GPO15 Output Sourcing Output 15 19 GPO16 Output Sourcing Output 16 20 GPI18 Input Input 18 21 GPI20 Input Input 20 22 GPI22 Input Input 22 23 GPI24 Input Input 24 24 GPI26 Input Input 26 25 GPI28 Input Input 28 26 GPI30 Input Input 30 27 GPI32 Input Input 32 28 IN_COM_25 32 Common 25 32 Input 25 to 32 Common 29 COM_COL Input Common Collector 30 GPO9 Output Sinking Output 9 31 GPO10 Output Sinking Output 10 32 GPO11 Output Sinking Output 11 33 GPO12 Output Sinking Output 12 34 GPO13 Output Sinking Output 13 35 GPO14 Output Sinking Output 14 36 GPO15 Output Sinking Output 15 37 GPO16 Output Sinking Output 16 Connections And Software Setup 31 Geo Brick LV User Manual About the Digital Inputs and Outputs All general purpose inputs and outputs are optically isolated They operate in the 12 24 VDC range and can be wired to be either sinking or sourcing Inputs The inputs use the PS2505L 1NEC photocoupler For sourcing inputs connect the input common pin s to the 12 24V line of the power supply The input devices are then connected to the common ground line of the power supply at one end and individual input pins at the other For sinking inputs connect the input common pin s to the common ground line of the power supply The input devices are then connected to the 12 24V line of the power supply at one end and individual input pins at the other IN The inputs can b
132. 4 5 1500 2 100 1 3 ICO and IC1 8 axis 1 8 9 1900 2 100 1 17 Position Velocity pointers If all local motors have digital quadrature encoders 1 line ECT entries and no other entries are used in the Encoder Conversion Table then the position Ixx03 and Velocity Ixx04 pointers of the MACRO motors are valid by default set by firmware and need not be changed arang Motor Ixx03 Ixx04 aray Motor Ha hai lag 5 or 9 350A ol 9 or 13 3512 a 6 or 10 350C 6 10 or 14 3514 3 Tor 11 350E qi 11 or 15 3516 4 8 or 12 3510 a 12 or 16 3518 However if the Encoder Conversion Table has been modified then the MACRO motors nodes entries need to be configured properly This can be done using the Encoder Conversion Table utility in the PewinPro2 under Configure gt Encoder Conversion Table moangep Click on End of Table to access the next available entry Conversion Type Parallel position from Y word with no filtering No Shifting Width in Bits 24 Source Address Servo node Address See table below Record the processed data address This is where the position and velocity pointers will be set to for a specific node motor number E g 1903 2 351A g Repeat steps for additional motors servo nodes 226 MACRO Connectivity Geo Brick LV User Manual i Turbo Encoder Conversion Table Device ai Turbo Encoder Conversion Table Device DER
133. 404 11 1 M7051 0 0 PWM 1 PFM M7052 0 0 PWM 1 PFM Analog Output M variable M7050 gt Y 78412 8 16 S These I O nodes have to be setup once on power up power up PLC Example Open PLC 1 clear 16612 100 8388608 110 While 1661250 Endw M7051 0 PWM mode M7052 0 PWM mode Disable PLC Close Testing the J9 Analog Output With 16800 735 writing directly to the assigned M variable i e M7050 should produce the following M7050 Single Ended Differential Gnd Output Output Output 735 10V 20V 368 5V 10V 0 OV OV 368 5V 10V 735 10V 20V output to 10 or 20 volts in single ended or differential mode Writing values greater than 16800 i e 735 in M7050 will saturate the a respectively Note MACRO connectivity provides more analog output options e g ACC EN 24M2A Note gt 40 Connections And Software Setup Geo Brick LV User Manual Setting up Pulse and Direction Output PFM J9 Differential Pulse And Direction Single Ended Pulse And Direction 7 7 Pa Zz Pa O PULSE O PULSE PULSE 0 PULSE para FREQUENCY PULSE DIR AMPLIFIER DEVICE DIR A COM AMPLIFIER DIR a r Using the Delta Tau Calculator or referring to the Turbo Software Reference Manual the desired maximum PFM Frequency and pulse width can be chosen DT Calculator Forum Link PM
134. 42C 3522 403 3524 8034 5018000 24 bits starting at Y bit0 3523 404 1403 8035 SEC0022 Integrate result from 18030 3524 483 1403 8036 S6F8430 Parallel read of Y X 78430 3525 503 3527 8037 018000 24 bits starting at Y bit0 3526 504 1503 8038 SEC0025 Integrate result from 18037 3527 583 1503 8039 S6F8434 Parallel read of Y X 78434 3528 603 352A 8040 018000 24 bits starting at Y bit0 3529 604 1603 8041 SEC0028 Integrate result from 18040 352A 683 1603 8042 S6F8438 Parallel read of Y X 78438 352B 703 352D 8043 5018000 24 bits starting at Y bit0 352C 704 1703 8044 SEC002B Integrate result from 18043 352D 783 1703 8045 S6F843C Parallel read of Y X 7843C 352E 803 3530 8046 5018000 24 bits starting at Y bit0 352F 804 1803 8047 SEC002E Integrate result from 18046 3530 883 1803 For Micro Stepping the parallel read and integration ECTs combine to a 3 line entry The processed data result lies in the 3 line ke Note 12 Issue a Save followed by a to maintain changes 218 MACRO Connectivity Geo Brick LV User Manual The motors attached to the slave s have to be phased locally before allowing the Master to take over their control This can be done using Macro auxiliary MX commands from the master and creating a handshaking flag to trigger local phasing followed by a kill on the slave side Slave Handshaking PLC Example Phase then kill Motor 1 P8000 0 Handshaking fla
135. 58 657 1157 677 1177 658 1158 757 1157 7717 1171 758 1158 857 1157 877 1177 858 1158 This software I2T is designed to primarily protect the motor The Geo DT Brick LV s hardware built in I2T protects the amplifier and presents an added layer of system safety Note 160 Motor Setup Geo Brick LV User Manual Phasing Power On Mode Ixx80 Ixx73 Ixx74 Ixx81 Ixx91 180 0 280 0 380 0 480 0 580 0 680 0 780 0 880 0 I173 0 I273 0 1373 0 1473 0 I573 0 I673 0 1773 0 1873 0 181 3503 281 3506 381 3509 481 350C 581 350F 681 3512 781 3515 881 3518 I174 0 I274 0 1374 0 I474 0 I574 0 I674 0 1774 0 1874 0 191 8 100 500000 r Motor Motor Motor Motor Motor Motor Motor Motor Mtrs 1 8 Pwr on Pos 1 2 3 4 5 6 7 8 Power On Power On Power On Power On Power On Power On Power On Power On Commutation Commutation Commutation Commutation Commutation Commutation Commutation Commutation format Read 16 Integrated Integrated Integrated Integrated Integrated Integrated Integrated Integrated Output Output Output Output Output Output Output Output 1145 bits of X register Ixx81 Position Loop PID Gains Ixx30 Ixx39 30 8 31 8 32 8 33 8 34 8 35 8 36 8 37 8 38 8 39 8 00 0 00 85 00 1 00 0 00 0 00 0 00 0 00 0 00 1024 00 1024 Motor Setup 161
136. 671 0 Motor 6 size and number of commutation cycles I1770 0 I771 0 Motor 7 size and number of commutation cycles I870 0 I1871 0 Motor 8 size and number of commutation cycles I2T Protection Magnetization Current Ixx57 Ixx58 Ixx69 Ixx77 The lower values tighter specifications of the Continuous Instantaneous current ratings between the Geo Brick LV and motor are chosen to setup I2T protection If the peak current limit chosen is that of the Geo Brick LV e g 15 Amps then the time allowed at peak current is set to 1 seconds If the peak current limit chosen is that of the Motor check the motor specifications for time allowed at peak current Examples e For setting up I2T on a Geo Brick LV driving a 3A 9A motor 3 amps continuous and 9 amps instantaneous will be used as current limits And time allowed at peak is that of the motor e For setting up I2T on a Geo Brick LV driving a 4A 16A motor 4 amps continuous and 15 amps instantaneous will be used as current limits And time allowed at peak is 1 seconds Motors 1 thru 8 have 5 amp continuous 15 amp peak current limits define ServoClk P8003 KHz Computed in Dominant Clock Settings Section define ContCurrent 5 Continuous Current Limit Amps User Input define PeakCurrent 15 Instantaneous Current Limit Amps User Input define MaxADC 33 85 Brick IV full range ADC reading see electrical specifications define I2TOnTime 1 Time allowed at peak Current
137. 78B24 4 16 278B28 4 16 278B2C 4 16 278B20 4 16 278B34 4 16 278B38 4 16 278B3C 4 16 Mtr1STDO 23 gt Y Mtr2STDO 23 gt Y Mtr3STDO 23 gt Y Mtr4STDO 23 gt Y Mtr5STDO 23 gt Y Mtr6STDO 23 gt Y Mtr7STDO 23 gt Y Mtr8STDO 23 gt Y 278B20 0 24 278B24 0 24 278B28 0 24 278B2C 0 24 278B20 0 24 278B34 0 24 278B38 0 24 278B3C 0 24 Mtr1STD4 23 5Y Mtr2STD4 23 5Y Mtr3STD4 23 gt Y Mtr4STD4 23 5Y Mtr5STD4 23 gt Y Mtr6STD4 23 gt Y Mtr7STD4 23 5Y Mtr8STD4 23 gt Y 5278B20 4 20 278B24 4 20 278B28 4 20 278B2C 4 20 278B20 4 20 278B34 4 20 278B38 4 20 278B3C 4 20 A one time simple test per installation is performed on an unloaded motor to find the motor position offset phase e Enable the Absolute position read PLC Previously created in the feedback section e Record the values of Ixx29 and Ixx79 to restore them at the end of test e Set Ixx29 0 and write a positive value to Ixx79 then issue a nO0 500 is a reasonably conservative value for Ixx79 to start with Adjust appropriately most likely increase to force the motor unloaded to lock tightly onto a phase e Record the Single Turn Data value defined in the table above and store in the user defined motor phase offset e Issue a nK to kill the motor e Restore Ixx29 and Ixx79 to their original values Yaskawa Absolute Encoders Motor Phase Offset found from above test procedure 16 bit 17 bit
138. 78B2C Motor 4 Commutation source address 583 78B30 Motor 5 Commutation source address 683 578B34 Motor 6 Commutation source address 783 578B38 Motor 7 Commutation source address 883 578B3C Motor 8 Commutation source address 101 8 100 3 Motors 1 8 Commutation Enabled from Y register If the Singleturn Multiturn data does not fulfill 24 bits ST MT lt 24 bits 183 1104 Motor Commutation source address 283 1204 Motor Commutation source address 383 1304 Motor Commutation source address 483 1404 Motor Commutation source address 683 1604 Motor Commutation source address 783 1704 Motor Commutation source address 1 2 3 4 583 1504 Motor 5 Commutation source address 6 7 883 1804 Motor 8 Commutation source address 101 8 100 1 Motors 1 8 Commutation Enabled from X register e Technique 2 3 With techniques 2 and 3 the commutation dedicated encoder conversion table see feedback setup section result is the commutation source And Ixx01 should be equal to 1 indicating an X register These addresses can differ depending on the encoder conversion table management 183 3512 Motor Commutation source address User Input 283 3514 Motor Commutation source address User Input 383 3516 Motor Commutation source address User Input 1 2 3 483 3518 Motor 4 Commutation source address User Input 583 351A Motor 5 Commutation source address User Input 683 351C Motor 6 C
139. 80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ring Check Period Servo Cycles 81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count 82 180 18144 Macro Minimum Sync Packet Count 7 Issue a Save followed by a reset to maintain changes Macro Connectivity 209 Geo Brick LV User Manual 8 Activating MACRO motors Flag Control The master Geo Brick LV can be fitted with 1 or 2 servo ICs to service local channels 4 or 8 The next available channel will be the first macro slave motor This allows taking advantage of some of the default MACRO settings set by the firmware upon detecting a MACRO IC e If 14900 1 then only Servo IC 0 is present and the first macro motor is 5 I500 8 100 1 Activate channels 5 12 1524 8 100 840001 Channels 5 12 flag control 860001 to disable limits e If 14900 S3 then Servo ICs 0 and 1 are present and the first macro motor is 9 I1900 8 100 1 Activate channels 9 18 1924 8 100 840001 Channels 9 18 flag control 860001 to disable limits 9 Position And Velocity Pointers If all local motors have digital quadrature encoders 1 line ECT entries and no other entries are used in the Encoder Conversion Table then the position Ixx03 and Velocity Ixx04 pointers of the MACRO motors are valid by default set by firmware and need not be changed HA Motor Ixx03 Ixx04 jawa Motor BAO Ta 1
140. AC2 Clocks Main Clock Calculation Section I Non Turbo PMAC2 Max Phase 16800 6527 Max Phase Frequency 9 034602 kHz Tubo PMAC2 Phase Clock Div 16801 fo PWM Clock Frequency 4 517301 kHz I Ultralite Servo Clock Div 16802 Bo Phase Clock Frequency 9 034602 kHz M Turbo Ultralite Step2 PwM DT PFM Pw 16804 13 Servo Clock Frequency 2 258651 kHz 110 Setting 3713991 Calculated Clock Times Phase High Time 0 05534 msec Encoder Sample Clock f2 KI 9 8304 MHz Phase Low Time 0 05534 msec Step1 PFM Clock 6 0 6144 MHz Total Phase 0 11069 msec Servo High Time 0 3874 msec DAC Sample Clock 3 4 9152 MHz eel riven 0 05534 msec ADC Sample Clock 4 2 4576 MHz Total Servo T msec i PFM Frequency 22 75556 kHz Main Clock 39 3216 Pw Dead Time 1 755 usec Hardware Clock 16803 Results PFM Calculations for Steppers lxx63 paz aasahan MaxPFM e kHz PFM width 2116 usec Modify 16804 and PFM Clock 16803 Setup M1992 M1933 M1994 M1900 M1903 M1904 M1906 at Station Step 1 Choose Max PFM clock by changing the PFM clock divider Click on calculate to see results Step 2 Choose PFM Pulse width by changing 16804 Click on calculate to see results For a PFM clock range 0 20 KHz and a pulse width of 20 usec T6803 2290 PFM Clock divider equal to 6 16804 13 PFM Pulse Width Control equal to 13 Connections And Software Setup 41 Geo Brick LV User Manual The output frequency control Ixx69
141. C channel can NOT be wired into this connector when the amplifier enable output signal is configured PFM output PFM output without with encoder feedback encoder feedback O OO AENA PULSE External Stepper Amplifier OOOOO OO External Stepper Amplifier OOOOH OO PFM enable PFM enable O O Connections And Software Setup 49 Geo Brick LV User Manual The stepper drive specifications dictate the choice of the maximum PFM clock frequency and pulse width DT Calculator Forum Link PMAC2 Clocks Main Clock Calculation Section Non Turbo PMAC2 Max Phase I m00 6527 Max Phase Frequency 9 034602 kHz N7 Turbo PMAC2 Phase Clock Divider 17m01 9 Pw Clock Frequency 4 517301 kHz Ultralite Step Servo Clock D vider I7m02 3 Phase Clock Frequency 9 034602 kHz T Turbo Ultralite PWM DT PFW Pw I 7m04 13 Servo Clock Frequency 2 258651 kHz 110 Setting 3713991 Calculated Clock Times Phase High Time 0 05534 nsec Encoder Sample Clock 9 8304 MHz PERA ATINA 0 05534 nsec PFM Clock 6 0 6144 MHz Total Phase 0 11069 nsec Servo High Time 0 3874 nsec DaGaanba ock 3 z 4 9152 MHz Servo Low Time 0 05534 nsec Step2 ADC Sample Clock a z 2 4576 MHz Main Clock 39 3216 kik 22 75556 ae Hardware Clock I7m03 2290 PFM Calculations for Steppers Ixx63 2427 Choose Servo Frequency Max PFM 22 76 kHz PFM Width 21 16 usec Modify 7m04 and PFM Clock I7m03 Mess
142. CCFE 5 50 8388608 CMD WX 78114 SF94CFE 5 50 8388608 CMD WX 578114 SF10CFE 5 50 8388608 Axis 7 Settings CMD WX 78114 SFACCFE 5 50 8388608 CMD WX 78114 SFA4CFE 5 50 8388608 CMD WX 578114 SF20CFE 5 50 8388608 Axis 8 Settings CMD WX 578114 SFBCCFE 5 50 8388608 CMD WX 78114 SFB4CFE 5 50 8388608 CMD WX 78114 SF30CFE 5 50 8388608 Dis PLC 1 Close r 7 r r and kill motors Select axis and set motor mode Servo 0 While Clear e While Save an While oa o Select While Clear e While Save an While o o O Select While Clear e While Save an While o o o Select While Clear e While Save an While o KY o Select While Clear e While Save an While o o o Select While Clear e While Save an While o o o Select While Clear e While Save an While o o o Select 0 While Clear e 0 While Save an 5 rro 5 dw 5 Q K w U ER EX axi rro axi EEO Q K w ol Up Un o axi EEO axi rro 0 While r r r r s ne r s r r gt 0 Endw s on selected axis in Servo mode gt 0 EndwW ite protect channel from strobe word gt 0 EndwW and set motor mode Servo gt 0 EndwW s on selected axis in Servo mode gt 0
143. CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I15 gt 0 Endw CMD WX 78114 SFB4DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78114 SF30DFE Save and write protect channel from strobe word changes 5 50 8388608 I10 While I5 gt 0 EndW Dis PIC 1 Close 150 Motor Type amp Protection Power On PLCs Geo Brick LV User Manual Servo brushless brush Motor Power On PLC Sample The following PLC sets up an 8 axis Geo Brick LV to drive 8 brush or brushless motors Open plc 1 clear Disable all other PLCs DIS PLC 0 DIS PLCC 0 31 DIS PLC 2 3 CMD K Axis 1 Settings CMD WX 78014 SF8CCFE 5 50 8388608 CMD WX 78014 SF84CFE 5 50 8388608 CMD WX 78014 SFOOCFE 5 50 8388608 Axis 2 Settings CMD WX 578014 SFICCFE 5 50 8388608 CMD WX 78014 SF94CFE 5 50 8388608 CMD WX 78014 SF10CFE 5 50 8388608 Axis 3 Settings CMD WX 578014 SFACCFE 5 50 8388608 CMD WX 578014 SFA4CFE 5 50 8388608 CMD WX 78014 SF20CFE 5 50 8388608 Axis 4 Settings CMD WX 578014 SFBCCFE 5 50 8388608 CMD WX 578014 SFB4CFE 5 50 8388608 CMD WX 78014 SF30CFE 5 50 8388608 Axis 5 Settings CMD WX 78114 SF8CCFE 5 50 8388608 CMD WX 78114 SF84CFE 5 50 8388608 CMD WX 578114 SFOOCFE 5 50 8388608 Axis 6 Settings CMD WX 78114 SFI
144. CITA ACI1B EF PS2505L 1NEC XIKSIP8I IN SOCKET RP40 1KSIP8I Appendix C 263 Geo Brick LV User Manual APPENDIX D Absolute Serial Encoders Limitation with Turbo PMAC The following is a summary of certain limitations which could be encountered with higher resolution absolute serial encoders and a description of related registers with respect to the proposed setup techniques Note that techniques 1 and 3 are processed in the Encoder Conversion Table ECT using the standard 5 bit shift whereas technique 2 is processed with no shift Quick Comparison Parameter Description Technique 1 3 Technique 2 Units Resolution Rotary SF 2 SF 25 counts revolution Scale Factor SF Linear SF 1 RES SF 1 32 RES counts user unit Maximum open loop velocity 2 ServoClk counts msec Maximum closed loop velocity 27 3 Ixx08 32 counts msec Maxim mi travel Rotary 2 SF 2 7T 2 SF 2 ST revolutions before rollover Linear 27 SE user units Where ST is the rotary encoder Singleturn resolution in bits RES is the linear encoder resolution in user units e g mm ServoClk is the PMAC servo update rate in KHz Ixx08 is Motor xx s position scale factor Resolution Scale Factor SF Turbo PMAC expects the motor count Least Significant Bit LSB to be left shifted 5 bits per techniques 1 or 3 The only difference then with technique 2 when unshifted is that the motor posit
145. Connectivity 207 Geo Brick LV User Manual Setting up the Slave in PWM Mode 1 Establish communication to the slave using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a reset 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 Clock settings considerations e The MACRO ring is synchronized at phase rate Keep in mind that the phase clock frequency must be the same on both the master and the slave e The MACRO IC must be sourcing the clock parameter 119 A Save followed by a are required whenever I19 is changed e It is advised to have both the MACRO and servo ICs set at the same phase frequency I19 6807 Clock source MACRO IC 0 T6800 17000 Macro IC 0 MaxPhase PWM Frequency Control T6801 17001 7 Macro IC 0 Phase Clock Frequency Control T6802 17002 Macro IC 0 Servo Clock Frequency Control 5 MACRO ring settings e 180 181 and 82 enable the ring error check function e I85 specifies a station number which the slave unit is assigned to e g multiple slave stations e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used e Ixx44 specifies the MACRO command address and mode for slave motors 85 1 Station number 1 if multiple slaves User Input 6840 S 4
146. DD EFGHHHIO 1 0 25A 0 75A 4 Phase Servo Stepper outputs 3A 4 Phase Servo Stepper outputs 15A_ 4 Phase Servo Stepper outputs Axes 5 to 8 Options GBDA BB CDD EFGHHHIO PD 12 24V 5V Flags 00 05 Four primary encoder inputs No secondary encoders 4 axis system 02 07 Four secondary encoders for a total of 8 encoder inputs P3 P8 PWM amplifier Interface for channel 7 with encoders for axes 5 to 8 4 secondary encoders Call factory if PWM on Channel 8 is needed 12 17 0 25A 0 75A 4 Phase Servo Stepper output with encoders and Flags for every axis 22 27 1A 3A 4 Phase Servo Stepper output with encoders and Flags for every axis 42 47 5A 15A 4 Phase Servo Stepper output with encoders and Flags for every axis axes Example For 5V flag inputs then specify it at the Channel 5 to 8 Encoder Flag Options 07 Four secondary encoder inputs total of 8 encoder inputs 5V Flag inputs i e GBDx xx 407 xxxxxxx If the above Number of Amplifier Axes are selected then only the corresponding Axes Options are available Digital I O Option GBDA BB CDD EFGHHHI0 E 0 16 IN 8 OUT Default 1 Expanded digital I O additional 16 inputs and 8 outputs Total of 32 IN 16 OUT Outputs rated 0 5A 12 24VDC Analog I O Options GBDA BB CDD EFGHHHIO0 0 No options Default 2 Four GPIO Relays On connectors X9 X12 3 Two Analog In two analog Out On conn X1
147. Data packet 6 Clock Output Serial Encoder Clock 7 Unused 8 Unused 9 Unused 10 Unused 11 Unused 12 GND Common Common Ground 13 Clock Output Serial Encoder Clock 14 Data Input Data Packet 15 Unused IN e Some SSI devices require 24V power which has to be brought in EF externally Pins 4 and 12 are unused in this case leave floating Note e Hardware capture is not available with Serial Data encoders Configuring SSI Configuring the SSI protocol requires the programming of two essential control registers e Global Control Registers e Channel Control Registers The resulting data is found in e SSI Data Registers Connections And Software Setup 79 Geo Brick LV User Manual Global Control Registers X 78BnF Default value 5630002 where n 2 for axes 1 4 n 3 for axes 5 8 Global Control Register Axes 1 4 X 78B2F Axes 5 8 X 78B3F The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock SER_Clock is generated from a two stage divider clocked at 100 MHz Ser_Clock MH ern M x 25 3 M N Clock Frequency 49 0 2 0 MHz 99 0 1 0 MHz 99 1 500 0 KHz 99 2 250 0 KHz Default Settings M 99 N 0 gt 1 MHz transfer rates There are two external trigger sources phase and servo Bits 9 8 in the Global Control register are
148. Done Entry Y 3519 less Data x Gz A Addres Gz View All Entries of Table Entry 1 TA Viewing Conversion Type Parallel pos from Y word with no filtering x Source Address 578420 bo Width in Bits 24 Offset Location of LSB at Source Address 0 f5 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Servo Node Addresses MACRO Motor Address Register MACRO Motor Address Register motor motor 1 5or9 78420 Servo Node 0 5h 9 or 13 78430 Servo Node 8 3 6or10 578424 Servo Node 1 6 10 or 14 78434 Servo Node 9 ga Tor 11 78428 Servo Node 4 7 1l or 15 578438 Servo Node 12 4 8 or 12 7842C Servo Node 5 o ng 12 or 16 7843C Servo Node 13 At this point of the setup you should be able to move the DV motor encoder shaft by hand and see encoder counts in the position window Note Macro Connectivity 211 Geo Brick LV User Manual 10 The flag address Ixx25 for MACRO motors is initiated by default in the firmware aasang Motor Ixx25 Register he Motor Ixx25 Register 1 5or9 3440 Servo Node 0 5 9or13 3448 Servo Node 8 ga 6or10 3441 Servo Node 1 6 10 or 14 3449 Servo Node 9 3 Toril 3444 Servo Node 4 Ja 11 or 15 344C Servo Node 12 4 8or 12 3445 Servo Node 5 gi 12 or 16 344D Servo Node 13
149. Mtr5SF P7054 Motors scale factor define Mtr2SF P7051 define Mtr6SF P7055 cts rev for rotary encoders define Mtr3SF P7052 define Mtr7SF P7056 cts user units i e mm inches for linear define Mtr4SF P7053 define Mtr8SF P7057 Mtr1SF 0 Mtr5SF 0 User Input Mtr2SF 0 Mtr 6SF 0 User Input Mtr3SF 0 Mtr7SF 0 User Input Mtr4SF 0 Mtr8SF 0 User Input define MtrlPhaseTest P7058 define Mtr5PhaseTest P7062 Phase force test values define Mtr2PhaseTest P7059 define Mtr6PhaseTest P7063 define Mtr3PhaseTest P7060 define Mtr7PhaseTest P7064 z define Mtr4PhaseTest P7061 define Mtr8PhaseTest P7065 MtriPhaseTest 0 Mtr5PhaseTest 0 User Input Mtr2PhaseTest 0 Mtr6PhaseTest 0 User Input Mtr3PhaseTest 0 Mtr7PhaseTest 0 User Input Mtr4PhaseTest 0 Mtr8PhaseTest 0 User Input define ChPhaseSel P7066 Select channels to perform power on phasing in Hexadecimal ChPhaseSe1 50 Channels selected for power on phasing User Input DEFINITIONS amp SUBSTITUTIONS define ChNo P7067 Present addressed channel define PhaseOffset P7068 Holding register for computing phase position offset define ActPos P7069 Indirect addressing index for actual position 162 define PresPhasePos P7070 Holding register for computing present phase position define Ixx70 P7071 Indirect addresssing index for No of commutation cycles 170 define Ixx71 P7072
150. O Data Transfer PLC Open plc 1 clear If LatchOut N2Twenty4 LatchOut N2Twenty4 OutBytel LatchOutsS0000FF OutByte2 LatchOut amp 00FF00 256 EndIf Make sure that I O node 2 is active lst Byte of Outputs J6 2nd Byte of Outputs J7 lst Byte of Inputs 2nd Byte of Inputs 3rd Byte of Inputs 4th Byte of Inputs Registers 24 bit register node 2 lst 16 bit register node 2 2nd 16 bit register node 2 Change in state Latch data Update Outputs 1 8 J6 Update Outputs 9 15 J7 If LatchIn1l InBytel Or LatchIn2 InByte2 Or LatchIn3 InByte3 Or LatchIn4 InByte4 LatchInl InBytel 7 LatchIn2 InByte2 LatchIn3 InByte3 LatchIn4 InByte4 o Latch data Latch data Latch data Latch data N2First16 LatchInl LatchIn2 256 Assemble Input bytes 1 2 in lst 16 bit register node 2 N2Second1 6 LatchIn3tLatchIn4 256 Assemble Input bytes 3 4 in 2nd 16 bit register node 2 EndIf Close 234 MACRO Connectivity Geo Brick LV User Manual Master Digital I Os Transfer Example 16841 16841 000004 Open Memory Registers define OpenReg16Y M7000 define OpenReg16X M7001 define OpenReg15Y M7002 OpenReg1 6Y 5Y S10FF 0 24 U OpenReg16X gt X S10FF 8 16 U OpenReg15Y gt Y S10FE 8 16 U M7000 7002 0 Latching Words M7004 7006 gt M7004 7006 0 define LatchOut M7004 define LatchInl M7005 define LatchIn2 M7006 MACRO I O Node Registers define N2Twenty4 M7008 define N2First16 M70
151. QMAC C PC104 ACC2P C GeoPMAC C Geo Yuasa 25 25 25 25 CACCESETH GeoBrck Eara Serial No Gateway Mask 255 255 25 0 Store MAT ID 00 50 C2 7A 98 DA Step4 Release the BOOT SW switch after the corresponding confirmation message is received For changing the IP address follow through the subsequent messages for setting up windows registry for Pcomm32 f Ethernet Configure IP address successfully stored in EEPROM Would you like to setup the registry for Pcomm32 Pcomm32 Dil Data Card Instance EthUSBConfigure IP 192 6 94 5 setup for Pcomm32 dll device number 0 for embedded ethernet card number 0 asa Gateway IP Gateway Mask EthUSBConfigure A Card Gateway mask setup La Step5 Click on Done and recycle logic power 24V on the Brick 252 Troubleshooting Geo Brick LV User Manual Enabling ModBus A Brick unit ordered initially with the ModBus option is normally enabled by factory However ModBus is a field upgradeable option The user needs to provide Delta Tau or their local distributor with the MAC ID of the Brick unit This is found in the lower left hand side of the Ethernet 100 Base T utility Upon purchase of the ModBus Option a BIN file is obtained from Delta Tau for this purpose Installing this feature successfully requires the following procedure Step1 Hold the BOOT SW switch button down Step2 Click on ModBus Option The utility will
152. SECTION i TROUBLESHOOTING SECTION 10 UPDATED 5V ENC PWR SECTION 10 13 11 R N R N 11 CORRECTED IXX30 FOR PFM 11 01 11 M Y M Y 12 GENERAL UPDATES 4 15 12 R N R N 13 CORRECTIONS AND UPDATES 12 11 12 R N R N UPDATED PART NUMBER TREE ADDED POWER ON OFF SEQUENCE UPDATED LOGIC POWER INPUT SECTION ADDED STO INFORMATION 14 UPDATED X9 X12 SECTION 12 14 12 R N R N UPDATED MACRO CONNECTIVITY SECTION ADDED SERIAL NO AND BOARD IDENTIFICATION CORRECTED IXX81 TABLE IN HALLS GENERAL FORMATTING CORRECTIONS AND UPDATES 15 RE ADDED PLC DISABLING AND MOTOR KILL IN INITILIAZATION PLC 03 20 2013 R N R N Geo Brick LV User Manual Table of Contents INIRODUC TON BANANA PAKAKAK AKIN E a KUA iaaa 10 NAA AA aaah 10 Downloadable Turbo PMACNGTIph naaa NAAN NAAAGNAS 11 SPECTBICA TIONS a ccsisccsscvinvesensinshs ssininsesviesninusesnsesssecarousmsssenuieuasciecesosiebiecsiersenionieions 12 Pari NUMDET eesin sdevasiiiaiivse vive sdrvabbice done REE REE duran ube hve vida ANG ING EKAN 12 Cree BACK IN OPHONS AA E E S 14 Environmental Specifications NANANALANGIN AA 15 El trical a AA AA 16 RECEIVING AND UNPACKING ma AKEKKEBYBKABKEGEHEKKEBEEKEKKKG 18 Use f PUNNAGA NGANGA NAGA ea edad E aise eg eg a ates 18 DIES UN AA AAP PAANAN AAP KA SR PAANO PAPA AREA PU 19 Connector Locations gee ted ana AG a ANNA iene EENE ER E EEEE 20 CAD Drawing Renee eens eer ners E aaa a 21 CONNECTIONS AND SOFTWARE SETUP sccsscsccssscccssscccss
153. Table No Shifting Width in Bits 24 CO RANDMNS Record the processed data address Click on End of Table to access the next available entry Conversion Type Parallel position from Y word with no filtering Source Address Servo node Address See table below This is where the position and velocity pointers will be set to for a specific node motor number E g 1903 2 351A 10 Repeat steps for additional motors servo nodes i Turbo Encoder Conversion Table Device Cie Select a table entry to view edit End of Table Enty 17 First Entry of Table Enty Y 83519 Address Done Processed Data g3519 ress View All Entries of Table Yiewing Conversion Type End of Table Source Address m Ao Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Turbo Encoder Conversion Table Device Cie Select a table entry to view edit End of Table Entry 17 First Entry of Table Done Enty Y 3519 ress Data x A Address View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering x Source Address 578420 z Width in Bits 124 Offset Location of LSB at Source Address 0 f5 Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting Macro Connectivity 221 Geo Brick LV User Manual Servo Node Addresses
154. The Geo Brick LV supports a wide variety of absolute encoders When used as a MACRO slave the simplest way to report the absolute position to the master ring controller is to use the MACRO auxiliary communication read write Example Retrieving motor 9 s absolute position from motor 1 on a slave Brick yields the online command using suggested M Variables Mxx62 MXR0 M162 M962 which could be ultimately inserted in the initialization PLC Macro Connectivity 243 Geo Brick LV User Manual TROUBLESHOOTING Serial Number and Board Revisions Identification The following Serial Number Page provides the users with information about their Geo Brick LV without having to open the enclosure by simply inserting the serial number and pressing the enter key Enter 8 Digit Barcode Number not case sensitive C000A4XU V Show Top Level Desc Only Level Top_Assy Sub_Assy PartNumber Revision Description 1 COODA4XU GBD8 C0 442 00000000 103A Geo BRICK LV DRIVE 80MHZ 8 AXES 8Kx 24 INT 5A 15A 4 PHASE SERVO 2 COOOAE21 304 603953 10X 101 2 COODAHKB 301 P03878 10X 105 E C000AB10 313 603793 10X 109E 2 3LV 603793 OPT 2 31B 603793 OPT 2 3F2 603793 0PT Assy original ship date Assy last ship date rma 4 12 12 This page will display e Description and part number of the top assembly Brick Drive LV e Part numbers and revision numbers of the sub assembly boards e Top assembly original ship date e Top assembly last
155. Trigger Mode bit is set for one shot mode the hardware will automatically clear this bit after the trigger occurs 11 R W Convert G to B Gray code to Binary conversion 0 Binary 1 Gray 10 RxData Ready This read only bit provides the received data status It is low while the interface logic is communicating busy with the serial encoder It is high when all the data has been received and processed SENC_MODE This write only bit is used to enable the output drivers for the SENC_SDO SENC_CLK SENC_ENA pins for each respective channel 09 06 0x0 Reserved Reserved and always reads zero 05 00 0x00 Position Bits This bit field is used to define the number of position data bits or encoder resolution Range is 12 40 001100 101000 Connections And Software Setup 81 Geo Brick LV User Manual SSI Data Registers The SSI data is conveyed into 4 memory locations Serial Encoder Data A B C and D The Serial Encoder Data A register holds the 24 bits of the encoder position data If the data exceeds the 24 available bits in this register the upper overflow bits are LSB justified and readable in the Serial Encoder Data B which also holds the parity error flag Serial Encoder Data C and D registers are reserved and always read zero Serial Encoder Data B Serial Encoder Data A 23 22 08 07 0 2
156. USER MANUAL Geo Brick LV NN DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 318 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2011 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller accessory and amplifier products contain static sensitive components that can be damaged by incorrect handling When installing or handling Delta Tau Data Systems Inc products avoid contact with highly insulated materials Only qualified personnel should be allowed to handle this equipment In the case of industrial applications we expect our products to be protected from hazardous or conductive materials and or environments that could cause harm to the controller by damaging components or causi
157. VER be brought into the Geo Brick LV if the 24V logic power is NOT applied Caution Make sure that no motor commands e g phasing jogging open loop are being executed by the controller PMAC at the time of applying main bus power Caution Powering up a Geo Brick LV must obey the following procedure 1 Apply 24V logic power 2 Wait a minimum of 2 seconds 3 Apply main bus power Powering down a Geo Brick LV must obey the following procedure 1 Disconnect main bus power 2 Wait a minimum of 1 second 3 Disconnect 24V logic power Connections And Software Setup 25 Geo Brick LV User Manual J4 Limits Flags EQU Axis 1 4 J4 is used to wire axis channels 1 through 4 over travel limit switches home and user flags and EQU output The limits and flags can be ordered either 5V or 12 24V The EQU output is always 5V Per axis channel there are 2 limit inputs 2 flag inputs and 1 EQU output Positive limit Negative limit Home flag User flag EQU To avoid machine equipment damage and before applying power or connecting any of the flags make sure that your electrical design wiring is in accordance with the Geo Brick LV s part number Caution Option for 5 or 24 volt connection J4 D sub DB 25F OB O OQ O QMOOOOOO Mating D sub DB 25M 25 23 22 21 D 5 Pin Symb
158. X 507811D 8 16 5 ADC Input M502 5Y 5078102 8 16 S Analog DAC M602 gt Y 07810A 8 16 S Analog DAC M702 gt Y 078112 8 16 S Analog DAC M802 gt Y 07811A 8 16 S Analog DAC Bm WN H a UNE Some Geo Brick LVs may not be fully populated with all the analog DV inputs and outputs The non existent ones can be simply deleted from the example codes Note We will use the Servo Node method to transfer the X9 X12 analog data Servo nodes 8 9 12 and 13 will carry the analog output data in the 24 bit register and the analog input data in the first 16 bit register The auxiliary mode Ixx44 is set to PWM mode to allow automatic transferring of ADCs IN This method cannot be used if servo nodes 8 9 12 and 13 are already KO in use or if motors 5 8 on the slave are configured Note Servo Node 8 9 12 13 24 bit Y 78430 Y 78434 Y 78438 Y 7843C DAC Output Data 16 bit Y 78431 Y 78435 Y 78439 Y 7843D ADC Input Data 16 bit Y 78432 Y 78436 Y 7843A Y 7843E 16 bit Y 78433 Y 78437 Y 7843B Y 7843F Macro Connectivity 237 Geo Brick LV User Manual Slave Settings 16841 16841 3300 1544 078433 1644 078437 1744 07843B 1844 07843F I500 4 100 0 r Enable servo nodes 8 9 12 13 MacroICO Node 8 Command MacroICO Node 9 Command MacroICO Nodel2 Command MacroICO Node13 Command De activate channels to Address Address Address Ad
159. X12 are tied to the amplifier enable signals of axes 5 6 3 and 4 respectively Note General Purpose Relay Suggested M Variables General purpose relay Outputs M5014 gt Y 078800 8 1 General purpose relay output X9 M6014 gt Y 078801 8 1 General purpose relay output X10 M7014 gt 78803 8 1 General purpose relay output X11 M8014 gt Y 78804 8 1 General purpose relay output X12 138 Connections And Software Setup Geo Brick LV User Manual Setting up the External Amplifier Fault Input The amplifier fault signal is a bidirectional single ended input Its minus end is tied internally to the brake relay common pin 8 which dictates how the amplifier fault input should be connected IN If the amplifier fault signal is not used it can be treated and used as a Ey general purpose 12 24V input by setting bit 20 of Ixx24 to 1 Note IN The amplifier fault signal polarity can be changed in software with bit LS 23 of Ixx24 1 for High True 0 for Low True Note If the brake relay option is in use otherwise whichever scheme desirable e If pin 8 is wired to common ground then use the sourcing scheme e If pin 8 is wired to 24V then use the sinking scheme Sourcing AFAULT RET AFAULT External Amplifier Sinking External AFAULT RET Amplifier AFAULT External Amplifier Fault Input Suggested M Variables External Amplifie
160. a Registerl 1 word define SecondWord M7001 Yaskawa Data Registerl 2 word define STDO 16 M7002 7 Single Turn Data 0 16 17 bits define MTDO 15 M7003 7 Multi Turn Data 0 15 16 bits FirstWord gt Y 78B20 0 24 SecondWord gt Y 78B21 0 4 STDO_16 gt MTDO_15 gt define MtrlActPos M162 MtrlActPos 5D 500008B 1 Actual position 1 Ixx08432 cts open plc 1 clear MTDO 15 SecondWord amp SIFFF 8 int FirstWord 2097152 STDO_16 int FirstWord amp SIFFFFO 16 If MTDO_15 gt 7FFF MTDO_15 MTDO_15 S FFFF 1 1 If STDO 16 0 STDO 16 STDO_16 S1FFFF 1 1 Endif Endif MtrlActPos MTDO 15 20000 STDO 16 1108 32 disable plc 1 close Connections And Software Setup 123 Geo Brick LV User Manual Yaskawa Sigma Ill 20 Bit Absolute Encoder Y 78B21 Y 78B20 23 16 15 0 23 4 3 0 Multi Turn Position Absolute Single Turn Data 16 bits 20 bits Yaskawa Data Registers Channel 1 Y 78B20 Channel 5 Y 578B30 Channel2 Y 578B24 Channel 6 Y 578B34 Channel 3 Y 578B28 Channel 7 Y 578B38 Channel 4 Y 578B2C Channel 8 Y 578B3C The on going servo and commutation position data is setup using a 2 line Entry in the Encoder Conversion Table The first line represents a Parallel Y Word with no filtering 2 from the corresponding Yaskawa data register channel The second line represents the width
161. ad Entry Enty 1 Enty 2 2 First Entry of Table First Entry of Table Done Done Enty Y 3501 Processed Data X g3592 Enty Y 3503 Processed Data X g3503 Address Address s Address S Address i Yiewing Viewing Conversion Type Parallel pos from Y X word with no filtering Conversion Type Summing Of conversion table entries Source Address BF X Source Address X Width in Bits 24 Offset Location of LSB at Source Address 0 54 Add Subtract Encoder Table Entries Based Index Conversion Shifting of Parallel Data x C Normal shift 5 bits to the left A a Enyi O 2 a a Eny No Shifting IV Integrate IV Disable Use of 2nd Entry Motor Setup 155 Geo Brick LV User Manual Motors 1 8 Stepper Setup Encoder Conversion Table Motor Quadrature Torque command value Registers Motor Address X memory Motor Address X memory 1 0000BF 5 0002BF 2 00013F 6 00033F 3 0001BF 7 0003BF 4 00023F 8 00043F 8001 18018 8002 SECO0 8003 680 8004 5180 8005 SECO0 8006 5680 8007 5180 8008 EC00 8009 6802 8010 180 8019 180 8020 EC00 8021 6804 8022 180 8023 EC00 8000 6800BF Ij D gt YS f J TO f O 7J w Parallel 7 Parallel Use 24 Parallel Use 24 Parallel Use 24 Integrate resul of Y X S2BF bits starting a Integrate resul of X X 833 bits starting at Integrate resul
162. age Where m is the Servo IC number Step 1 Choose Max PFM clock by changing the PFM clock divider Click on calculate to see results Step 2 Choose PFM Pulse width by changing I7m04 Click on calculate to see results The output frequency control Ixx69 specifies the maximum command output value which corresponds to the maximum PFM Frequency Example Channels 5 8 are driving 4 stepper drives motors and require a PFM clock range of 0 20 KHz and a pulse width of 20 psec PFM Clock Settings Example Channels 5 8 PFM Clock Settings 17103 2290 Servo IC 1 PFM Clock divider equal to 6 17104 13 Servo IC 1 PFM Pulse Width Control equal to 13 1569 4 100 2427 Output Command Limit The following example assumes that there is no encoder attached to the motor and the feedback is internally generated Note 50 Connections And Software Setup Geo Brick LV User Manual Ch 5 8 PFM Setup Example Encoder Conversion Table for channels 5 8 8004 5C78100 Entry 5 incremental encoder no extension 8005 C78108 Entry 6 incremental encoder no extension 8006 C78110 Entry 7 incremental encoder no extension 8007 C78118 Entry 8 incremental encoder no extension Channels 5 8 Output Mode Select Encoder Decode 7116 4 10 3 Servo IC 1 Channels 5 8 Output Mode Select to PFM 7110 4 10 8 Servo IC 1 Channels 5 8 Encoder Decode Internal Pulse and Direction Channels 5 8 Command Output Reg
163. aiaahn naiyak 199 Review MACRO Nodes and Addressih cassisssaassaasncaracansaasatadnsatecacsaasangincadetaneatadasniadeneaens 200 Review MACRO Auxiliary CONGNDS a a ananaunnananunanaaiiagunaaaamaa 201 Configuration Example 1 Brick Brick Servo MOtors ccccccccsssseseteeeeeeeeeeeeeeennneeeeeeeees 202 Setting up the Slave in Torque Mode 00oooonnuaananaaaaasuausasaanaaasaassaassnassassasasssons 203 Setting up the Master in Torque M0de pasakan GA BANAAG ANAGAKAKAAGA 205 Setting up the Slave in PWM MOG ssscasieassiandaatacasinadadebasatqsadacasaiapssadasstieatatapnasiasenwasabenisas 208 Setting up the Master in PWM Mode jeaivnc cree tacccests cada vsaaseassthesadaubeanracatieieeapeearaeaubianetentancs 209 Configuration Example 2 Brick Brick Stepper Motors eeseseseeesssseresssrrersssrersssrrressrreessee 215 Setting up the Slave in Torque Mode for Steppers 0000oeeenasanaanausasasuwunasaanansssssaws 215 Setting up the Master in Torque Mode for Steppers cceeonsaananaasassuuuwunaaasansssssann 220 Configuration Example 3 Brick Geo MACRO Drive ceeesseeeeeseneeeeeeeseeeeeeenneeeeensnaeeees 223 Brick Brick MACRO NVO Data Transfer siccccdeccsitesstdeanccciesabenstiiavdscbeditvescdvivsaclecateeatddnediaueeaeen 231 8 Table of Contents Geo Brick LV User Manual Transferring the Digital Discrete Input and Outputs 00000000000
164. al events such as automatically releasing a motor brake upon enabling it i e vertical axis In this mode the general purpose relay has no use and the related registers suggested M variables are meaningless This option utilizes the Omron G6S 2F relay which is rated to up to 220VAC However it is advised to use an external relay for AC operations and limit the usage for this connection to up to 30VDC at Caution 2 amperes The brake output can be either e High true using the normally open contact pin 9 e Low true using the normally closed contact pin 4 Also it can be either sourcing or sinking depending on the wiring scheme The following table summarizes the logic of operation Operation Command From Contact between pins Contact between pins p Geo Brick LV 8 and 9 8 and 4 Brak Amp disabled killed Open Closed r Amp Enabled open closed loop Closed Open M variable 0 Open Closed pi Relay M variable 1 Closed Open Connections And Software Setup 137 Geo Brick LV User Manual High True Brake Output Sourcing Sinking DC Power Supply 12 24V DC Power Supply Baer Logic device Brake Logic device BRAKE RET Brake BRAKE Low True Brake Output Sourcing Sinking DC Power Supply DC Power Supply T2 24VDC 12 24V Logic device BRAKE RET Brake BRAKE The brake relays on X9 X10 X11 and
165. alent to 8000 278B20 Entry 1 Unfiltered parallel pos of location Y 78B20 8001 S00D006 Width and Bias total of 13 bits LSB starting at bit 6 8002 278B24 Entry 2 Unfiltered parallel pos of location Y 78B24 8003 S00D006 Width and Bias total of 13 bits LSB starting at bit 6 8004 5278B28 Entry 3 Unfiltered parallel pos of location Y 78B28 8005 500D006 Width and Bias total of 13 bits LSB starting at bit 6 8006 5278B2C Entry 4 Unfiltered parallel pos of location Y 78B2C 8007 S00D006 Width and Bias total of 13 bits LSB starting at bit 6 8008 278B30 Entry 5 Unfiltered parallel pos of location Y 78B30 8009 S0O0D006 Width and Bias total of 13 bits LSB starting at bit 6 8010 278B34 Entry 6 Unfiltered parallel pos of location Y 78B34 8011 S0O0D006 Width and Bias total of 13 bits LSB starting at bit 6 8012 278B38 Entry 7 Unfiltered parallel pos of location Y 78B38 8013 S00D006 Width and Bias total of 13 bits LSB starting at bit 6 8014 5278B3C Entry 8 Unfiltered parallel pos of location Y 78B3C 8015 S00D006 Width and Bias total of 13 bits LSB starting at bit 6 Position Ixx03 and Velocity Ixx04 Pointers 103 3502 Motor 1 Position feedback address ECT processed data 104 3502 Motor 1 Velocity feedback address ECT processed data 203 3504 Motor 2 Position feedback address ECT processed data 204 S 3504 Motor 2 Velocity feedback a
166. alue which would lock the motors onto a phase using the above procedure the following example locks in small incremental steps the motor onto one phase then steps it back into the other phase Manual Phasing Example 2 define MtrlPhasePos M Mtr1PhasePos 5 X SB4 0 24 S define MtrlPhaseErrBit M MtrlPhaseErrBit gt Y C0 8 Open plc 1 clear 5 100 8388608 110 while I51 P129 1129 P179 1179 129 0 1179 0 5 100 8388608 110 while I51 CMD 100 5 100 8388608 110 while I51 while 1129 gt 1500 1129 1129110 1179 0 15111 100 8388608 110 while I5 Endw while 200 lt ABS M166 endw I5 1000 8388608 110 while I5 while I179 gt 1500 1179 1179410 1129 1129 10 I5111 100 8388608 I10 while I5 Endw while 200 lt ABS M166 endw 5 1000 8388608 110 while I5 Mtr1PhasePos 0 5 250 8388608 I10 while I51 CMD 1K 5 100 8388608 110 while I5 129 P129 1179 P179 Mtr1lPhaseErrBit 0 5 500 8388608 I10 while I5 Dis ple 1 Close TA 7 Motor 48 Motor 50 Endw 50 Endw 50 Endw 50 Endw 50 Endw 50 Endw 50 Endw 50 Endw 150 Endw 150 Endw 1 Phase Position Register Suggested M Variable 1 Phasing Search Error Bit Suggested M Variable Delay Store Ixx29 and Ixx79 Set ADC offsets to zero Delay Issue n00 Delay Force motor to Phase A by pushing current incrementally Delay Wait for motor to settle Delay Force motor to Phase B by pushing
167. amage and before applying power or connecting any of the flags make sure that your electrical design wiring is in accordance with the Geo Brick LV s part number Caution Option 5 or 24 volts J5 D sub DB 25F BO OO0O0000 Mating D sub DB 25M 5 23 22 2 D 5 Pin Symbol Function Description 1 USERS Input User Flag 5 2 MLIM5 Input Negative Limit 5 3 FL RT35 Input Flag Return 5 4 USER6 Input User Flag 6 5 MLIM6 Input Negative Limit 6 6 FL_RT6 Input Flag Return 6 7 USER7 Input User Flag 7 8 MLIM7 Input Negative Limit 7 9 FL_RT7 Input Flag Return 7 10 USER8 Input User Flag 8 11 MLIM8 Input Negative Limit 8 12 FL_RT8 Input Flag Return 8 13 GND Common 14 PLIM5 Input Positive Limit 5 15 HOMES Input Home Flag 5 16 BEQUS5 Output Compare Output EQU 5 TTL 5V level 17 PLIM6 Input Positive Limit 6 18 HOME6 Input Home Flag 6 19 BEQU6 Output Compare Output EQU 6 TTL 5V level 20 PLIM7 Input Positive Limit 7 21 HOME7 Input Home Flag 7 22 BEQU7 Output Compare Output EQU 7 TTL 5V level 23 PLIM8 Input Positive Limit 8 24 HOME8 Input Home Flag 8 25 BEQU8 Output Compare Output EQU 8 TTL 5V level For Delta Tau s internal use For 5V flags Install RP89 RP93 RP97 and RP101 1Kohm Sip 8 pin four independent Resistors Note For 12 24Vflags Empty bank Default Connections And Software Setup 27 Geo Brick LV User Ma
168. annels 1 through 4 are driving HiperFace encoders with 12 bit 4096 single turn resolution and 12 bit 4096 multi turn resolution for a total number of data bits of 24 12 12 The entire data stream is held in the HiperFace serial data A register HiperFace Data A Register HiperFace Data A Register 23 0 23 0 11 0 Multi Turn Data Single Turn Data Channels 5 through 8 are driving HiperFace encoders with 16 bit 65536 single turn resolution and 12 bit 4096 multi turn resolution for a total number of data bits of 28 16 12 The HiperFace serial Data A register holds the 16 bit single turn data and the first 8 bits of multi turn data The Hiperface serial Data B register holds the 4 bits overflow of multi turn data HiperFace Data B Register HiperFace Data A Register 23 4 3 0 23 15 15 0 Multi Turn Datal Multi Turn Data Single Turn Data The automatic absolute position read in PMAC using Ixx10 and Ixx95 expects the data to be left shifted 5 bits in the Encoder Conversion Table Reading raw data and constructing position directly out of the serial encoder registers requires a custom procedure The following example PLC reads and constructs the absolute position for channels 1 through 8 It is pre configured for the user to input their encoder information and specify which channels are being used Using the Absolute Position Read Example PLC Under User Input section 1 E
169. ble summarizes the various conditions of dynamic braking when an axis is killed Safe Torque Off STO Dynamic Braking Disabled not wired W4 Enabled wired but Not Triggered f Enabled wired and Triggered x Connections And Software Setup 23 Geo Brick LV User Manual Disabling the STO Disabling the STO maintains full backward compatibility with existing systems pre STO installations This can be simply done by tying STO disable pin 4 to STO Disable RTN pin 5 STO Out STOIN1 2 3 fiston 84 85 Pins 1 2 and 3 have no practical use in this mode and should be left floating E STO DISABLE STO DISABLE RTN TB3 Wiring and Using the STO Single STO Trigger Dual STO Trigger s TB1 24VRET 24VRET CHGND CHGND 24VDC 24VDC 24 VDC COM Power Supply 24 VDC 24 VDC COM Power Supply 24 VDC STO Out Input to Brick Logic STO Out STO IN 1 STO IN1 STO IN 2 STO IN2 STO DISABLE STO DISABLE STO DISABLE RTN STO DISABLE RTN TB3 e In normal mode operation the STO relay s must be normally closed 24VDC must be applied to both STO inputs pins 2 3 to allow power to the motors e The STO is triggered and power is disconnected from the motors if the 24V is disconnected from either STO inputs pins 2 3 e The STO Out pin 1 is a voltage status output rated to 24 VDC 10 at a max of 125mA It reflects t
170. cales Note The position and velocity pointers are then assigned to the ECT for position result Parameter Technique 1 2 3 Position Ixx03 ECT position result Velocity Ixx04 ECT position result typically with single source feedback Commutation Source and Type for commutated motors e g brushless With technique 1 if the Singleturn Multiturn data bits fulfill 24 bits and are contiguous then serial data register A can be used as the commutation source Otherwise the resulting register from the ECT for position is used for commutation requires special settings for the commutation cycle size With techniques 2 and 3 the feedback source for commutation should come from its dedicated ECT Parameter Technique 1 Technique 2 3 Commutation serial data register A if ST MT gt 24 bits commutation Source Ixx83 ECT position result if ST MT lt 24 bits ECT result Commutation 3 from Y register if ST MT gt 24 bits i E nrin Type Ixx01 1 from X register if ST MT lt 24 bits 8 Special considerations should be made if the Singleturn ST and a Multiturn MT data bits are NOT contiguous in consecutive fields eo Contact Delta Tau for assistance with these special cases ote IN Multiturn MT is equal to zero for encoders which do not possess CT Multiturn data bits Note 98 Connections And Software Setup Geo Brick LV User Manual
171. cation POM 22 caaaaasasa kakayanan kakahanap 143 AMPI AMP8 Motor WINNIE amp 144 Stepped Motor Wiring zsa BANAANAANAG ARANGKADA LANANG ABAKA KAKANAN 145 Brushless Serve Motor wiring Laan NAG BAGAN UNANG 145 Br sh Motor WEIN senisest anaE A EEE AE EERE ENERE 145 5V ENC PWR Alternate Encoder Power 000711 aaa 146 Wiring the Alternate 5V Encoder Power 0 0 0 070000000ssssssnununwnwnnnsnasssasannssssssssssssaaa 147 Functionality Safety Measures samaan aanaganananadanayanananauaauaa 148 MOTOR TYPE amp PROTECTION POWER ON PLCs eesesssoeesssocesssooeeessooeesesocssessooseses 149 Siepper Motor Power On PLG Sample sama ANIYA AGA 150 Servo brushless brush Motor Power On PLC Sample ccceeeesssececeeeeeeeeeensneeeeeeeeeeeeee 151 Hybrid Motor Power On PLC Sample esctat sv ccaes ene catcennacntdesawessinsnacnetesnneavaneinessvesmeceniavanccsieanneas 152 MOTOR SETUP Jams anang ANAN AN AN AKN KN AN NBAAAG 153 Motor setup Flow Cha G NA KAKAI kai 153 Dominant CENA a Aa Aap 154 Stepper Motor Setup Direct Micro Stepping cc eeeesseeeeesenneeeeessseeeeesssaeeeeesssaeeeeeesnaeeees 155 ELA ANA aa AA rT eee trem erent E eterre reer re rT crt omreerrre tr eerrr ert 155 Encoder Conversion Table Setup Xa GABI AKAIGBIKA NGARAN AKING 155 Position Velocity Pointers Ixx03 ANNO saa aaa aakala 156 Motor Activation Commutation Enable Ixx00 Ixx0 0000000000000000sasasasasasasasasasasasasa
172. cccscscsccsscscosescesssecesesenenss 22 TBL 24VDC Logie AA AA 22 TB Safe Torgu Off STO tice nda esa shanna EERE NANA EAR EERE EE EEEE E 23 Dynamic BraKIN O esanen PA E APO E AP 23 Disabling the TO ana GAs A AA AAAS AA AE OGRA 24 Wiring and Using TS EO aNG ANA KABAN eG 24 NE DC 610 9110 Sere eee ne ere ene GG PAN nator E E N er rere 25 Power On Off Seguent aaa Naa baa Aa ADA 25 J4 Limits Paps EQU Axis l 4 aNG AALALA AN AA ANNA 26 J5 Limits Flags EQU Axis aa AA AA AGA 27 Wiring the Limits and OT AA AA TIA SEKESELER K EEEa 28 Limits and Flags Axis 1 4 Suggested M Variables cooounananannaasasusuwunasanasasssssan 29 Limits and Flags Axis 5 8 Suggested M Variables ooooonnaanannasasswwwwwnaasasasasssawn 29 J6 General Purpose Inputs and Outputs sseesseseeeeessesesssreesssrersrssreesssrressssreeerserteessereressrreesseere 30 J7 General Purpose Inputs and Outputs Additional ceecsccccecceeeeseeesnneeeeeeeeeeeeeeennneeeeeeeees 31 About the Digital Inputs and Queputs lanG GAGA 32 Wiring the Digital Inputs and Outputs aa AA BAI BG GALA 33 General Purpose I Os J6 Suggested M Variables 0 00000000aaasasasasasasasasasasasssssas 34 General Purpose I Os Additional J7 Suggested M Variables 7 0aaasususunanananan 34 J PWM Acti ie DINIG a a ANG EE ANA 35 J9 Handwheel and Analog aaa Ak PAN DAA 36 Setting up the Analog Inputs Naa DAANAN AA
173. ces 166 Commutation Cycle Size Ixx70 DK hina 167 ADC Offsets IXX29 DATO sac ETE AARE E A AEE ERE 168 Current Loop Gains Ixx61 Ixx62 WAT Oia aaa AB DA KINANA NAAAGNAS 169 Motor Phasing Power On Mode Ixx73 Ixx74 Ixx80 Ixx81 Ixx9 nosses 170 Open Loop Test Encoder Decode I7mn0 00000000aaaasasasasasasasasasasasasasasassssssssssss 190 Position Loop PID Gains X03 aanak ka 192 DC Brush Motor Software Setup dka NGANGA ANAN TAGA ANAN 193 Before you MAL ssose as tis tnntesspacneacagadasasapacanedaganieatasasiansusaiacasapanicaiaeasnaad paca aaa 193 Phasing Search Error Bit Current Loop Integrator Output IXX96 ccccccccccceeeesestteeeeeeeees 193 Flags Commutation Phase Angle ADC Mask Ixx24 Ixx01 Ixx72 IXX84 00 cceeesseeeeeeees 194 PWM Scale Factor be GD AA artes 194 Current Feedback Address NXB 2 ANGAL KABIBE 194 Commutation Cycle Size Ixx70 LL sees cahscunsccnanntsanzadaticaracatsadsadetseatanetisasabeiseasasatscanabensens 195 DT Protection Magnetization Current Ixx57 Ixx58 Ixx69 IXX77 n 195 ADC Offsets IXX29 INTO NANG ABAKADA GAN ANA E KABA aiT 196 Current Loop Gains Open Loop Enc Decode Ixx61 Ixx62 Ixx76 I7MmnO 196 Position Loop PID Gains Ixx30 X39 BANGAG AGAA NAAN 197 MAGKO CONNECTIVITY nananahan ANAN ENAG ON KEN NGH KGG AAD 198 Introduction t MAGKAANAK a GA paa 198 MACRO Configuration Example scgsindic ese daccecens Gnda Manang ustedes Uatncereen naag bab d
174. cle sensor 12 Fixed at 0 13 Fixed at 0 14 Origin not passed Warning g g The origin has not been passed in this flag session yet 15 Fixed at 0 Set at zero Connections And Software Setup 131 Geo Brick LV User Manual Homing with Yaskawa Incremental Encoders Hardware capture is not available with serial data encoders software capture Ixx97 1 is required Setting Ixx97 to 1 tells Turbo PMAC to use the register whose address is specified by Ixx03 for the trigger position The disadvantage is that the software capture can have up to 1 background cycle delay typically 2 3 msec which limits the accuracy of the capture To alleviate homing inaccuracies with serial encoders it is recommended to perform home search moves at low speeds Homing to a flag i e Home Overtravel Limit and User is done using the traditional capture parameters I7mn2 and I7mn3 Remember to temporarily disable the end of travel limit use bit 17 of Ixx24 when homing to one of the hardware limit flags and re enabling it when homing is finished Example Homing channel 1 to the negative limit high true I1124 1124 520001 Flag Mode Disable hardware over travel limits I1197 1 channel 1 position capture software 17012 2 Channel 1 capture control capture on flag high 17012 2 Channel 1 capture flag select minus or negative end limit Homing to the index pulse normally performed af
175. coder except for a Reset command The CRC error bit is set if the return data fails the CRC verification The timeout error flag is set if the SEIGATE3 does not receive a response from the encoder EnDat Data C and D registers are reserved and always read zero EnDat Data B EnDat Data A 23 22 21 20 16 15 0 23 0 TimeOut Err CRC Err Err flag Position Data 39 24 Position Data 23 0 EnDat Data A EnDat Data B Channel 1 Y 78B20 Y 78B21 Channel 2 Y 78B24 Y 78B25 Channel 3 Y 78B28 Y 78B29 Channel 4 Y 78B2C Y 78B2D Channel 5 Y 78B30 Y 78B31 Channel 6 Y 78B34 Y 78B35 Channel 7 Y 78B38 Y 78B39 Channel 8 Y 78B3C Y 78B3D EnDat Registers C and D are listed here for future use and documentation purposes only They do not pertain to the EnDat setup and always read zero EnDat Data C EnDat Data D Channel 1 Y 78B22 Y 78B23 Channel 2 Y 78B26 Y 78B27 Channel 3 Y 78B2A Y 78B28 Channel 4 Y 78B2E Y 78B2F Channel 5 Y 78B32 Y 78B33 Channel 6 Y 78B36 Y 78B37 Channel 7 Y 78B3A Y 78B38 Channel 8 Y 78B3E Y 78B3F 88 Connections And Software Setup Geo Brick LV User Manual EnDat Control Registers Setup Example Channel 1 is driving a 37 bit 25 bit Singleturn 12 bit Multiturn EnDat 2 2 encoder The encoder requires a 4 MHz serial clock Global Control Register The Global Control register is
176. ction IP20 IP 55 can be evaluated for custom applications Specifications 15 Geo Brick LV User Manual Electrical Specifications Current Output Nominal Current Per Axis Peak Current Per Axis P Amps RMS Amps RMS 1 sec 0 25 A 0 75 A Possible Configurations ti ma Max ADC Axis Current Rating Max ADC 0 25A 0 75A 1 6925 A Full Range ADC Current Reading IA 3A 6 770 A Logic Power Supply Requirements 4 Axis 8 Axis Input Voltage VDC 24VDC 20 Continuous Current Input amps RMS 0 25A 0 75A PWM Frequency Range KHz lt 100 KHz 40KHz recommended 4A Bus Power Supply Requirements 4 Axis 8 Axis Axes Configuration 0 25A 0 75A 1A 3A 0 25A 0 75A LABA SA ISA Nominal Voltage VDC 12 60 VDC Maximum Voltage VDC 80 VDC Continuous Current Amps RMS 2 z Peak Current Amps RMS 1 sec 3 BE i a 16 Specifications Geo Brick LV User Manual Bus Line Recommended Slow Acting Fuse 24 48 VDC recommended frequency NS TES La 4 Axis 24 VD Power Dissipation Per Axis Hs tt aa 0 25A 0 75A 1A 3A 0 25A 0 75A a A SE Lew 3 1W 1 8W Nominal current amp Max Sinusoidal Output 7 5W 29 5W 15W ka Max Output Power 29W 49W Nominal curren
177. currently addressed channel define MTRes P7031 Multi Turn Resoltuion of currently addressed channel define PsfBase P7032 Indirect addressing for position scale factor Ixx08 108 HiperFace Serial Data Registers A and B M6020 gt Y 78B20 0 24 U M6021 gt Y 878B21 0 24 U Channel 1 M6022 5Y 578B24 0 24 U M6023 gt Y 78B25 0 24 U Channel 2 M6024 gt Y 78B28 0 24 U M6025 gt Y 78B29 0 24 U Channel 3 M6026 gt Y 78B2C 0 24 U M6027 gt Y 78B2D 0 24 U Channel 4 M6028 gt Y 78B30 0 24 U M6029 gt Y 78B31 0 24 U Channel 5 M6030 gt Y 78B34 0 24 U M6031 gt Y 78B35 0 24 U Channel 6 M6032 gt Y 78B38 0 24 U M6033 gt Y 78B39 0 24 U Channel 7 M6034 gt Y 78B3C 0 24 U M6035 gt Y 78B3D 0 24 U Channel 8 sssssSs SSS SSeS SSeS eee Seeseeeses PLC SCRIPT 5 5555 555555555555 f y Open PLC 1 Clear ChNo 0 While ChNo gt 7 ChNo ChNot1 ChNoHex exp ChNo 1 1n 2 ChAbsCalc ChAbsSel amp ChNoHex ChNoHex If ChAbsCalc 0 Absolute read on this channel SerialBase 6020 ChNo 1 2 SerialRegA M SerialBase SerialRegB M SerialBaset1 ResBase 7000 ChNo 1 2 STRes P ResBase MTRes P ResBaset1 Loop for 8 Channels Connections And Software Setup 75 Geo Brick LV User Manual STData 0 MTData 0 If STRes gt 24 Single Turn Res lt 24 3 SINGLE TURN DATA Two2STDec exp STRes 1n 2 Two2STHex Two2STDec 1 STData SerialRegA amp Two2STHex Two
178. d a decreasing velocity curve during the negative segment of the current command YOUR ENCODER IS DECODING CORRECTLY 196 Motor Setup Geo Brick LV User Manual Position Loop PID Gains IXxx30 Ixx39 The position loop tuning is done as in any Turbo PMAC PID Loop setup The PMACTuningPro2 automatic or interactive utility can be used to fine tune the PID Loop Acceptable Step and Parabolic position responses would look like Actual and Commanded Velocity cts sec Position Step Move Motor 1 Step Move Plot Result Executed at 12 08 07 PM 1 5 2010 11780 00 11650 00 11520 00 11390 00 11260 00 11130 00 11000 00 10870 00 10740 00 10610 00 Actual and Commanded Position cts o 100 200 300 400 500 600 700 800 900 Time msec Rise Time 0 018 s Peak Time 0 066 s Natural Freq 30 8 Hz Over Shoot 0 0 Damping 1 0 Settling Time 0 028 Proportional Gain Ix30 400000 Derivative Gain Gain Ix31 2800 Velocity Feedforward Gain Ix32 4250 Integral Gain Ix33 1000 Integral Mode Ix34 1 Acceleration Feedforward Gain x35 15000 Command Limit Ix69 11853 Servo Cycle Extension Ix60 0 Friction Feedforward Gain Ix68 0 Fatal Following Error Limit Ix11 32000 Position Parabolic Move Motor 1 Parabolic Move Plot Result Executed at 11 56 42 AM 1 5 2010 15000 00 12000 00 9000 00 6000 00 3000 00 0 00 3000 00 6000 00 sp s0143 umoo 4 9000 00 12000 00 15000 0
179. d mode for slave motors 1144 178423 Macro ICO Node 0 Command Address Torque Mode 1244 178427 Macro ICO Node 1 Command Address Torque Mode 1344 17842B Macro ICO Node 4 Command Address Torque Mode 1444 S17842F Macro ICO Node 5 Command Address Torque Mode 1544 5178433 Macro ICO Node 8 Command Address Torque Mode 1644 178437 Macro ICO Node 9 Command Address Torque Mode 1744 17843B Macro ICO Node 12 Command Address Torque Mode I1844 517843F Macro ICO Node 13 Command Address Torque Mode Setting Ixx44 to the MACRO command register hands control of the motors to the master To allow motor commands from the slave again Ixx44 needs to be set back to default of zero ke Note Ixx44 must be set for at least one channel to allow MACRO auxiliary mode communication thus enabling MX commands 10 Issue a Save followed by a reset to maintain changes 11 With Direct Micro Stepping the servo loop command output is integrated in the Encoder Conversion Table to create a simulated sensor position so in order to convey the command output from the Master the Encoder Conversion Table must be modified for MACRO support Register 0 of each respective node carries the command output it will replace the source address of the local servo command output see stepper motor setup section in this manual Note Instead of replacing the current ECT entries with the MACRO support ECT entries they can be add
180. d servo Bits 9 8 in the Global Control register are used to select the source and active edge to use as the internal serial encoder trigger The internal trigger is used by all four channels to initiate communication with the encoder To compensate for external system delays this trigger has a programmable 4 bit delay setting in 20 usec increments 23 16 15 12 11 10 9 8 TJ 6 35 4 3 2 1 0 M Divisor N Divisor Trigger Clock Trigger Edge Trigger Delay Protocol Code Bit Type Default Name Description Intermediate clock frequency for SER Clock The 23 16 R W 0x00 M Divisor intermediate clock is generated from a M 1 divider clocked at 100 MHz Final clock frequency for SER Clock The final clock is 15 12 R W Ox2 N Divisor generated from a 2 divider clocked by the intermediate clock 11 10 R 00 Reserved Reserved and always reads zero Trigger clock select 0 PhaseClock 09 R W 0 TriggerClock 1 ServoClock Active clock edge select 0 rising edge 08 R W 0 TriggerEdge l falling edge Trigger delay program relative to the active edge of the HOA NAY ORU Hepes Delsy trigger clock Units are in increments of 20 usec This read only bit field is used to read the serial encoder 03 00 R 0x3 ProtocolCode interface protocol supported by the FPGA A value of 0x3 defines this protocol as EnDat 86 Connections And Software Set
181. d the motor successfully it is now possible to execute an open loop test The open loop test is critical to verify that the direction sense of the encoder is the same as the command output A positive command should create a velocity and position counting in the positive direction a negative command should create a velocity and position counting in the negative direction The open loop test can be done manually from the terminal window e g 105 while gathering position velocity data or by simply monitoring the direction of the velocity in the position window The PMACTuningPro2 Software provides an automatic open loop utility which is convenient to use A successful open loop test should look like the following kj PmacTuningPro2 v4 0 0 PMAC 0 V1 947T1 02 08 2010 PMAC2 Turbo USB Port File Current Loop Position Loop Trajectory Tools Regular PID Extend Servo Algorithm P Filters Habk a pappajlseg sas Motor 2 Open Loop Test Plot Result Executed at 6 18 41 PM 4 7 2010 8 as Aaya 8 Fi 3 5 5 5 120 160 200 240 280 Time msec You should see an increasing velocity curve during the positive segment of the current command and a decreasing velocity curve during the negative segment of the current command YOUR ENCODER IS DECODING CORRECTLY Commanded Voltage Velocity ne The open loop magnitude output is adjustable start off w
182. d to scale the phase position to 0 360 It is 360 Ixx70 Ixx71 Sa Scaling and Processing for Item A X M tr1 Phase Psition M171 Degrees Scale Factor oas Differenciate None o Bit Masking I Use BitMask T SiipResnipto ise Add OffSet Value Combine Above With a 2nd Source gt gt Plotting the hall sensors Mxx28 700000 Masking enables reading W V and U in bits 20 21 and 22 respectively Sa Scaling and Processing for Item A Item Name Mtr Halls UVW M128 Units 3 bit uyw Source Source 1 x 78000 Scale Factor PO Differenciate None Bit Masking IV Use BitMask 8700000 lv Shift Result to LSB Add OffSet Value Combine Above With a 2nd Source gt gt 5 Gathering and plotting data for a short positive travel of the motor should look like Motor 1 Hall Sensors Vs Phase Position a a Cee Hall Sensors UVW Mxx28 0 60 0 00 0 01 0 02 Time sec Phase Position Mxx71 degrees x Primarily we are interested in two occurrences on the plot the transition of the halls data between states 1 amp 3 and the point of intersection of Mxx28 and Mxx71 at this transition This represents the Hall Effect Zero HEZ Motor Setup 175 Geo Brick LV User Manual With positive movement of the motor if the halls state transition is from 1 to 3 as seen in the example plot then use the following set of equations
183. ddress ECT processed data 303 3506 Motor 3 Position feedback address ECT processed data 304 53506 Motor 3 Velocity feedback address ECT processed data 403 3508 Motor 4 Position feedback address ECT processed data 404 53508 Motor 4 Velocity feedback address ECT processed data 503 5350A Motor 5 Position feedback address ECT processed data 504 S350A Motor 5 Velocity feedback address ECT processed data 603 350C Motor 6 Position feedback address ECT processed data 604 350C Motor 6 Velocity feedback address ECT processed data 703 350E Motor 7 Position feedback address ECT processed data 704 S350E Motor 7 Velocity feedback address ECT processed data 803 3510 Motor 8 Position feedback address ECT processed data 804 3510 Motor 8 Velocity feedback address ECT processed data Motor Activation 100 8 100 1 Motors 1 8 Activated At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note 128 Connections And Software Setup Geo Brick LV User Manual Yaskawa Sigma Il 17 Bit Incremental Encoder Y 578B21 Y 578B20 23 11 10 0 23 22 6 5 4 Incremental Compensation Incremental Position in Single Turn bra 17 bits Yaskawa Data Registers Channel 1 Y 78B20 Channel 5 Y 578B30 Channel 2 Y 78B24 Channel 6 Y 78B34 Channel 3
184. de Volts 1 1 6 9 8 5 2 23 10 9 5 3 3 3 11 10 4 4 4 2 12 11 3 5 5 0 13 12 6 6 0 14 13 7 6 9 15 14 8 7 7 Resolver Excitation Frequency The Resolvers excitation frequency is divided from the Phase clock and is setup to be the same as but not greater than the Resolvers excitation frequency specification The Resolver excitation frequency is a global setting used for all available Resolver channels it has 4 possible settings define ResExcFreq M8001 Resolver Excitation Frequency MACRO definition ResExcFreq gt Y 78B13 0 4 Resolver Excitation Frequency register Setting Excitation Frequency 0 Phase Clock 1 Phase Clock 2 2 Phase Clock 4 3 Phase Clock 6 IN The Resolver Excitation Magnitude and Frequency need to be KY executed once on power up Note 60 Connections And Software Setup Geo Brick LV User Manual Resolver Data Registers The Resolver raw data is found in the Resolver Data registers Channel Register 1 Y 78B00 2 Y 78B02 3 Y 78B04 4 Y 78B06 Channel Register 5 Y 78B08 6 Y 78BOA 7 Y 78B0C 8 Y 78B0E Encoder Conversion Table Processing A dedicated 3 line Encoder Conversion Table entry is used for Resolver feedback Due to the noisy nature of Resolvers implementing a tracking filter to the result is highly recommended The Pewin32Pro2 software provides with an automatic encoder conversion table utility
185. dress PWM Mode PWM Mode PWM Mode PWM Mode For For For For ADC Transfer ADC Transfer ADC Transfer ADC Transfer allow direct DAC writes Master Settings 16841 16841 3300 302 gt Y 78430 8 402 gt Y 78434 8 502 gt Y 78438 8 602 5Y 57843c 8 eRRR 305 5Y 578431 8 405 5Y 578435 8 505 5Y 578439 8 605 5Y 57843D 8 SEES r r 6 S 16 S 6 S 6 5 U U r Enable servo nodes 8 9 12 13 Analog DAC Analog DAC 2 Analog DAC 3 Analog DAC 4 Analog ADC Analog ADC Analog ADC Analog ADC At the master side e The analog DAC filtered PWM outputs can now be written to using Mxx02 variables e The analog ADC inputs can now be read using Mxx05 variables KY This setup example assumes that the DAC filtered PWM outputs at the slave side have been set up properly See X9 X12 connector setup section Note 238 MACRO Connectivity Geo Brick LV User Manual Transferring The J9 Analog Inputs A Geo Brick LV MACRO slave with option 12 offers 8 x 12 bit analog inputs on connector J9 These inputs and outputs are typically mapped using suggested or pre defined M Variables at the following addresses Analog Inputs connector J9 M6991 gt Y M6992 gt Y M6993 gt Y M6994 gt Y M6995 gt Y M6996 gt Y M6997 gt Y M6998 gt Y S003400 12 12 s S003402 12 12 s S003404 12 12 s S003406 12 12 s S003408 12 12 8 0
186. dw 144 178423 Turn Auxiliary Control on 5 250 8388608 110 While I5 gt 0 Endw P8000 0 EndIf Close Issuing MX0 P8000 1 from the master will then initiate the phasing routine 204 MACRO Connectivity Geo Brick LV User Manual Setting up the Master in Torque Mode 1 Establish communication to the master using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a reset 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 The master s motors can now be set up as described in the motor setup section of this manual Typically these are motors 1 through 4 or 8 5 Clock settings considerations e The MACRO ring is synchronized at phase rate The phase clock frequency must be the same on the master and each of the slaves e It is advised that the MACRO and servo ICs be set to the same phase frequency T6800 17000 Macro ICO MaxPhase PWM Frequency Control T6801 17001 7 Macro ICO Phase Clock Frequency Control T6802 17002 Macro ICO Servo Clock Frequency Control 6 MACRO ring settings e 180 181 and 82 enable the ring error check function e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used 6840 S 4030 Macro ICO Ring Configuration Status t
187. e M754 gt Y 00344C 14 Macro IC 0 Node M755 gt X 00344C 15 Macro IC 0 Node M756 gt X 00344C 16 Macro IC 0 Node M757 gt X 00344C 17 Macro IC 0 Node M758 gt X 00344C 18 Macro IC 0 Node M759 gt X 00344C 19 Macro IC 0 Node Macro IC 0 Node 13 Flag Registers M850 gt X 00344D 0 24 Macro IC 0 Node M851 gt Y 00344D 0 24 Macro IC 0 Node M853 gt X 00344D 20 4 Macro IC 0 Node M854 gt Y 00344D 14 Macro IC 0 Node M855 gt X 00344D 15 Macro IC 0 Node M856 gt X 00344D 16 Macro IC 0 Node M857 gt X 00344D 17 Macro IC 0 Node M858 gt X 00344D 18 Macro IC 0 Node M859 gt X 00344D 19 Macro IC 0 Node KO O O O O to to to to N N N N N N N N N WWWWW WW WwW Ww flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag flag status register flag command register TUVW flags amplifier enable flag node amplifier fault flag home flag positive limit flag negative limit flag user flag 242 MACRO Connectivity Geo Brick LV User Manual Absolute Position Reporting Over MACRO Writing to the motor actual position Mxx62 should only be done when the motor is killed Caution
188. e 24 Motor 8 Rated Voltage VDC User Input 166 17000 MtriVoltage DCBusInput Motor 1 PWM Scale Factor 266 17000 Mtr2Voltage DCBusInput Motor 2 PWM Scale Factor 366 17000 Mtr3Voltage DCBusInput Motor 3 PWM Scale Factor 466 17000 Mtr4Voltage DCBusInput Motor 4 PWM Scale Factor 566 17000 Mtr5Voltage DCBusInput Motor 5 PWM Scale Factor 666 17000 Mtr6Voltage DCBusInput Motor 6 PWM Scale Factor 766 17000 Mtr7Voltage DCBusInput Motor 7 PWM Scale Factor 866 17000 Mtr8Voltage DCBus Input Motor 8 PWM Scale Factor Current Feedback Address Ixx82 1182 078006 Motor Current Feedback Address I1282 807800E Motor Current Feedback Address 1382 5078016 Motor Current Feedback Address T482 S07801E Motor Current Feedback Address 1682 S07810E Motor Current Feedback Address 1782 8078116 Motor Current Feedback Address 1 2 3 4 1582 5078106 Motor 5 Current Feedback Address 6 7 1882 S07811E Motor 8 Current Feedback Address 194 Motor Setup Geo Brick LV User Manual Commutation Cycle Size Ixx70 Ixx71 Set to zero with DC brush motors commutation is done mechanically I1170 0 I171 0 Motor 1 size and number of commutation cycles I270 0 I271 0 Motor 2 size and number of commutation cycles 1370 0 I1371 0 Motor 3 size and number of commutation cycles T470 0 I471 0 Motor 4 size and number of commutation cycles I570 0 I571 0 Motor 5 size and number of commutation cycles I670 0 I
189. e Brick D sub DA 15F N 3 0 DN CHORORC 9 Ng NG 6 Aa ic Yaskawa Encoder Cable has FEMALE Connector by defalut Connections And Software Setup 113 Geo Brick LV User Manual Molex 2 00 mm 079 Pitch Serial I O Connector Receptacle Kit Wire to Wire Part Number 0542800609 Pin Function Wire Color code 1 5VDC_ RED 2 GND BLACK 3 BAT Orange 4 BAT Orange Black Orange W hite 5 6 SDO Blue SDI Blue Black Blue White IN All Yaskawa Sigma II amp Sigma III protocols whether incremental or absolute and regardless of the resolution are supported Note This option allows the Brick to connect to up to eight Yaskawa devices Setting up the Yaskawa Sigma interface correctly requires the programming of two essential control registers e Global Control Registers e Channel Control Registers The resulting data is found in e Yaskawa Data Registers 114 Connections And Software Setup Geo Brick LV User Manual Global Control Registers X 78BnF default value 5002003 where n 2 for axes 1 4 n 3 for axes 5 8 Global Control Register Axes 1 4 X 78B2F Axes 5 8 X 78B3F With the Yaskawa option the Global Control Register is pre set and need not be changed
190. e Ch3STRes P7004 define Ch3MTRes P7005 74 Connections And Software Setup Geo Brick LV User Manual define Ch4STRes P7006 define Ch4MTRes P7007 define Ch5STRes P7008 define Ch5MTRes P7009 define Ch6STRes P7010 define Ch6MTRes P7011 define Ch7STRes P7012 define Ch7MTRes P7013 define Ch8STRes P7014 define Ch8MTRes P7015 ChiSTRes 12 Ch1MTRes 12 Chl Multi Turn and Single Turn Resolutions User Input Ch2STRes 12 Ch2MTRes 12 Ch2 Multi Turn and Single Turn Resolutions User Input Ch3STRes 12 Ch3MTRes 12 7 Ch3 Multi Turn and Single Turn Resolutions User Input Ch4STRes 12 Ch4MTRes 12 7 Ch4 Multi Turn and Single Turn Resolutions User Input Ch5STRes 16 Ch5MTRes 12 7 Ch5 Multi Turn and Single Turn Resolutions User Input Ch6STRes 16 Ch6MTRes 12 7 Ch6 Multi Turn and Single Turn Resolutions User Input Ch7STRes 16 Ch7MTRes 12 7 Ch7 Multi Turn and Single Turn Resolutions User Input Ch8STRes 16 Ch8MTRes 12 Ch8 Multi Turn and Single Turn Resolutions User Input define ChAbsSel P7016 Select Channels using absolute read in Hexadecimal ChAbsSel SFF Channels selected for absolute position read User Input DEFINITIONS amp SUBSTITUTIONS define SerialRegA M6000 HiperFace Serial Data Register A define SerialRegB M6001 HiperFace Serial Data Register B define Two2STDec M6002 2 STRes in decimal for shifting operation
191. e processed data address e g 3502 Also with technique 2 it is recommended to set the position and velocity scale factors to 1 and the position error limit to its maximum value I100 1 Mtr 1 Active Remember to activate the channel to see feedback 110383502 Mtr l position loop feedback address 1104 3502 Mtr 1 velocity loop feedback address T108 1 Mtr 1 position loop scale factor I1109 1 Mtr l velocity loop scale factor 1167 8388607 Mtr 1 Position Error Limit Connections And Software Setup 103 Geo Brick LV User Manual At this point you should be able to move the motor encoder shaft by hand and see motor counts in the position window Note Counts per User Units Technique 2 With technique 2 the user should expect to see 23 32 counts per revolution for rotary encoders and 1 32 Resolution counts per user unit for linear scales in the motor position window ST 5 dr Examples 37 bit rotary encoder 25 bit Singleturn 2 32 1 048 576 cts rev 10 nanometer linear scale 1 32 0 000010 3 125 cts mm 104 Connections And Software Setup Geo Brick LV User Manual Encoder Conversion Table for Commutation Technique 2 Commutation with Turbo PMAC does not require high resolution data With Technique 2 it is recommended to fix it at 18 bits This will also eliminate quantization noise It is recommended to insert the commutation ECT entries after all of the position ECT
192. e the clocks are synchronized and nodes are enabled properly on the master and each of the slaves The slaves settings can be implemented via MACRO ASCII communication Master Slave 1 Slave 2 Slave 3 Slave 4 Servo nodes 0 1 Servo nodes 4 5 Servo nodes 8 9 Servo nodes 12 13 6800 1473 a 6801 3 q 6802 a 7100 1473 D 7101 3 MS0 1992 1473 M84 1992 1473 M88 1992 1473 M812 1992 1473 n 7102 M80 I1997 3 MS4 1997 3 MS8 1997 3 MS12 1997 3 x 7000 1473 2 7001 3 13 70022 101677653 a 6840 4030 MSO 1995 54080 MS4 1995 4080 MS8 1995 4080 M812 1995 54080 i 6841 0FF333 MSO 1996 F4003 MS4 1996 F4030 M58 1996 F4300 M512 1996 5F7000 T 78 32 2 70 3333 MSO 1111 MS4 111 2 MS8 111 3 M812 111 4 n 71 3333 g 80 101 MSO 18 202 MS4 18 202 M88 18 202 M812 18 202 U 81 3 MSO 19 18 M84 19 18 M88 19 18 M812 19 18 g 82 30 MSO 110 120 M84 110 120 M88 110 120 M812 110 120 Macro Connectivity 223 Geo Brick LV User Manual The following steps are guidelines for setting up one Geo Macro Drive slave 1 Establish communication to the Geo Brick LV using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a reset 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 The master s motors can now be set up as described in the motor setup section of this manual
193. e traditional direct microstepping technique controlled with sinusoidal outputs from the Turbo PMAC is not appropriate for motors controlled with direct PWM outputs such as in Geo Brick LV Drives A new technique permits direct microstepping along with direct PWM motor control This technique creates a simulated position sensor and feedback loop by numerically integrating the velocity command output from the servo loop This integration requires two entries in the encoder conversion table The resulting simulated position value can be used for both motor phase commutation and servo loop feedback Alternately a load encoder could be used for position loop feedback while this simulated value is used for commutation Encoder Conversion Table Setup The first entry in the encoder conversion table ECT for each stepper motor must read the servo loop output like an absolute encoder This is done with a parallel read entry of a Y X double register the data is in X unshifted and unfiltered specifying the use of 24 bits of the 48 bit Y X register starting 24 bits from the low end This is effectively like reading a 24 bit DAC register The second entry in the ECT for each stepper motor integrates the result of the first entry i Turbo Encoder Conversion Table Device BE i Turbo Encoder Conversion Table Device BAK Select a table entry to view edit Select a table entry to view edit End of Table Download Entry End of Table Downlo
194. e wired either sourcing or sinking in sets of eight Ge with each set possessing its own common Note Outputs The outputs in the older models of the Geo Brick LV use the PS2501L 1NEC photocoupler They are rated to a maximum current of 500 mA and are overload protected The outputs in the newer models of the Geo Brick LV control board 603793 10A and later use the PS2701 INEC photocoupler They are protected with a ZXMS6006DG an enhancement mode MOSFET diode incorporated The protection involves over voltage over current I2T and short circuit For sourcing outputs connect the common collector pin 29 to the 12 24V line of the power supply The output devices are then connected to the common ground line of the power supply at one end and individual sourcing output pins at the other For sinking outputs connect the common emitter pin 11 to the common ground line of the power supply The output devices are then connected to the 12 24V line of the power supply at one end and individual sinking output pins at the other sourcing If the common emitter is used the common collector should Do not mix topologies for outputs They are all either sinking or a not be connected and vice versa Note Newer models of the Geo Brick LV were introduced in October of wT 2012 and can be recognized by the 5 pin terminal block STO Fe connector which was not available previously ote 32 Connections And Software Set
195. ections And Software Setup 37 Geo Brick LV User Manual J9 Analog Inputs Suggested M Variables Bipolar Mode Signed Unipolar Mode Unsigned M6991 gt Y 003400 12 12 S ADC1 M6991 gt Y 003400 12 12 U ADC1 M6992 gt Y 003402 12 12 S ADC2 M6992 gt Y 003402 12 12 U ADC2 M6993 gt Y 003404 12 12 S ADC3 M6993 gt Y 003404 12 12 U ADC3 M6994 5Y S003406 12 12 S ADC4 M6994 5Y S003406 12 12 U ADC4 M6995 gt Y 003408 12 12 S ADCS M6995 gt Y 003408 12 12 U ADCS M6996 gt Y 00340A 12 12 S ADC6 M6996 5Y S00340A 12 12 U ADC6 M6997 gt Y 00340C 12 12 S ADC7 M6997 5Y S00340C 12 12 U ADC7 M6998 gt Y 00340E 12 12 S ADC8 M6998 5Y S00340E 12 12 U ADC8 Testing The J9 Analog Inputs Input Voltage Software Counts 10 2048 5 1024 Bipolar 0 0 Unipolar 10 2048 5 1024 38 Connections And Software Setup Geo Brick LV User Manual Setting up the Analog Output J9 Differential Output Single Ended Output 1 I DAC Output Analog ca supe a Device 2 COM Analog DAC 4 DAC Output Device DAC lt 10VDC The analog output out of J9 is a 12 bit filtered PWM signal therefore a PWM frequency in the range of 30 40 KHz and a PWM deadtime of zero are suggested for a good quality analog output signal minimum ripple A fully populated Brick can have one of three gates generating the clock
196. ed on This way a PLC program can be implemented to allow toggling motor control between local Slave and MACRO Master 216 MACRO Connectivity Geo Brick LV User Manual Encoder Conversion Table Source Address Motor Local MACRO Motor Local MACRO 1 0000BF 78420 5 0002BF 78430 2 00013F 78424 6 00033F 78434 3 0001BF 78428 7 0003BF 78438 4 00023F 7842C 8 00043F 7843C We will keep the encoder conversion table entries for local control and add entries for control over MACRO These settings would look like Position Velocity For local control to command motor from Slave Results Commutation Pointers 8000 56800BF Parallel read of Y X SBF 3501 103 3503 8001 018018 24 bits starting at X bit0 3502 104 1103 8002 SEC0001 ntegrate result from 18001 3503 183 1103 8003 68013F Parallel read of Y X 13F 3504 203 3506 8004 5018018 24 bits starting at X bit0 3505 204 1203 8005 SEC0004 ntegrate result from 18004 3506 283 1203 8006 56801BF Parallel read of Y X 1BF 3507 303 3509 8007 018018 24 bits starting at X bit0 3508 304 1303 8008 EC0007 ntegrate result from 18007 3509 383 1303 8009 68023F Parallel read of Y X 23F 350A 403 350C 8010 018018 24 bits starting at X bit 350B 404 1403 8011 SECOOOA Integrate result from 18010 350C 483 1403
197. edo rought phase step Velocity 12300 00 16400 00 12300 00 8200 00 4100 00 0 00 4100 00 8200 00 oasysyp Ayoojan 20500 00 24600 00 General recommendation for troubleshooting unsuccessful open loop tests 1 Re phase motor and try again 2 An inverted saw tooth response most times indicate that the direction sense of the encoder is opposite to that of the command output e With Quadrature Sinusoidal HiperFace encoders Change I7mn0 to 3 from 7 default or vice versa Make sure Ixx70 and Ixx71 are correct HiperFace sends absolute encoder data on power up If the on going position direction is reversed one needs to make sure that the absolute data sent on power up agrees with the new direction of the encoder e With Resolvers Change the direction from clock wise to counter clock wise in the first encoder conversion table entry see resolver feedback setup section e With Absolute Serial Encoders EnDat SSI BiSS Yaskawa The Geo Brick LV has no control on the direction sense of the serial data stream There are no software parameters that allow this change Normally the direction sense is set by jumpers or software at the encoder side In this scenario the commutation direction has to be reversed to match the encoder sense This is usually done by swapping any two of the motor leads and re phasing 3 If the motor locks in position with an open loop command i e nOS5 like a step
198. eeeeessseeeeeesaaes 113 Yaskawa Sigma II 16 Bit Absolute Encoder ama ANAN INAABANGAN 118 Yaskawa Sigma II 17 Bit Absolute ENCOAED cccccccccccccceeeeeeeeseseseeesesesesesssssssesseesssessseseeess 121 Yaskawa Sigma III 20 Bit Absolute ENCOdEP aaa AA KAG AGA 124 Yaskawa Sigma II 13 Bit Incremental Encoder 0 0 00000000sssesusssssssssssssssssssssssssssssns 127 Yaskawa Sigma II 17 Bit Incremental Encoder 0 0 0000000000ssssesusssssssssssssssssssssssassns 129 Yaskawa Incremental Encoder Alarm Codes gana AIN BA KIKI 131 6 Table of Contents Geo Brick LV User Manual Homing with Yaskawa Incremental Encoders 0 00000000ssassasa saaan 132 X9 X 10 Analog as NAA 133 X 11 X12 Analog Units CG ts siessen siisi eE G 133 Setting up the Analog ADC IPIS ANA GARA AANI 134 Setting up the Analog DAC Outputs AG AGA AA AA 135 Setting up the General Purpose Relay Brake xxx 2020 aaaaaaaaaaaaaaaaaaaaaaaaasanasasasasasasasasaana 137 Setting up the External Amplifier Fault pel ieccccesczctetacsaatersetagudaGeaaratescdaladagedateaaubeaiedectdeds 139 X13 USB 2 0 COMM COLON AA AINA AGAPAN AA GAPANG 140 X14 RJ45 Ethernet Connector oo cccccccsecccesecccessccusscccuececssecceeececeusesueceseecesuecceeuesesenesenes 140 X19 Watchdog amp ABORT UBD daa aka bai 141 Wiring the Abort TUE ea iencsnesecensy a Aa a UA BAL 141 Wiring the Watchdog ON PU aasa GAGANA AGA 142 RS232 Seidl Communi
199. egister Address Ch6HFCtr1 5X 578B34 0 24 U Channel 6 HiperFace control register Address Ch7HFCtr1 5X 578B38 0 24 U Channel 7 HiperFace control register Address Ch8HFCtr1 5X 578B3C 0 24 U Channel 8 HiperFace control register Address POWER ON PLC EXAMPLE GLOBAL amp CHANNEL CONTROL REGISTERS Open PLC 1 Clear HFGlobalCtrll_4 812004 Channels 1 4 HiperFace 9600 baud rate M 129 N 2 User Input HFGlobalCtr15_8 812004 Channels 5 8 HiperFace 9600 baud rate M 129 N 2 User Input Ch1lHFCtr1 4234FF Channel 1 HiperFace control register read position User Input Ch2HFCtr1 4234FF Channel 2 HiperFace control register read position User Input Ch3HFCtr1 4234FF Channel 3 HiperFace control register read position User Input Ch4HFCtr1 4234FF Channel 4 HiperFace control register read position User Input ChSHFCtr1 4234FF Channel 5 HiperFace control register read position User Input Ch6HFCtr1 54234FF Channel 6 HiperFace control register read position User Input Ch7HFCtr1 4234FF Channel 7 HiperFace control register read position User Input Ch8HFCtr1 4234FF Channel 8 HiperFace control register read position User Input 15111 500 8388608 110 while I5111 gt 0 endw 4 sec delay Dis plc Execute once on power up or reset Close SSS SSS SSS SS SS SS SS SSS SSS SSS SSS SS SS SS SS SS SSS SS SS SSS Connections And Software Setup 73 Geo Brick LV User Manual Ch
200. el pos of location Y 78B2C 118 Connections And Software Setup Geo Brick LV User Manual 800755020004 Width and Bias total of 32 bits LSB starting at bit 4 8008 5278B30 Entry 5 Unfiltered parallel pos of location Y 78B30 8009 5020004 Width and Bias total of 32 bits LSB starting at bit 4 8010 278B34 Entry 6 Unfiltered parallel pos of location Y 78B34 8011 5020004 Width and Bias total of 32 bits LSB starting at bit 4 8012 278B38 Entry 7 Unfiltered parallel pos of location Y 78B38 8013 020004 Width and Bias total of 32 bits LSB starting at bit 4 8014 5278B3C Entry 8 Unfiltered parallel pos of location Y 78B3C 8015 020004 Width and Bias total of 32 bits LSB starting at bit 4 Position Ixx03 and Velocity Ixx04 Pointers 103 3502 Motor 1 Position feedback address ECT processed data 104 3502 Motor 1 Velocity feedback address ECT processed data 203 3504 Motor 2 Position feedback address ECT processed data 204 83504 Motor 2 Velocity feedback address ECT processed data 303 3506 Motor 3 Position feedback address ECT processed data 304 3506 Motor 3 Velocity feedback address ECT processed data 403 3508 Motor 4 Position feedback address ECT processed data 404 53508 Motor 4 Velocity feedback address ECT processed data 503 5350A Motor 5 Position feedback address ECT processed data 504 S350A Mot
201. entries have been configured Note Assuming that eight encoders have been configured for position the first ECT for commutation for the first motor would be at entry number nine e Conversion Type Parallel pos from Y word with no filtering Width in Bits 18 Offset Location of LSB Singleturn protocol bits 18 e g 25 187 No shifting Source Address serial data register A same as position ECT for this motor Remember to click on Download Entry for the changes to take effect wi Turbo Encoder Conversion Table Device 0 Geo Brick Drive DER Select a table entry to view edit End of Table Download Entry Enty 9 3 First Entry of Table Enty Y 3511 Processed Data X g3512 Address Address View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering bd Source Address 578B20 Width in Bits 18 Offset Location of LSB at Source Address 0 gt Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting This is a 2 line ECT entry its equivalent script code I18016 52F8B20 Unfiltered parallel pos of location Y 78B20 User Input 18017512007 Width and Offset Processed result at X 3512 User Input commutation position address Ixx83 will be pointing to Also this will Record the processed data address e g 3512 This is where the KY be used in setting up the power on phasing routine
202. ernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT 8 Reg DHCP Gateway IP Gateway Mask 255 255 255 255 255 255 255 0 The BOOT SW switch button can be released temporarily between Oa or firmware files are being written Note file downloads But it MUST to be held down the entire time the boot Step5 The utility will prompt for the Firmware file MAKE SURE you open the correct IIC file ending with ETHUSB307FX2 1ic and wait for firmware load successful message a Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT 8 EEPROM Download Look in Comm o CommFw 050 700066 024 PETHUSB307FX2 IIC e 050 700067 020SFWBootFx2 iic File name 050 700066 024SPETHUSB307FX2 IIC Files of type I2CFiles c X Cancel Code Program Store Boot Store FAW Protocol GIC CUupp Bootstrap fimware has not been programmed this session Firmware Load Successfull I Modbus Option 1025 HAW Type C UMAC 7 ADC54E C PC104 ACC2P Serial No Store MAC ID C cpa C aac C GeoPMAC C Geo Yuasa C ACCESETH C Geo Brick 00 50 C2 4D 70 01 IP Address Gateway IP Gateway Mask Step6 Release the BOOT SW switch Click Done and recycle logic power 24V on the Brick 254 Troubleshooting Geo Brick LV User Manual Reset Switch SW Factory R
203. ero open loop output 5 Increase Ixx79 until the motor is tightly locked onto a phase 6 Make sure the motor is settled and stationary locked onto a phase 7 Record the following value this is the motor s phase offset Technique 1 Technique 2 3 For Ixx01 3 For Ixx01 1 a Query the motor s corresponding Query the motor s corresponding Query the motor s corresponding serial data register A position ECT result commutation ECT result e g RY 78B20 e g RX 3502 e g RX 3512 v 216899 gt 8 Issue a nK to kill the motor 9 Restore Ixx29 and Ixx79 to their original values Setting up Ixx81 the power on phase position address Technique 1 Technique 2 3 For Ixx01 3 Serial data register A For Ixx01 1 Ixx83 Pos ECT result Ixx01 1 Comm ECT result e Technique 1 If Ixx01 3 If Ixx01 1 e Technique 2 3 Ixx81 is equal to the motor s corresponding serial data register A e g 1181 78B20 Ixx81 is equal to the motor s corresponding position ECT result e g 1181 3502 Ixx81 is equal to the motor s corresponding commutation ECT result e g 1181 3512 Motor Setup 185 Geo Brick LV User Manual Setting up Ixx91 the power on phase position format Technique 1 Technique 2 3 For Ixx01 3 For Ixx01 1 Ixx01 1 Unsigned Y register Unsigned X register Unsigned X register ST bits
204. ers occur at the defined Phase Servo clock edge and delay setting See Global Control register for these settings Enable trigger O disabled 1 enabled 12 R W 0 Trigger Enable This bit must be set for either trigger mode If the Trigger Mode bit is set for one shot mode the hardware will automatically clear this bit after the trigger occurs 11 R W 0 Reserved Reserved and always reads zero This read only bit provides the received data status It is low while the interface logic is communicating busy with the R g Pa mata mealy serial encoder It is high when all the data La baa received 10 and processed This write only bit is used to enable the output drivers for W 0 SENC_MODE the SENC SDO SENC CLK SENC ENA pins for each respective channel 09 06 R 0x0 Reserved Reserved and always reads zero This bit field is used to define the number of position data 05 00 W 0x00 Position Bits bits or encoder resolution Range is 12 40 001100 101000 Connections And Software Setup 87 Geo Brick LV User Manual EnDat Data Registers The EnDat data is conveyed into 4 memory locations EnDat Data A B C and D The EnDat Data A register holds the 24 bits of the encoder position data If the data exceeds the 24 available bits in this register the upper overflow bits are LSB justified and readable in the EnDat Data B register which also holds error flags The error bit flag is always returned by the en
205. ersed encoder direction with respect to the output command The encoder decode parameter can then be changed from 7 to 3 or vice versa Phasing has to be performed again after this parameter has been changed Tuning the Position Loop Tuning the position loop PID gains can be carried out in the traditional manner see motor setup section in this manual there are no special instructions for tuning MACRO motors 214 MACRO Connectivity Geo Brick LV User Manual Configuration Example 2 Brick Brick Stepper Motors MACRO Ring Master MACRO Ring Slave Driving Stepper Motors Setting up the Slave in Torque Mode for Steppers 1 Establish communication to Slave unit using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 Set up motors per the motor setup section described in this manual 5 Clock settings considerations e The MACRO ring is synchronized at phase rate Keep in mind that the phase clock frequency must be the same on both the master and the slave e The MACRO IC must be sourcing the clock parameter 119 A Save followed by a are required whenever 19 is changed e Itis advised to have both the MACRO and servo ICs set at the same phase frequency I19 6807 Clock source MACRO IC 0 16800 17000 Macro IC O MaxPhase PWM
206. ervo and commutation position data is setup using a 2 line Entry in the Encoder Conversion Table The first line represents a Parallel Y Word with no filtering 2 from the corresponding Yaskawa data register channel The second line represents the width of the data to be read and bit location of the LSB of the data in the source word Channel 1 Yaskawa Sigma II 16 bit Absolute Encoder Setup Example Turbo Encoder Conversion Table Device CBR Select a table entry to view edit i End of Table Download Entry First Entry of Table Done Enty Y g3501 Processed Data X g3502 Address Address View All Entries of Table Yiewing Conversion Type Parallel pos from Y word with no filtering Source Address 78B20 T Width in Bits 132 Offset Location of LSB at Source Address 0 g g ased Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left C No Shifting Encoder Conversion Table Setup Motors 1 8 The ECT automatic entry is equivalent to 8000 278B20 Entry 1 Unfiltered parallel pos of location Y 78B20 8001 020004 Width and Bias total of 32 bits LSB starting at bit 4 8002 278B24 Entry 2 Unfiltered parallel pos of location Y 78B24 8003 020004 Width and Bias total of 32 bits LSB starting at bit 4 8004 5278B28 Entry 3 Unfiltered parallel pos of location Y 78B28 8005 5020004 Width and Bias total of 32 bits LSB starting at bit 4 8006 5278B2C Entry 4 Unfiltered parall
207. eset This momentary switch button is used to reset the Geo Brick LV back to factory default settings global reset Issuing a SAVE after power up with the reset switch held down will permanently erase any user configured parameters Caution Reset SW instructions Power down the unit then power back up while holding the Reset SW switch down Release the Reset SW once the unit is powered up The factory default parameters are now restored from the firmware EEPROM into the active memory Issue a SAVE and a SSS to maintain the factory default settings IN For traditional PMAC users this switch is the equivalent of Jumper CT E51 on PC based or standalone boards Note Troubleshooting 255 Geo Brick LV User Manual Error 18 Attempt to perform phase reference during move move during phase reference or enabling with phase clock error is highlighted in red in the terminal window This error occurs if any of the following is true The addressed motor is not phased In this mode the phasing search error bit is highlighted in the Motor Status window No Phase Clock internal In this mode the Phase Clock Missing bit is highlighted in the Global Status window 24V Abort not applied firmware 1 947 or later and 35 1 In this mode the Abort Input bit is highlighted in the Global Status window z ee Global Status Main error ATI re entry error CPU type 1 Servo error Data gathering enabled
208. esolution is available for bipolar signals only Half of the CV range of the full resolution is used for unipolar 0 5V or 0 10V signals Note Analog Inputs Suggested M Variables 17106 S51FFFFF Servo IC 1 ADC Strobe Word M505 gt Y 078105 8 16 S ADC Input reading M605 gt Y 07810D 8 16 S ADC Input reading M705 gt Y 078115 8 16 S ADC Input reading M805 gt Y 07811D 8 16 S ADC Input reading ADC5A connector X9 ADC6A connector X10 ADC7A connector X11 ADC8A connector X12 Testing the Analog Inputs The software counts range reading is 2 2 to 2 72 so that Single Ended Signal VDC Differential Signal VDC Software Counts 10 5 32768 Bipolar 0 0 0 Umpoar 10 5 132768 134 Connections And Software Setup Geo Brick LV User Manual Setting up the Analog DAC Outputs Differential DAC Output Signal Single Ended DAC Output Signal The analog outputs on X9 through X12 are 12 bit filtered PWM signals therefore a PWM frequency in the range of 30 40 KHz and a PWM deadtime of zero are suggested for a good quality analog output signal minimized ripple A fully populated Brick can have one of three gates generating the clocks e Servo IC 0 17000 s e Servo IC 1 17100 s e MACRO IC 0 16800 s 119 specifies which gate is the clock source master 119 is equal to 7007 by default indicating that Servo IC 0 is
209. f both the A and B channels of the quadrature encoder change state at the decode circuitry post filter in the same hardware sampling clock SCLK cycle an unrecoverable error to the counter value will result lost counts Suggested M Variable Mxx18 for this channel is then set and latched to 1 until reset or cleared The three most common root causes of this error e Real encoder hardware problem e Trying to move the encoder motor faster than it s specification e Using an extremely high resolution speed encoder This may require increasing the SCLK The default sampling clock in the Geo Brick LV is 10MHz which is acceptable for virtually all applications A setting of I7m03 of 2257 from default of 2258 sets the sampling clock SCLK at about 20MHz It can be increased to up to 40 MHz No automatic action is taken by the Geo Brick LV if the encoder count error bit is set Note Encoder Loss Detection HiperFace The Encoder Loss circuitry uses the internal differential quadrature counts It monitors each quadrature pair with an exclusive or XOR gate In normal operation mode the two quadrature signals are in opposite logical states that is one high and one low yielding a true output from the XOR gate Channel Address Channel Address 1 Y 78807 0 1 5 Y 78807 4 Status Bit Definition 2 Y 78807 1 1 6 Y 578807 5 1 0 Encoder lost Fault 3 Y 78807 2 1 7 Y 78807 6 1 4 Y 78807 3 8 Y 78807 7 1
210. fault configuration This is the configuration with which the Geo Brick LV is shipped to a customer gt Note The controller PMAC 5V logic is independent of this scheme so if wT no encoder power is provided the PMAC will remain powered up provided the standard 24 volts is brought in gt Note Connections And Software Setup 147 Geo Brick LV User Manual Functionality Safety Measures There are a couple of safety and functionality measures to take into account when an external encoder power supply is utilized e Power sequence encoders versus controller drive It is highly recommended to power up the encoders before applying power to the Geo Brick LV e Encoder Power Loss i e power supply failure loose wire connector The Geo Brick LV with certain feedback devices can be setup to read absolute position or perform phasing on power up either automatic firmware functions or user PLCs If the encoder power is not available these functions will not be performed properly Moreover trying to close the loop on a motor without encoder feedback can be dangerous Make sure that the encoders are powered up before executing any motor motion commands Caution Losing encoder power can lead to dangerous runaway conditions setting the fatal following error limit and I2T protection in PMAC is highly advised Make sure that the fatal following error limit and I2T protection are configured properly
211. feedback address ECT processed data 503 5350A Motor 5 Position feedback address ECT processed data 504 S350A Motor 5 Velocity feedback address ECT processed data 603 350C Motor 6 Position feedback address ECT processed data 604 350C Motor 6 Velocity feedback address ECT processed data 703 350E Motor 7 Position feedback address ECT processed data 704 S350E Motor 7 Velocity feedback address ECT processed data 803 3510 Motor 8 Position feedback address ECT processed data 804 3510 Motor 8 Velocity feedback address ECT processed data Motor Activation 100 8 100 1 Motors 1 8 Activated At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note 130 Connections And Software Setup Geo Brick LV User Manual Yaskawa Incremental Encoder Alarm Codes Yaskawa Incremental encoder Alarm Registers Channel 1 Y 578B22 8 8 Channel 5 Y 78B32 8 8 Channel 2 Y 578B26 8 8 Channel 6 Y 578B36 8 8 Channel 3 Y 578B2A 8 8 Channel 7 Y 78B3A 8 8 Channel 4 Y 578B2E 8 8 Channel 8 Y 78B3E 8 8 Alarm Clear Bit Error Name Type Type Action Notes 8 Fixed at 1 9 Encoder Error Alarm Session Power Encoder Error Flag cycle 10 Fixed at 0 11 Position Error Alarm Session Power Possible error in position or Hall Flag cy
212. from strobe word changes 5 50 8388608 I10 While I5 gt 0 EndW Dis PIC 1 Close With firmware version 1 947 or later it is possible to write to the strobe word using the corresponding Servo IC parameter I7m06 instead of using the online command syntax CMD with WX write Note to X register format 152 Motor Type amp Protection Power On PLCs Geo Brick LV User Manual MOTOR SETUP This section discusses manual step by step motor setup guidelines for stepper or servo motors This motor setup segment should be the last of a few necessary steps to properly configure a motor with Geo Brick LV Motor Setup Flow Chart The following chart summarizes the steps to implement for setting up a motor properly with the Geo Brick LV Encoder Motor wiring A Factory Default Reset S Save N recommended Encoder Software Setup Verify Feedback Not applicable for steppers Motor Type And Protection Power On PLC Dominant Clock Settings Motor Software Setup N applicable have been setup properly and that moving the motor encoder shaft by hand shows correct data in the position Note window The following Motor Setup section assumes that feedback devices if Motor Setup 153 Geo Brick LV User Manual Dominant Clock Settings The choice of clock settings usually relies on system requirements a
213. ft C No Shifting mh Connections And Software Setup 121 Geo Brick LV User Manual Encoder Conversion Table Setup Motors 1 8 The ECT automatic entry is equivalent to 8000 278B20 Entry 1 Unfiltered parallel pos of location Y 78B20 8001 021004 Width and Bias total of 33 bits LSB starting at bit 4 8002 278B24 Entry 2 Unfiltered parallel pos of location Y 78B24 8003 021004 Width and Bias total of 33 bits LSB starting at bit 4 8004 5278B28 Entry 3 Unfiltered parallel pos of location Y 78B28 8005 021004 Width and Bias total of 33 bits LSB starting at bit 4 8006 278B2C Entry 4 Unfiltered parallel pos of location Y 78B2C 8007 021004 Width and Bias total of 33 bits LSB starting at bit 4 8008 5278B30 Entry 5 Unfiltered parallel pos of location Y 78B30 8009 021004 Width and Bias total of 33 bits LSB starting at bit 4 8010 278B34 Entry 6 Unfiltered parallel pos of location Y 78B34 8011 021004 Width and Bias total of 33 bits LSB starting at bit 4 8012 278B38 Entry 7 Unfiltered parallel pos of location Y 78B38 8013 021004 Width and Bias total of 33 bits LSB starting at bit 4 8014 5278B3C Entry 8 Unfiltered parallel pos of location Y 78B3C 8015 021004 Width and Bias total of 33 bits LSB starting at bit 4 Position Ixx03 and Velocity Ixx04 Pointers 103 3502 Motor 1 Position feedback address ECT proces
214. g Open PLC 1 Clear IF P8000 1 CMD 1K 5111 250 8388608 110 While 1511150 Endw 144 0 Turn Auxiliary Control off 103 3503 Set position pointer to local control ECT 104 3503 Set velocity pointer to local control ECT 183 3503 Set commutation pointer to local control ECT 5111 250 8388608 110 While I5111 gt 0 Endw CMD 1 8 5111 500 8388608 110 While I5111 gt 0 Endw CMD 1K 5111 250 8388608 110 While I5111 gt 0 Endw 144 178423 Turn Auxiliary Control on 103 351B Set position pointer to MACRO control ECT 104 1103 Set velocity pointer to MACRO control ECT 183 1103 Set commutation pointer to MACRO control ECT 5111 250 8388608 110 While I5111 gt 0 EndWw P8000 0 EndIf Close Issuing MXO P8000 1 from the Master will allow the execution of this code on the slave aw Note Macro Connectivity 219 Geo Brick LV User Manual Setting up the Master in Torque Mode for Steppers 1 Establish communication to the master using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a reset 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 The master s motors can now be set up as described in the motor setup section of this manual Typically these are motors 1 through 4 or 8 5 Clock settings considerations e The MACRO ring is synchron
215. g the state output of the hall Sensors e Record the values of Ixx29 and Ixx79 to restore them at the end of test e Set Ixx29 0 write a positive value to Ixx79 and issue a nO0 500 is a reasonable value for Ixx79 to start with Increment as necessary to force the motor to tightly lock onto a phase e Record the Yaskawa Incremental Sensors Data The result is an integer number between 1 and 6 a value of 0 or 7 is not valid representing the zone of which definitions to be used in the subsequent PLC Remember Turbo PMAC allows only nibble based register definitions so in order to read bits 1 thru 3 a 1 bit right shift or division by 2 is necessary 178 Motor Setup Geo Brick LV User Manual define ChlYasIncBits0 3 define Ch2YasIncBits0 3 define Ch3YasIncBits0 3 define Ch4YasIncBits0 3 define Ch5YasIncBits0 3 define Ch6YasIncBits0 3 define Ch7YasIncBits0 3 define Ch8YasIncBits0 3 ChlYasIncBits0 3 5Y 578B20 0 Ch2YasIncBits0 3 5Y 578B24 0 Ch3YasIncBits0 3 5Y 578B28 0 Ch4YasIncBits0 3 5Y 578B2C 0 Ch5YasIncBits0 3 5Y 578B30 0 Ch6YasIncBits0 3 5Y 578B34 0 Ch7YasIncBits0 3 5Y 578B38 0 Ch8YasIncBits0 3 5Y 578B3C 0 define ChlYasIncHalls define Ch2YasIncHalls define Ch3YasIncHalls define Ch4YasIncHalls define Ch5YasIncHalls define Ch6YasIncHalls define Ch7YasIncHalls define Ch8YasIncHalls M128 8 100 gt 4 4 4 4 4 4 4 4 M127 M227 M327 M427 M527 M627 M727 M827 M128 M228
216. h IC on power up No Jumper Ell Jump 1 2 for normal mode operation Installed E12 Jump1 2 for normal mode operation Installed Appendix B 259 Geo Brick LV User Manual E13 Firmware Reload Enable BOOT SW E Point Description Default E13 Install E13 to reload firmware through the communications port Remove jumper for normal operations NO Tua E14 Watchdog Disable Jumper E Point Default E14 Jump 1 to 2 to disable Watchdog timer for test purposes only can N Jit per be hazardous Remove jumper to enable Watchdog timer P E25 28 Select Encoder Index input or AENA output channels 1 4 E Point Description Default E2 No Jumper for TTL Level input for Ch1 Index signal C a D Q Jumper 1 2 to output AENA1 at Ch1 encoder connector P E26 z A No Jumper for TTL Level input for Ch2 Index signal C Ns hapa D Q Jumper 1 2 to output AENA2 at Ch2 encoder connector P E27 H No Jumper for TTL Level input for Ch3 Index signal C Nannie D Q Jumper 1 2 to output AENA3 at Ch3 encoder connector P E28 i 3 No Jumper for TTL Level input for Ch4 Index signal C No T mp r 1 2 Jumper 1 2 to output AENA4 at Ch4 encoder connector P E35 38 Select Encoder Index input or AENA output channels 5 8 E Point Description Default Ee No Jumper for TTL Level input for Ch5 Index signal C No T miber 1 2 Jumper 1 2 to out
217. hannel 5 X 78B30 Channel 2 X 78B24 Channel 6 X 78B34 Channel 3 X 78B28 Channel 7 X 78B38 Channel 4 X 78B2C Channel 8 X 78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters Parameters such as setting the number of position bits in the serial bit stream enabling disabling channels through the SENC_MODE when this bit is cleared the serial encoder pins of that channel are tri stated enabling disabling communication with the encoder using the trigger control bit An 8 bit mode command is required for encoder communication Currently three HiperFace commands are supported read encoder position 42 read encoder status 50 and Reset encoder 53 23 16 15 14 13 12 11 10 9 8 7 0 Command Trigger Trigger Rxdataready Encoder Code Mode Enable SencMode Address Bit Type Default Name Description Command 42 Read Encoder Position 23 16 W 0x42 Code 50 Read Encoder Status 53 Reset Encoder 15 14 0 Reserved Reserved and always reads zero Trigger Mode to initiate communication 0 continuous trigger 1 one shot trigger for HiperFace 13 oe 4 Tripper Mode All triggers bo at the defined Phase Servo clock edge and delay setting Due to HiperFace protocol speed limitation only one shot trigger mode is used 0 disabled 1 enabled 12 R W 1 Trigger Enable This bit must
218. he status of the STO function gt 24 V in normal mode operation 24VDC connected to both STO inputs gt 0 V in triggered mode 24VDC disconnected from either STO inputs e Certain safety standards require dual protection thus mandating the use of two STO input triggers e The STO relay s can be wired in series with the E Stop circuitry which typically disconnects the main bus power from the system Summary of operation and status 24 VDC STO State STO Out Applied to both STO Inputs Not Triggered normal mode operation 24V Disconnected from either STO inputs Triggered OV 24 Connections And Software Setup Geo Brick LV User Manual J1 DC Bus Input This 3 pin connector is used to bring in the main DC bus motor power The mating connecter is a Molex male 10 00mm 393 Pitch Mini Fit Sr Receptacle Housing Single Row 3 Circuits Pin Symbol Function Description Notes 1 BUS Input Bus power input Bus 12 60VDC 2 BUS Common Bus power return Bus Return Line 3 BUS Common Bus power return Bus Return Line Molex mating connector part 0428160312 Delta Tau mating connector part 016 090003 049 This connection can be made using the following wire gauge and fusing Model Fuse FRN LPN Wire Gauge 4 Axis GBD4 xx xxx 15A 12 AWG 8 Axis GBD8 xx xxx 25A 10 AWG Power On Off Sequence The main bus power should NE
219. hich is set up as follows 0 Rising Edge 1 Falling Edge 100 0 Trigger on Phase SB for Set Coe xe MHz 1 Trigger on Servo Typically 0 BiSS xio Description M Divisor N Divisor 0 0 is S Trigger Delay Protocol 6 Bit 9 8 Binary 0 0 Hex Field Value Notes Global Control Word M divisor 99 Hex 0x63 N divisor 0 Hex 0x0 Tri lock 0 Tri Ph ded rigger cloc rigger on Phase recommended 63000B Trigger Edge 0 Rising edge recommended Trigger Delay 0 No delay typical Protocol Code 11 Hex OxB BiSS protocol Channel Control Register The Channel Control register is a 24 bit hexadecimal word set up as follows MCD 0 Disabled Number Of M gt X 4M X7 MsX M X M X M X2 4 M X24 M X 44 BiSS B only 1 Enabled Status Bits t 1 0 BiSS C 0 Continuous 0 Disabled Encoder Resolution 1 BiSS B 1 One shot 1 Enabled ST MT ula ovog vv 3 Description CRC Mask Ha 2 9 BS B88 0 53O Status Bit Length mF ESES ws Resolution Bit Binary Hex S Connections And Software Setup 95 Geo Brick LV User Manual Field Value Notes Channel Control Word CRC Mask 33 Hex 0x21 ty
220. iable P1 MX anynode slave variable constant MXO P1 1 Write a 1 to slave variable P1 Program Buffer Commands Syntax Example Description MXR anynode slave variable master variable MXRO P2 P1 Copy slave P2 into master P1 MXW anynode slave variable master variable MXWO P2 P1 Copy master P1 into slave P2 Where e anynode is a constant O to 63 representing the number of any node activated on the slave e slave variable is the name of the variable at the slave side It can be I P Q or M variable with a number from 0 to 8191 e master variable is the name of the variable at the master side It can be I P Q or M variable with a number from 0 to 4095 firmware limited Macro Connectivity 201 Geo Brick LV User Manual Configuration Example 1 Brick Brick Servo Motors MACRO Ring Master MACRO Ring Slave Driving Brush Brushless Motors This configuration supports two control modes Torque Mode Most commonly used and highly recommended due to setup simplicity and computational load sharing between Master and Slave In this mode the Master closes strictly the position loop and sends torque commands to the Slave The Slave closes the current loop and handles the commutation of the motor PWM Mode Useful when centralized commutation and tuning current amp PID are desirable However if the application involves Kinematics and or high computa
221. ications based in Delta Tau Communication drivers Also make sure that PcommServer is shut down properly Furthermore it is strongly recommended that you reboot your computer before launching any of the above applications IN Regardless of the version number The PMAC firmware file for Geo EN Brick LV MUST ALWAYS be TURBO2 BIN Note Step4 Wait until download is finished and click done Downloading Firmware Firmware Download Finished Press Done Percent Done 100 Begin Step5 Close all PMAC applications i e Pewin32Pro2 and recycle power Troubleshooting 251 Geo Brick LV User Manual Changing IP Address Gateway IP Or Gateway Mask In order to change any of these addresses the BOOT SW switch has to be held down prior to pressing the corresponding Store button The following steps ensure proper configuration Ethernet Configuration Ethernet Firmware version 3 07 create x Step1 Step2 Step3 Change the desired address field Hold the BOOT SW switch down Press on the corresponding Store button Code Program Store Boot Bootstrap firmware has not been programmed this session IP Address Store IP for changing IP address Gateway IP for changing Gateway IP e Gateway Mask for changing Gateway Mask Store FAW Application fimware has not been programmed this session Store IP Protocol Reg DHCP TcP C UDP IV Modbus Option 1025 HAW Type C UMAC ACCS4E C CPCI C
222. ier PID position loop tuning Parameter s Technique 1 Technique 2 Technique 3 Ixx08 Ixx09 96 1 T ma a 8 a Ixx67 Default 8388607 Boe Ka a Ea Absolute Power On Position and Phasing Process Technique 1 Technique 2 Technique 3 Absolute Position Read From serial register A automatic settings From serial register A scaling required From serial register A automatic settings Absolute Phasing Automatic settings depending on ST MT From ECT for Comm automatic settings From ECT for Comm automatic settings Connections And Software Setup 99 Geo Brick LV User Manual Technique 1 Example Channel 1 is driving a 25 bit 13 bit Singleturn 12 bit Multiturn rotary serial encoder or a linear scale with similar protocol resolution 13 bits 1 micron Encoder Conversion Table for Position Technique 1 e Conversion Type Parallel pos from Y word with no filtering e Width in Bits Singleturn absolute resolution in bits e g 13 bits e Offset Location of LSB leave at zero e Normal Shift 5 bits to the left e Source Address serial data register A see table below e Remember to click on Download Entry for the changes to take effect Source Address Serial Data Register A Channel 1 Y 78B20 Channel 5 Y 78B30 Channel2 Y 78B24 Channel 6 Y 78B34 Channel 3 Y 78B28 Channel 7 Y 78B38 Channel 4 Y 78B2C Channel 8 Y
223. ievable motor speed MaxMtrSpeed ServoC1k 1000 ElecCyclePerRev 6 60 define CalculatedIxx69 P7006 Calculated Ixx69 CalculatedIxx69 MotorSpeed ElecCyclePerRev 60 2048 6 ServoC1k 1000 Setting up 1 8 Step Motors specified at 1500 rpm and a Servo Clock of 8 KHz results in a maximum achievable speed P7001 of 1600 rpm and a calculated Ixx69 P7002 of 53 3334 Theoratial Ixx69 lt Calculated Ixx69 gt 1169 8 100 Theoratial Ixx69 1169 8 100 42 667 Motors 1 thru 8 Output Command Limit 158 Motor Setup Geo Brick LV User Manual PWM Scale Factor Ixx66 If Motor Rated Voltage 5 Bus Voltage I166 0 95 17000 I266 1166 1366 1166 1466 1166 H r Motor 1 PWM Scale Factor Assuming same motor s I566 1166 I666 1166 1766 1166 1866 1166 as motor 1 Assuming same motor s as motor 1 typical setting If Bus Voltage 5 Motor Rated Voltage Ixx66 acts as a voltage limiter In order to obtain full voltage output it is set to about 1096 over PWM DC Bus Voltage User Input 1 2 3 4 5 6 7 8 Rated Rated Rated Rated Rated Rated Rated Rated count divided by DC Bus Motor voltage ratio define DCBusInput 60 define MtrlVoltage 24 Motor define Mtr2Voltage 24 Motor define Mtr3Voltage 24 Motor define Mtr4Voltage 24 Motor define Mtr5Voltage 24 Motor define Mtr6Voltage 24 Motor define Mtr7Voltage 24 Motor define Mtr8Voltage 24 gt
224. ilizes M5990 through M5991 Coordinate system 1 Timer 1 Make sure that current and or future configurations do not create conflicts with these parameters a Of M5990 5991 gt Self referenced M Variables M5990 5991 0 Reset at download GLOBAL CONTROL REGISTERS define SSIGlobalCtrll1 4 M5990 Channels 1 4 SSI global control register SSIGlobalCtr11 4 5X 578B2F 0 24 U Channels 1 4 SSI global control register address CHANNEL CONTROL REGISTERS define Ch1SSICtrl M5991 Channel 1 SSI control register Ch1SSICtr1 5X 578B20 0 24 U Channel 1 SSI control register Address POWER ON PLC EXAMPLE GLOBAL amp CHANNEL CONTROL REGISTERS Open PLC 1 Clear SSIGlobalCtr11 4 5630002 Trigger at Phase 1 MHz serial Clock M 99 N 0 User Input Ch1SSICtr1 85001419 Channel 1 SSI control register User Input 15111 500 8388608 110 while I5111 gt 0 endw 4 sec delay Dis ple 1 Execute once on power up or reset Close aaa 84 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback EnDat 2 1 2 2 X1 X8 D sub DA 15F Mating D Sub DA 15M 00000000 0 00O Pin Symbol Function Notes 1 Unused 2 Unused 3 Unused 4 EncPwr Output Encoder Power 5 Vol
225. in PMAC Caution With Commutated motors i e DC brushless a loss of encoder generally breaks the commutation cycle causing a fatal following error or I2T fault either in PMAC or Amplifier side However with non commutated motors i e DC brush losing encoder signal can more likely cause dangerous runway conditions Setting up encoder loss detection for quadrature and sinusoidal wT encoders is highly recommended Serial Encoders normally provide N with a flag or timeout error bit that can be used for that function ote 148 Connections And Software Setup Geo Brick LV User Manual MOTOR TYPE amp PROTECTION POWER ON PLCS The Geo Brick LV is capable of driving stepper and or servo brush brushless motors without any hardware changes The amplifier firmware requires declaring the motor type per channel on power up in a power on PLC This PLC also executes the following functions e Set motor type stepper or servo e Clear amplifier fault s per channel e Enable Strobe Word write protection IN The sample PLCs below are common 8 axis configurations For 4 axis KY configurations simply delete the settings of axis 5 through 8 Note These functions are established by sending commands to the amplifier processor from the PM AC through the ADC Strobe Word see Strobe Word data structure section Motor Type amp Protection Power On PLCs 149 Geo Brick LV User Manual Stepper Motor Power On
226. ing is a satisfactory open loop test td PmacTuningPro2 v4 0 0 PMAC 0 V1 947T2 05 17 2010 QMAC TURBO USB Port File Current Logp Fosition Loop Trajectory Took Window Help ar tJOpen Loop Test E PmacTuningPro2 Open Loop Test Result Motor 9 hoa k DETER ate SAL gt Motor 9 Open Loop Test Plot Result Executed at 10 32 17 AM 6 2 2010 10000 C PMAC 0 N1 947T2 05 171 OX An erratic or inverted saw tooth response is typically with quadrature or sinusoidal encoders an indication of reversed encoder direction with respect to the output command The encoder decode parameter MS node I910 can then be changed from 7 to 3 or vice versa Phasing has to be performed again after this parameter has been changed 21 Tuning the Position Loop Tuning the position loop PID gains can be carried on in the traditional manner see motor setup section in this manual there are no special instructions for tuning MACRO motors 230 MACRO Connectivity Geo Brick LV User Manual Brick Brick MACRO I O Data Transfer This section describes the handling of inputs and outputs data transfer over the MACRO ring That is transferring I O data from the Brick slave to the Brick master A Geo Brick LV used as a MACRO slave can be populated with up to 32 digital inputs 16 digital outputs connectors J6 J7 4 x 12 bit filtered PWM DAC outputs connectors X9 X10 X11 X 12 4 x 16 bit analog inputs connectors X9 X10 X11 X 1
227. ing position loop tuning Motor Setup 193 Geo Brick LV User Manual Flags Commutation Phase Angle ADC Mask Ixx24 Ixx01 Ixx72 Ixx84 1124 8 100 800001 Motors 1 8 Flag control High true amp fault Geo Brick LV specific I1101 8 100 1 Motors 1 8 Commutation enabled 1172 8 100 512 Motors 1 8 Commutation phase angle Geo Brick LV specific 1184 8 100 SFFFCO0 Motors 1 8 Current Loop Feedback Mask Word Geo Brick LV specific PWM Scale Factor Ixx66 If Motor Rated Voltage gt Bus Voltage 1166 0 95 17000 Motor 1 PWM Scale Factor typical setting I266 1166 1366 1166 1466 1166 Assuming same motor s as motor 1 I566 1166 I666 1166 1766 1166 I866 1166 Assuming same motor s as motor 1 If Bus Voltage 5 Motor Rated Voltage Ixx66 acts as a voltage limiter In order to obtain full voltage output it is set to about 1096 over PWM count divided by DC Bus Motor voltage ratio define DCBusInput 60 DC Bus Voltage User Input define MtrlVoltage 24 Motor 1 Rated Voltage VDC User Input define Mtr2Voltage 24 Motor 2 Rated Voltage VDC User Input define Mtr3Voltage 24 Motor 3 Rated Voltage VDC User Input define Mtr4Voltage 24 Motor 4 Rated Voltage VDC User Input define Mtr5Voltage 24 Motor 5 Rated Voltage VDC User Input define Mtr6Voltage 24 Motor 6 Rated Voltage VDC User Input define Mtr7Voltage 24 Motor 7 Rated Voltage VDC User Input define Mtr8Voltag
228. ion Y 78B30 8009 024004 Width and Bias total of 36 bits LSB starting at bit 4 8010 278B34 Entry 6 Unfiltered parallel pos of location Y 78B34 8011 024004 Width and Bias total of 36 bits LSB starting at bit 4 8012 278B38 Entry 7 Unfiltered parallel pos of location Y 78B38 8013 024004 Width and Bias total of 36 bits LSB starting at bit 4 8014 5278B3C Entry 8 Unfiltered parallel pos of location Y 78B3C 8015 024004 Width and Bias total of 36 bits LSB starting at bit 4 Position Ixx03 and Velocity Ixx04 Pointers 103 3502 Motor 1 Position feedback address ECT processed data 104 3502 Motor 1 Velocity feedback address ECT processed data 203 3504 Motor 2 Position feedback address ECT processed data 204 S 3504 Motor 2 Velocity feedback address ECT processed data 303 3506 Motor 3 Position feedback address ECT processed data 304 53506 Motor 3 Velocity feedback address ECT processed data 403 3508 Motor 4 Position feedback address ECT processed data 404 53508 Motor 4 Velocity feedback address ECT processed data 503 5350A Motor 5 Position feedback address ECT processed data 504 S350A Motor 5 Velocity feedback address ECT processed data 603 350C Motor 6 Position feedback address ECT processed data 604 350C Motor 6 Velocity feedback address ECT processed data 703 350E Motor 7 Position feedback address ECT processed data 704 S350E Motor 7 Velocity feedback add
229. ion loop will now consider LSB of the source to be 1 32 of a motor count instead of 1 Example Take a 37 bit absolute serial rotary encoder 25 bit single turn 12 bit multi turn and its equivalent linear scale e g 10 nm resolution Technique 1 3 Rotary 9 22 33 554 432 counts revolution S bit shift Linear 1 RES 1 0 00001 100 000 counts mm Technique 2 Rotary Playa 21 1 048 576 counts revolution no shift Linear 1 32 RES 1 32 0 00001 3 125 counts mm Regardless of the processing technique the servo algorithm utilizes O internally the entire data bits stream i e 25 bits for its calculation The performance is not compromised Note 264 Appendix D Geo Brick LV User Manual Maximum Actual Open Loop Velocity In open loop mode the actual velocity register is limited by the Encoder Conversion Table to 24 bits Furthermore it requires two samples servo cycles to compute the velocity Therefore the maximum value which the actual velocity register can withhold is 224 Gbit shift a naaa S Clock KH t 2 x Servo Cycles msec ervo Clock KHz counts msec When performing an open loop move test with higher resolution serial encoders care must be taken not to exceed this threshold You will see saturation plateau lines in the position data if it is plotted during the move At this point re establishing an absolute position read using custom plc or automatic settings i
230. ions Note If any of the H or I digits GBDA BB CDD EFGHHHI0Q are ordered you will also receive RS 232 comms port 2 channel handwheel port Special Feedback Number and Type of Channels GBDA BB CDD EFGHHHIO 000 4A0 4B0 No Special Feedback Channels 4 Sinusoidal Encoder Feedback Channels 4 Resolver Feedback Channels 4C1 4C2 4C3 4C6 4C7 4C8 4 Serial Encoder Feedback Channels SSI Protocol 4 Serial Encoder Feedback Channels Yaskawa Sigma II amp Ill Protocol 4 Serial Encoder Feedback Channels EnDat 2 2 Protocol 4 Serial Encoder Feedback Channels BISS B amp C Protocol 4 Serial Encoder Feedback Channels Tamagawa Protocol 4 Serial Encoder Feedback Channels Panasonic Protocol 4D1 4D2 4D3 4D4 4D6 4D7 4D8 4 Sinusoidal Encoder and Serial Enc SSI Protocol 4 Sinusoidal Encoder and Serial Enc Yaskawa Sigma II amp Ill amp V Protocol 4 Sinusoidal Encoder and Serial Enc EnDat 2 1 2 2 Protocol 4 Sinusoidal Encoder and Serial Enc HiperFace Protocol 4 Sinusoidal Encoder and Serial Enc BISS B amp C Protocol 4 Sinusoidal Encoder and Serial Enc Tamagawa Protocol 4 Sinusoidal Encoder and Serial Enc Panasonic Protocol 4E1 4E2 4E3 4E6 4E7 4E8 4 Resolver Feedback Channels and Serial Enc SSI Protocol 4 Resolver Feedback Ch and Serial Enc Yaskawa Sigma Il amp Ill amp V Prot 4 Resolver Feedback Channels and Serial Enc EnDat 2
231. isabled on Geo Brick LV with Turbo PMAC firmware version 1 946 or earlier Geo Brick LV with Turbo PMAC firmware version 1 947 or later allows the enabling using software parameter I35 of the watchdog and abort functions e 35 0 Disables the watchdog and abort hardware functions default setting e 35 1 Enables the watchdog and abort hardware functions X15 Phoenix 5 pin TB Female o g o O O Mating Phoenix 5 pin TB Male PE eon Pin Symbol Function Notes 1 ABORT Input ABORT Return 2 ABORT Input ABORT Input 24VDC 3 WDN O Output Watchdog normally open contact 4 WD N C Output Watchdog normally closed contact 5 WD COM Common Watchdog common Wiring the Abort Input If an Abort input button is used it must be a normally closed switch 24VDC COM gi Power Supply 24vpc Abort Input Switch optional IN Killed axes are not affected by the triggering of the abort They do not cy get enabled unlike the software abort command Note Connections And Software Setup 141 Geo Brick LV User Manual The hardware Abort input functionality differs slightly from the software global Abort A command The following table summarizes the differences Motor s Status Software Global Abort Hardware Abort Trigger Before Abort Action AA Action Action Removing 24VDC Killed Closes the position loop on No Action is taken Open Loop mode all active Ixx0 1 motors Motor
232. ister 502 78104 Channel 5 PFM 602 7810C Channel 6 PFM 702578114 Channel 7 PFM 802 7811C Channel 8 PFM In PFM mode it is possible to e Write directly to the PFM output register using the suggested M Variable definition Mxx07 The corresponding channel has to be deactivated in this mode Ixx00 0 e Issue open loop commands to a channel motor e g 505 The corresponding channel has to be activated in this mode Ixx00 1 e Issue closed loop commands to a channel motor e g 5J 1000 The corresponding channel has to be activated Ixx00 1 and the position loop PID gains have to be implemented Writing directly to the PFM register Channels 5 8 Suggested M Variables PFM command output M507 gt Y 78104 8 16 S Channel 5 Min 0 Max Calculated 1569 M607 gt Y 7810C 8 16 S Channel 6 Min 0 Max Calculated 1669 M707 5Y 578114 8 16 S Channel 7 Min 0 Max Calculated 1769 M807 gt Y 7811C 8 16 S Channel 8 Min 0 Max Calculated 1869 Writing directly to the suggested M variable s values proportional to Suggested Output Ixx69 produces corresponding frequencies M Frequency Variable PFM KHz 0 0 1213 11 2427 22 Issuing Open Loop Commands Activating the motor channel should be sufficient at this point to allow open loop commands Note that an open loop command of zero magnitude nO0 will result in a zero frequency output and an open loop command of 100 nO100
233. it multi turn is 2048 revolutions in each direction Note Example Take a 37 bit absolute serial rotary encoder 25 bit single turn 12 bit multi turn and its equivalent linear scale e g 10 nm resolution Total Travel Span In each direction Span 2 Units 2 3 4 194 304 2 097 152 i Technique 13 C bit shio Rotary A 94 30 097 15 revolutions Linear 2 SF 1 407 374 883 mm R 210 134 217 728 67 108 864 luti Technique 2 no shift wary a7 neers Linear 2 SF 45 035 996 274 mm 266 Appendix D
234. ith 1 2 percent command output and increment gradually until you see a satisfactory result 190 Motor Setup Geo Brick LV User Manual A failed open loop test would either move the motor in the opposite direction of the command or lock it onto a phase one the following plots may apply El PmacTuningPro2 Open Loop Test Result Motor 1 DER EJ PmacTuningPro2 Open Loop Test Result Motor 2 DER Phak BAHRA at PAAA Motor 1 Open Loop Test Plot Result Executed at 2 23 36 PM 1 20 2010 1640 00 1230 00 820 00 410 00 0 00 410 00 820 00 2 Y B 3 3 5 H 5 8 1230 00 1640 00 63000 00 42000 00 21000 00 0 00 21000 00 42000 00 63000 00 84000 00 105000 00 126000 00 200 240 280 320 360 400 Time msec WARNING Positive command produced negative velocity You need check phase angle or encoder decode setting or redo rought phase step 285781 Ayaoja Commanded Voltage Velocity Pha k a Bapaassssas Motor 2 Open Loop Test Plot Result Executed at 6 27 23 PM 4 7 2010 Commanded Voltage bits Commanded Voltage 1320 00 990 00 660 00 330 00 0 00 330 00 660 00 990 00 1320 00 bo 40 80 120 160 200 240 280 320 360 400 Time msec INYARNING Positive command produced negative velocity You need check phase angle or encoder decode setting or r
235. ized at phase rate The phase clock frequency must be the same on the master and each of the slaves e It is advised that the MACRO and servo ICs be set to the same phase frequency T6800 17000 Macro ICO MaxPhase PWM Frequency Control T6801 17001 7 Macro ICO Phase Clock Frequency Control 16802 17002 Macro ICO Servo Clock Frequency Control 6 MACRO ring settings e 180 181 and 82 enable the ring error check function e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used 6840 S 4030 Macro ICO Ring Configuration Status typical master IC setting 6841 SOFF333 Macro ICO Node Activate Ctrl Servo nodes 0 1 4 5 8 9 12 13 User Input 78 32 Macro Type 1 Master Slave Communications Timeout 7083333 Macro IC 0 Node Auxiliary Register Enable for 8 macro motors 71 0 Type 0 MX Mode define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage 5 80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ring Check Period Servo Cycles 81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count 82 180 18144 Macro Minimum Sync Packet Count 7 Issue a Save followed by a reset to maintain changes 8 Activating MACRO motors Flag Control Ixx00 Ixx24 The master Geo Brick LV can be fitted with 1 or 2 servo ICs
236. lect Control user flag IN In this mode issuing a nHome from the Master will initiate the home ey move search for the corresponding motor n Note Homing from Slave If the full accuracy of the position capture is desired then the MACRO motor s homing routine can be pre programmed on the slave in a PLC routine and triggered upon demand with a handshaking flag using MX commands IN Software capture with Ixx97 introduces up to 1 background cycle KO delay which limits the accuracy of the capture Note In this mode the slave s Servo IC m Channel n capture control 17mn2 and flag select control 17mn3 have to be configured 240 MACRO Connectivity Geo Brick LV User Manual MACRO Suggested M Variables Macro IC 0 Node 0 Flag Registers M150 gt X 003440 0 24 Macro M151 gt Y 003440 0 24 Macro M153 gt X 003440 20 4 Macro M154 gt Y 003440 14 Macro M155 gt X 003440 15 Macro M156 gt X 003440 16 Macro M157 gt X 003440 17 Macro M158 gt X 003440 18 Macro M159 gt X 003440 19 Macro Macro IC 0 Node Flag Regis M250 gt X 003441 0 24 Macro M251 gt Y 003441 0 24 Macro M253 gt X 003441 20 4 Macro M254 gt Y 003441 14 Macro M255 gt X 003441 15 Macro M256 gt X 003441 16 Macro M257 gt X 003441 17 Macro M258 gt X 003441 18 Macro M259 gt X 003441 19 Macro Macro IC 0 Node 4 Flag Regis M350 gt X 003444 0
237. llation e For effective cooling and maintenance the Geo Brick LV should be mounted on a smooth non flammable vertical surface e At least 76 mm 3 inches top and bottom clearance must be provided for air flow At least 10 mm 0 4 inches clearance is required between units each side e Temperature humidity and Vibration specifications should also be taken in account Unit must be installed in an enclosure that meets the environmental IP rating of the end product ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F Caution The Geo Brick LV can be mounted with a traditional 3 hole panel mount two U shape notches on the bottom and one pear shaped hole on top If multiple Geo Brick LVs are used they can be mounted side by side leaving at least a 122 mm clearance between drives This means a 122 mm center to center distance 0 4 inches It is extremely important that the airflow is not obstructed by the placement of conduit tracks or other devices in the enclosure If the drive is mounted to a back panel the back panel should be unpainted and electrically conductive to allow for reduced electrical noise interference The back panel should be machined to accept the mounting bolt pattern of the drive The Geo Brick LV can be mounted to the back panel using three M4 screws and internal tooth lock washers It is important that the teeth break through any anodization on the drive
238. mplemented when an encoder loss is encountered To avoid a runaway an immediate Kill of the motor encoder in question is strongly advised Caution No automatic firmware Geo Brick action is taken upon detection of encoder s loss it is the user s responsibility to perform the necessary action to make the application safe under these conditions see example PLC below Killing the motor encoder in question is the safest action possible and strongly recommended to avoid a runaway and machine damage Also the user should decide the action to be taken if any for the other motors in the system The Encoder Loss Status bit is a low true logic It is set to 1 under normal conditions and set to O when a fault encoder loss is encountered Encoder Loss Example PLC A 4 axis Geo Brick is setup to kill all motors upon detection of one or more encoder loss In addition it does not allow enabling any of the motors when an encoder is in a loss condition define MtrlAmpEna M139 Motor 1 Amplifier Enable Status Bit Mtr1AmpEna 5X SB0 19 Suggested M Variable define Mtr2AmpEna M239 Motor 2 Amplifier Enable Status Bit Mtr2AmpEna gt X 130 19 Suggested M Variable define Mtr3AmpEna M339 Motor 3 Amplifier Enable Status Bit Mtr3AmpEna gt X 1B0 19 Suggested M Variable define Mtr4AmpEna M439 Motor 4 Amplifier Enable Status Bit Mtr4AmpEna gt X 230 19 Suggested M Variable define MtrlEncLoss M180 Motor 1 Encoder
239. mplementing a power on phasing routine the user should Ax A one time simple test per installation is performed preferably on an unloaded motor to find the motor phase position offset a b c f g h Execute the power position read PLC to ensure that the actual position is correct and up to date Record the values of Ixx29 and Ixx79 to restore them at the end of test if applicable Set Ixx29 0 and write a positive value to Ixx79 then issue a nO0 where n is the motor number 500 is a conservative value for Ixx79 to start with Adjust appropriately most likely to increase to force the motor to lock tightly onto a phase Wait for the motor to settle Record the absolute position from the position window or issue a nP to return the motor position in the terminal window Terminal Device 0 PMAC2 Turbo V Cie al 920918857 Issue a nK to kill the motor Restore Ixx29 and Ixx79 to their original values if applicable Enter the recorded value in the corresponding motor channel definition in the example plc below The following example PLC computes and corrects for the phase position register Mxx71 for channels 1 through 8 It is pre configured for the user to input their encoder motor information also to specify which channels are to perform an absolute power on phasing Using the Absolute Power On Phasing Example PLC Under the User Input section 1 In MtrxSF enter the motor scale factor For
240. n position address chl serial data register A 1195 120000 Parallel Read 18 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 18 bits or 010010 always 0 wos binary 0 0 0 1 0 0 1 0Jo ojoj o ojo o ojo ojojo ojololo Hex s tT e d o o o o Connections And Software Setup 101 Geo Brick LV User Manual In this mode PMAC reads and reports 18 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 578B21 Ch1 Y 578B20 47 23 0 With this setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position With absolute serial encoders no multi turn data the power on position format is set up for unsigned operation gt Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 gt Note Some serial encoders use an external not from the Brick source for power Make sure that this power is applied prior to performing an absolute read on power up gt Note 102 Connections And Software Setup Geo Brick LV User Manual Technique 2 Example Channel 1 is driving a 37 bit 25 bit Singleturn 12 bit Multiturn rota
241. n table is setup as a high resolution interpolator 3 line entry similarly to setting up a sinusoidal encoder The absolute power on position serial data is computed directly from the raw HiperFace serial data registers Subsequently a power on phase referencing routine can be implemented Connections And Software Setup 65 Geo Brick LV User Manual Setting up HiperFace On Going Position The HiperFace on going position is set up through the Encoder Conversion Table as a high resolution interpolation entry Encoder Conversion Table Setup Example Channel 1 ei Turbo Encoder Conversion Table Device 0 QMAC TURBO V1 DAR Select a table entry to view edit i i End of Table Download Entry Eirst Entry of Table Done Enty Y g3501 Processed Data X g3503 Address 3 Address View All Entries of Table Yiewing Conversion Type High res interpolator ACCs 51C E P2 5 PMAC2 style v Source Address 78000 Servo IC 0 Channel 1 A D converter address 478B00 A D bias 50 1 Conversion Type High res interpolator PMAC2 Style 2 Enter Source Address see table below 3 Enter A D Converter Address see table below 4 A D Bias typically 0 Source A D converter Source A D converter ee Address Address Channels Address Address 578000 78B00 5 78100 78B08 78008 78B02 6 78108 78BOA 78010 78B04 7 78110 78B0C 78018 78B06 8 78118 78B0E AIwIN
242. n this mode PMAC reads and reports 20 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 578B21 Ch1 Y 78B20 47 23 0 With the setting of Ixx80 2 the actual position is reported automatically on Power up Otherwise a 1 command is necessary to read and report the absolute position Connections And Software Setup 111 Geo Brick LV User Manual IN With absolute serial encoders no multi turn data the power on Ka position format is set up for unsigned operation Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 gt K7 Note Some serial encoders use an external not from the Brick source for O power Make sure that this power is applied prior to performing an absolute read on power up Note 112 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback Yaskawa Sigma II 8 III X1 X8 D sub DA 15F Mating D sub DA 15M 00000000 00000 Pin Symbol Function Notes 1 2 3 4 EncPwr Output Encoder Power 5 Volts 5 SDI Input Serial Data In 6 7 8 9 10 11 12 GND Common Common Ground 13 14 SDO Output Serial Data Out 15 If you prefer to keep the original Molex connector on the Yaskawa encoder cable the following converter can be used to attach to th
243. nd Serial Enc Panasonic Protocol MACRO Ring Interface and 8 Single or 4 Differential channel 12 bit 10v range MUXED ADC GBDA BB CDD EFGHHHIO No MACRO or ADC RJ45 MACRO Fiber Optic MACRO MUXED ADC RJ45 MACRO and MUXED ADC Fiber Optic MACRO and MUXED ADC Specifications 13 Geo Brick LV User Manual Geo Brick LV Options CPU Options e CO 80MHz Turbo PMAC2 CPU standard 8Kx24 internal memory 256Kx24 SRAM 1MB flash memory e C3 80MHz Turbo PMAC2 CPU 8Kx24 internal memory 1Mx24 SRAM 4MB flash memory e F3 240MHz Turbo PMAC2 CPU 192Kx24 internal memory 1Mx24 SRAM 4MB flash memory Encoder Feedback Type e Digital Quadrature e SSI e Panasonic e Sinusoidal e EnDat 2 1 2 2 e Tamagawa e HiperFace e Yaskawa Sigma II IM e Resolver e BiSSB C Regardless of the encoder feedback option s fitted digital quadrature wT encoders can always be utilized However Hall sensors cannot be N used with a channel which has been programmed for serial clocking ote Axes Power e 0 25A RMS continuous 0 75 A RMS peak e 1 ARMS continuous 3 A RMS peak e 5 ARMS continuous 15 A RMS peak Encoder Input e Up to eight encoder inputs and one handwheel quadrature input e Additional encoder inputs can be obtained through MACRO connectivity Digital Inputs Outputs e Up to 32 inputs and 16 outputs Sinking or Sourcing e Additional digital I Os can be obtained through Fieldbus connectivity Analog Inputs DAC Outpu
244. nd type of application Calculating Minimum PWM Frequency The minimum PWM frequency of a system is based on the time constant of the motor In general the lower the time constant the higher the PWM frequency should be The motor time constant is calculated dividing the motor inductance by the resistance phase phase The minimum PWM Frequency is then determined using the following relationship ea 3 N O a aaa aai a N Example A motor with an inductance of 2 80 mH resistance of 14 phase phase yields a time constant of 200 usec Therefore the minimum PWM Frequency is about 15 9KHz Recommended clock Frequencies The most commonly used and recommended clock settings for the Geo Brick LV are 20 KHz PWM 10 KHz Phase and 5 KHz Servo 6800 1473 Macro ICO Max Phase PWM Frequency Control 6801 3 Macro ICO Phase Clock Frequency Control 6802 Macro ICO Servo Clock Frequency Control 7100 1473 Servo IC1 Max Phase PWM Frequency Control 7101 3 Servo IC1 Phase Clock Frequency Control 7102 Servo IC1 Servo Clock Frequency Control 7000 1473 Servo ICO Max Phase PWM Frequency Control 7001 3 Servo ICO Phase Clock Frequency Control 7002 Servo ICO Servo Clock Frequency Control 10 1677653 Servo Interrupt Time Note that downloading parameters to a non existent Servo or Macro IC is usually neglected by PMAC but it is not a good practice for documentation and future configuration download
245. nections And Software Setup Geo Brick LV User Manual At this point you should be able to move the motor encoder shaft by hand and see motor counts in the position window Note Counts per User Units Technique 3 With technique 3 the user should expect to see 23 counts per revolution for rotary encoders and 1 Resolution counts per user unit for linear scales in the motor position window Examples 32 bit rotary encoder 20 bit Singleturn 2 1 048 576 cts rev 0 1 micron linear scale 1 0 0001 10 000 cts mm Connections And Software Setup 109 Geo Brick LV User Manual Encoder Conversion Table for Commutation Technique 3 Commutation with Turbo PMAC does not require high resolution data With Technique 3 it is recommended to fix it at 18 bits This will also eliminate quantization noise It is recommended to insert the commutation ECT entries after all of the position ECT entries have been configured Note Assuming that eight encoders have been configured for position the first ECT for commutation for the first motor would be at entry number nine e Conversion Type Parallel pos from Y word with no filtering Width in Bits 18 Offset Location of LSB Singleturn protocol bits 18 e g 20 18 2 No shifting Source Address Serial data register A same as position ECT for this motor Remember to click on Download Entry for the changes to take effect wi Turbo Encoder Conversion Table
246. ng Check Period Servo Cycles I81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count 182 180 18144 Macro Minimum Sync Packet Count 7 Issue a Save followed by a reset to maintain changes 224 MACRO Connectivity Geo Brick LV User Manual 8 If the Geo MACRO Drive has been configured prior to this setup then it may have been assigned a station number and or may have some enabled nodes You would need to know what the station number is in order to perform ASCII communication or which nodes are enabled in order to issue MS commands The following commands can then be issued to reset the Geo MACRO Drive s back to its factory default settings e MS 15 will broadcast a global reset to stations associated with all enabled nodes e MSSAV 15 will broadcast a Save to stations associated with all enabled nodes e MS 15 will broadcast a reset to stations associated with all enabled nodes 9 Assuming that the Geo MACRO Drive s is or has been reset to factory default settings we will now try to establish MACRO ASCII communication by issuing e MACSTA255 This command will establish MACRO ASCII direct communication with the first unassigned Geo MACRO Drive if more than one is in the ring starting from the OUT Transmit fiber or RJ45 out of the Geo Brick LV 10 When in ASCII mode download from the editor or issue the following commands in the terminal window 1995 4080 MACRO IC ring configura
247. ng electrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet to protect them from excessive or corrosive moisture abnormal ambient temperatures and conductive materials If Delta Tau Data Systems Inc products are directly exposed to hazardous or conductive materials and or environments we cannot guarantee their operation Geo Brick LV User Manual Safety Instructions Qualified personnel must transport assemble install and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation and operation of equipment The qualified personnel must know and observe the following standards and regulations TEC364resp CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4 Incorrect handling of products can result in injury and damage to persons and machinery Strictly adhere to the installation instructions Electrical safety is provided through a low resistance earth connection It is vital to ensure that all system components are connected to earth ground This product contains components that are sensitive to static electricity and can be damaged by incorrect handling Avoid contact with high insulating materials artificial fabrics plastic film etc Place the product on a conductive surface Discharge any possible static electricity build
248. ngleturn No Multiturn absolute rotary serial encoder or a similar protocol resolution 25 bits linear scale 1180 0 Absolute power on read disabled 1110 78B20 Absolute power on position address chi serial data register A 1195 5190000 Parallel Read 25 bits Unsigned from Y Register User Input Bit 22 1 X Register 0 Y Register Bit 23 1 Signed Bits16 21 Number of Bits to read Bits 0 15 reserved 0 Unsigned Resolution 25 bits or 011001 always 0 os Binay 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hexsh 1o 05 o o o o In this mode PMAC reads 25 bits from the first serial data register Serial Data Register B Serial Data Register A Ch1 Y 578B21 Ch1 Y 78B20 47 23 0 With the setting of Ixx80 0 the actual position is not reported automatically on power up It will be reported after scaling i e in PLC below 106 Connections And Software Setup Geo Brick LV User Manual With absolute serial encoders no multi turn data the power on CT position format is set up for unsigned operation Note The upper two fields in Ixx95 are the only relevant ones Bits 0 through 15 are reserved and should always be set to 0 Note Power On Position scaling PLC example for technique 2 M162 gt D 00008B Open PLC 1 clear 15111 100 8388608 110 while 1I5111 gt 0 CMD 1K 15111 100 8388608 110 while 1I5111 gt 0 CMD
249. no software setup is required activating Ixx00 1 the corresponding channel is sufficient to see encoder counts in the position window when the motor encoder shaft is moved by hand 1100 8 100 1 Channels 1 8 activated Encoder Count Error Mxx18 The Geo Brick LV has an encoder count error detection feature If both the A and B channels of the quadrature encoder change state at the decode circuitry post filter in the same hardware sampling clock SCLK cycle an unrecoverable error to the counter value will result lost counts Suggested M Variable Mxx18 for this channel is then set and latched to 1 until reset or cleared The three most common root causes of this error e Real encoder hardware problem e Trying to move the encoder motor faster than it s specification e Using an extremely high resolution speed encoder This may require increasing the SCLK The default sampling clock in the Geo Brick LV is 10MH7z which is acceptable for virtually all applications A setting of I7m03 of 2257 from default of 2258 sets the sampling clock SCLK at about 20MHz It can be increased to up to 40 MHz No automatic action is taken by the Geo Brick LV if the encoder count error bit is set Note 46 Connections And Software Setup Geo Brick LV User Manual Encoder Loss Detection Quadrature Designed for use with differential line driver outputs encoders the encoder loss circuitry monitors each quadrature inpu
250. nput define MaxADC 33 85 Brick IV full range ADC reading see electrical specifications define I2TOnTime 1 Time allowed at peak Current sec 157 INT 327674 ContCurrent 1 414 MaxADC cos 30 169 INT 32767 PeakCurrent 1 414 MaxADC cos 30 158 INT 1169 1I169 1157 1157 ServoC1k 1000 I2TOnTime 32767 32767 257 1157 258 1158 269 1169 357 1157 358 1158 369 1169 457 1157 458 1158 469 1169 557 1157 558 1158 569 1169 657 1157 658 1158 669 1169 757 1157 758 1158 769 1169 857 1157 858 1158 869 1169 Brick LV s hardware built in I2T protects the amplifier and presents This software I2T is designed to primarily protect the motor The Geo Ey an added layer of system safety Note 166 Motor Setup Geo Brick LV User Manual Commutation Cycle Size Ixx70 Ixx71 The ratio of Ixx70 Ixx71 represents the number of encoder counts per electrical cycle These parameters are typically set up with respect to the motor encoder type resolution and processing method For a rotary motor the number of commutation cycles Ixx70 should be equal to the number of pole pairs Ixx70 Number of pole pairs The commutation cycle size Ixx71 is equal to the electrical cycle length or pole pair pitch in units of encoder counts Feedback Type Motor Scale Factor SF Ixx71 counts rev Quadrature SF Lines x 4 SF Sinusoidal HiperFace SF Sine Cosine cycles per re
251. ns paasanssbeandeus s4atnaaneseadens pers gataadentneacs 60 X1 X8 Encoder Feedback BIpEn PAGE aangas 2 cnedecensudceuessuasetesanauar teens senauascundecedubarunseepaanedeel 65 Setting up HiperFace On Going Position saicasucasncnsveastewsicasncwsbenstonsdeasscunbeantiubbeabscwsbeabtensbeasics 66 Setting up HiperFace Absolute Power On POSItiOn cccccceeeeeeeeeeeeeeeeeeeeneneneeaaaaaaaaaaaaaaaaaaas 68 Setting up HiperFace Encoders Example aNG 72 Encoder Count Error MALLS iss serasovssorasunateradesaderadonatoradersdetadteateradoradosnsans KA 77 Encoder Loss Detection HiperFace paa GANGBANG 77 X1 X8 Encoder Feedback SST 2222 x302842x2380X4 200302 ng Ja NG MANG NN DA BARAN ANNA mna T9 Configuring SSI AA AA AA ARA PA 79 SSI Control Registers Setup EXIMPIE aaa KA IG BK AKANAKAAKAN LAAN 83 X1 X8 Encoder Feedback EnDat 2 1 2 2 2 2 22 aa 85 Config ring ENDA AD AANGAL AA 85 EnDat Control Registers Setup Fania 6 iiss casssusasconcanadasasatadancetnadavaawiadanssinadepssesnstanactnadannaasat 89 X1 X8 Encoder Feedback BiSS C B 1 aa 91 BA AA PA AA AA AA 91 BiSS Control Registers Setup Example 2na NANANA NANA AGANG 95 Setting Up SSI EnDat BiS S ani A n e a AE EE a 97 Setup SUMMAI sosit an rnanan eaaa AA AA ANA 98 Technique d EXGMIDIE saaan AGANG ioio E T ait 100 T chnigue 2 Example aaa 103 Techniqg e 3 ExXamplescsaysnni A R O PBA 108 X1 X8 Encoder Feedback Yaskawa Sigma H amp UD eee eeeseeeeeeesneeeeeeen
252. nter single turn ChxSTRes and multi turn ChxMT Res resolutions in bits for each encoder For strictly absolute single turn encoders multi turn resolution is set to zero 2 In ChAbsSel specify which channels are desired to perform an absolute position read This value is in hexadecimal A value of 1 specifies that this channel is connected 0 specifies that it is not connected and should not perform and absolute read Examples Reading Absolute Channel 8 7 6 5 4 321 Position channels ChAbsSel Binary O 0 0 0 1 1 1 1 gt ChAbsSel 0F 1 through 4 ChAbsSel Hex 0 F Reading Absolute Channel 8 7 6 5 4 3 2 Position channels ChAbsSel Binary O 1 0 1 0 1 0 1 gt ChAbsSel 55 1 3 5 7 ChAbsSel Hex 5 5 NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes M6000 through M6035 P7000 through P7032 Make sure that current and or future configurations do not create conflicts with these parameters SSeS SS See SS See se es Ss esas esesesesesaes M6000 6035 gt Self referenced M Variables M6000 6035 0 Reset M Variables at download P7000 7032 0 Reset P Variables at download USER INPUT 555s5sssssssssssssssssssasaassaasaasass define Ch1STRes P7000 define Ch1MTRes P7001 define Ch2STRes P7002 define Ch2MTRes P7003 defin
253. nto first 2 x 16 bit registers of MACRO TO node 2 At the master side these MACRO I O node registers are copied using a PLC code into pre defined open memory registers bitwise definitions where the user can monitor the machine s inputs state The following diagram summarizes the abovementioned transfer technique Brick Master MACRO I O Node 2 Brick Slave i Copy Write Outputs to outputs to l i 10 node Slave Pag o E Write Copy Inputs to Inputs to 5 Master 10 node a O Master Slave PLC Operations PLC Operations Macro Connectivity 233 Geo Brick LV User Manual Slave Digital I Os Transfer Example 16841 16841 000004 Digital Outputs define OutBytel M7000 define OutByte2 M7001 OutBytel gt Y 078802 0 8 U OutByte2 gt Y 078805 0 8 U Digital Inputs define InBytel M7003 define InByte2 M7004 define InByte3 M7005 define InByte4 M7006 InBytel gt Y 078800 0 8 U InByte2 gt Y 078801 0 8 U InByte3 gt Y 078803 0 8 U InByte4 gt Y 078804 0 8 U Digital Inputs Outputs Latch M7009 7013 gt M7009 7013 0 define LatchOut M7009 define LatchInl M7010 define LatchIn2 M7011 define LatchIn3 M7012 define LatchIn4 M7013 MACRO I O Node Registers define N2Twenty4 M7016 define N2First16 M7017 E define N2Second16 M7018 N2Twenty4 gt X 78420 0 24 U N2First16 5X 578421 8 16 U N2Second16 gt X 78422 8 16 U Digital I
254. nual Encoder Loss Example PLC A 4 axis Geo Brick is setup to kill all motors upon the detection of one or more encoder loss In addition it does not allow enabling any of the motors when an encoder loss condition has been encountered define MtrlAmpEna M139 Motor 1 Amplifier Enable Status Bit MtrilAmpEna gt X B0 19 Suggested M Variable define Mtr2AmpEna M239 Motor 2 Amplifier Enable Status Bit Mtr2AmpEna gt X 130 19 Suggested M Variable define Mtr3AmpEna M339 Motor 3 Amplifier Enable Status Bit Mtr3AmpEna gt X 1B0 19 Suggested M Variable define Mtr4AmpEna M439 Motor 4 Amplifier Enable Status Bit Mtr4AmpEna gt X 230 19 Suggested M Variable define MtrlEncLoss M180 Motor 1 Encoder Loss Status Bit MtrlEncLoss 5Y 5078807 0 1 define Mtr2EncLoss M280 Motor 2 Encoder Loss Status Bit Mtr2EncLoss 5Y 5078807 1 1 8 define Mtr3EncLoss M380 Motor 3 Encoder Loss Status Bit Mtr3EncLoss 5Y 5078807 2 1 define Mtr4EncLoss M480 Motor 4 Encoder Loss Status Bit Mtr4EncLoss 5Y 5078807 3 1 define SysEncLoss P1080 System Global Encoder Loss Status user defined SysEncLoss 0 Save and Set to 0 at download normal operation 1 System Encoder Loss Occurred OPEN PLC 1 CLEAR If SysEncLoss 0 No Loss yet normal mode If MtrlEncLoss 0 or Mtr2EncLoss 0 or Mtr4EncLoss 0 or Mtr4EncLoss 0 CMD K One or more Encoder Loss es detected kill all motors SysEncLoss 1 Set Global Encoder Los
255. nual Wiring the Limits and Flags The Geo Brick allows the use of sinking or sourcing limits and flags The opto isolator IC used is a PS2705 4NEC ND quad phototransistor output type This IC allows the current to flow from return to flag sinking or from flag to return sourcing Sourcing Limits And Flags COM NC POS LIMIT T NC NEG LIMIT T Sinking Limits And Flags 5 or 24 VDC Power supply NG 5VDC 24VD NC POS LIMIT 1 5 NC NEG LIMIT 1 5 HOME 1 5 FLAG RETURN 1 5 NC NEG LIMIT 2 6 HOME 2 6 FLAG RETURN 2 6 C EQU2 6 C USER3 7 NC POS LIMIT 3 7 NC NEG LIMIT 3 7 HOME 3 7 FLAG RETURN 3 7 CNC NEG LIMIT 4 8 C HOME 4 8 FLAG RETURN 4 8 the flag return wiring The over travel limits must be normally closed Per channel the flags can be either sinking or sourcing depending on switches They can be disabled Ixx24 but they are not software Note configurable 28 Connections And Software Setup Geo Brick LV User Manual Limits and Pags Lane 1 4 Suggested M Variables M115 gt X 078000 User 1 flag input status M116 gt X 078000 4 EQU1 ENC1 compare output value M120 gt X 078000 16 Home flag 1 input status M121 gt X 078000 17 Positive Limit 1 flag input status M122 gt X 078000 18 Negative Limit 1 flag input status M215 gt X 078008 19 User 2 flag input status M216 gt X 078008 9 EQU2
256. obe Word and Axes Data Structures The amplifier processor in the Geo Brick LV conveys data and certain status bits to the PMAC user This information pertaining to a specific channel is sent over using the ADC registers of each channel Strobe Word Structure These functions are established by sending commands to the amplifier processor from the PMAC using the ADC Strobe Word PMAC Variable Description Address 17006 Axis 1 4 ADC Strobe Word X 78014 17106 Axis 5 8 ADC Strobe Word X 78114 000 SO Axis 1 001 1 Axis 2 010 52 Axis 3 Address Axis SF 011 3 Axis 4 Bit 2322 2120 19 1817 16 15 14 13 12 1110 9 8 7 6 5 4 3 2 10 0 Protect 0 Servo 1 Write 1 Stepper Value 1 1 1 1 1 00 0 0 1 0 0 1 1 0 11 111 1 111 0 0 Save See decription Always SFE 1 Write 0 No Reset 0 12T fault 1 Reset 1 12T Warning About bits 12 9 e Before 8 18 2009 These bits are used to set the I2T limit of the axis e 8 18 2009 10 1 2012 These bits have no significance DT is set automatically in the firmware e After 10 1 2012 Bits 11 10 are command bits for displaying either firmware version or current option in ADC B If bits 11 10 11 then ADC B bits 9 6 display the amplifier firmware version If bits 11 10 00 then ADC B bits 7
257. ocol bit length for linear scales can be found in the encoder manufacturer s spec sheet Note IN The Electrical Cycle Length ECL or pole pair pitch in user units KY can be found in the motor manufacturer s spec sheet Note Ixx71 Saturation High resolution encoders could saturate the Ixx71 register which is a signed 24 bit register Thus the maximum value writeable to it is 2 sbi 16 777 215 But remember the ratio of Ixx71 Ixx70 is what really matters Dividing Ixx70 and Ixx71 by a common integer divisor could alleviate settings which are out of range Example For an 8 pole brushless rotary motor with a high resolution encoder producing 33 554 432 counts revolution Ixx70 and Ixx71 are usually set to 4 pole pairs and 33554432 respectively These settings are not acceptable since Ixx71 exceeds the maximum permissible value in its 24 bit register dividing both Ixx70 and Ixx71 by 4 results in acceptable settings Ixx70 4 4 1 Ixx71 33554432 4 8388608 ADC Offsets Ixx29 Ixx79 The ADC offsets importance may vary from one system to another depending on the motor s type and application requirements They can be left at default of zero especially if a motor setup is to be reproduced on multiple machines by copying the configuration file of the first time integration However they should ultimately be set to minimize measurement offsets from the A and B phase current feedback circuits respectively read in Sugge
258. ol Function Description 1 USER1 Input User Flag 1 2 MLIM1 Input Negative Limit 1 3 FL_RT1 Input Flag Return 1 4 USER2 Input User Flag 2 5 MLIM2 Input Negative Limit 2 6 FL RT2 Input Flag Return 2 7 USER3 Input User Flag 3 8 MLIM3 Input Negative Limit 3 9 FL RT3 Input Flag Return 3 10 USER4 Input User Flag 4 11 MLIM4 Input Negative Limit 4 12 FL RT4 Input Flag Return 4 13 GND Common 14 PLIM1 Input Positive Limit 1 15 HOME1 Input Home Flag 1 16 EQUI Output Compare Output EQU 1 TTL 5V level 17 PLIM2 Input Positive Limit 2 18 HOME2 Input Home Flag 2 19 EQU2 Output Compare Output EQU 2 TTL 5V level 20 PLIM3 Input Positive Limit 3 21 HOME3 Input Home Flag 3 22 EQU3 Output Compare Output EQU 3 TTL 5V level 23 PLIM4 Input Positive Limit 4 24 HOME4 Input Home Flag 4 25 EQU4 Output Compare Output EQU 4 TTL 5V level For 5V flags internal use Install RP39 RP43 RP47 and RP51 1Kohm Sip 8 pin four independent Resistors For 12 24Vflags Empty bank Default Note 26 Connections And Software Setup Geo Brick LV User Manual J5 Limits Flags EQU Axis 5 8 J5 is used to wire axis channels 5 through 8 over travel limit switches home user flags and EQU output The limits and flags can be ordered either 5V or 12 24V The EQU output is always 5V Per axis channel there are 2 limit inputs 2 flag inputs and 1 EQU output Positive limit Negative limit Home flag User flag EQU To avoid machine equipment d
259. ollowing types of motors e Three Phase AC DC Brushless synchronous rotary linear e DC Brush e 2 Phase Stepper IN The Geo Brick LV can also provide pulse and direction PFM output s Ey to third party stepper amplifiers Note Documentation In conjunction with this user manual the Turbo Software Reference Manual and Turbo PMAC User Manual are essential for proper use motor setup and configuration of the Geo Brick LV It is highly recommended to refer to the latest revision of the manuals found on Delta Tau s website under Support gt documentation gt Manuals Delta Tau Manuals 10 Introduction Geo Brick LV User Manual Downloadable Turbo PMAC Script Some code examples require the user to input specific information pertaining to their system hardware When user information is z required a commentary ending with User Input is inserted Caution This manual contains downloadable code samples in Turbo PMAC script These examples can be copied and pasted into the editor area in the Pewin32pro2 Care must be taken when using pre configured Turbo PMAC code some information may need to be updated to match hardware and system specific configurations Downloadable Turbo PMAC Scripts are enclosed in the following format TURBO PMAC SCRIPT EXAMPLE P1 0 Set P1 0 at download Open PLC 1 Clear Open PLC Buffer 1 clear contents CMDP Geo Brick LV Manual Test PLC Send unsolicited response to host p
260. ommunication with the encoder To compensate for external system delays this trigger has a programmable 4 bit delay setting in 20 usec increments 23 16 15 12 11 10 9 8 7 6 5 4 3 2 1 0 M Divisor N Divisor Trigger Clock Trigger Edge Trigger Delay Protocol Code Bit Type Default Name Description Intermediate clock frequency for SER Clock The 23 16 R W 0x81 M Divisor intermediate clock is generated from a M 1 divider clocked at 100 MHz Final clock frequency for SER Clock The final clock is 15 12 R W 0x2 N_Divisor generated from a 2 divider clocked by the intermediate clock 11 10 R 00 Reserved Reserved and always reads zero 3 i 0 Phase Clock 09 R W 0 TriggerClock Trigger clock select 24 Servo Clock 0 Rising edge 08 R W 0 TriggerEdge Active clock edge select 1 Falling edge Trigger delay program relative to the active edge of the ina BN ORO TriggerDolay trigger clock Units are in increments of 20 usec This read only bit field is used to read the serial encoder interface 03 00 R 0x4 ProtocolCode protocol supported by the FPGA A value of 4 defines this protocol as HiperFace Connections And Software Setup 69 Geo Brick LV User Manual Channel Control Registers X 78Bn0 X 78Bn4 X 78Bn8 X 578BnC where n 2 for axes 1 4 n 3 for axes 5 8 Channel 1 X 78B20 C
261. ommutation source address User Input 783 S351E Motor 7 Commutation source address User Input 883 3520 Motor 8 Commutation source address User Input 101 8 100 1 Motors 1 8 Commutation Enabled from X register 164 Motor Setup Geo Brick LV User Manual Resolver With resolvers it is recommended to use the unfiltered data processed in the Encoder Conversion Table these addresses can differ depending on the encoder conversion table management 18353503 Motor 1 On going Commutation Position Address 283 5350B Motor 2 On going Commutation Position Address 383 3513 Motor 3 On going Commutation Position Address 483 S 351B Motor 4 On going Commutation Position Address 583 3523 Motor 5 On going Commutation Position Address 683 352B Motor 6 On going Commutation Position Address 783 53533 Motor 7 On going Commutation Position Address 883 353B Motor 8 On going Commutation Position Address 101 8 100 1 Motors 1 8 Commutation Enabled from X register Yaskawa With Yaskawa feedback devices it is recommended to use the processed data in the Encoder Conversion Table same as position 183 1104 283 1204 383 1304 483 1404 583 1504 683 1604 783 1704 883 1804 101 8 100 1 r Motor Motor Motor Motor Motor Motor Motor Motor Motors 1 8 Commutation Enabled I 2 3 4 5 6 j 8 On going On going On going On going On going On going On going
262. onservative value i e 0 001 and perform an open loop test Essentially a positive open loop command should result in position direction of the encoder motion and vice versa Reversed Encoder Decode 17mn0 needs adjustment Motor 1 Open Loop Test Plot Result Executed at 4 32 02 PM 1 5 2010 1000 00 1640 00 0 00 1230 00 1000 00 820 00 2000 00 410 00 3000 00 0 00 4000 00 410 00 5000 00 238 549 Ayoojan 820 00 6000 00 amp Fig amp 2 5 p ki 3 E E 5 o 1230 00 7000 00 1640 00 baa 8000 00 9000 00 200 Time msec INWARNING Positive command produced negative velocity You need check phase angle or encoder decode setting or redo rought phase step Once the Encoder Decode is verified increment Ixx61 gradually and redo the Open Loop test until a solid saw tooth response is observed Note that further increasing Ixx61 will not improve the performance Correct Encoder Decode Acceptable Open Loop Response Motor 1 Open Loop Test Plot Result Executed at 2 03 00 PM 1 5 2010 34800 00 1640 00 29000 00 1230 00 23200 00 820 00 7 VA 17400 00 410 00 11600 00 000 410 00 pi a 3 s 8 8 S o 8 5 8 8 8 8 8 2as s3o APOPA 820 00 a T E3 2 5 5 Fi 5 E E 5 o 4230 00 11600 00 1640 00 eT 120 160 200 240 280 Time msec You should see an increasing velocity curve during the positive segment of the current command an
263. or 5 Velocity feedback address ECT processed data 603 350C Motor 6 Position feedback address ECT processed data 604 350C Motor 6 Velocity feedback address ECT processed data 703 350E Motor 7 Position feedback address ECT processed data 704 S350E Motor 7 Velocity feedback address ECT processed data 803 3510 Motor 8 Position feedback address ECT processed data 804 3510 Motor 8 Velocity feedback address ECT processed data Motor Activation 100 8 100 1 Motors 1 8 Activated At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note Connections And Software Setup 119 Geo Brick LV User Manual Absolute Power On Position Read Yaskawa 16 bit Channel 1 example PLC 16 bit Absolute Sigma II Encoder End Gat Del Gat Close define STDO 15 M7000 7 Single turn Data 0 15 16 bits define MTDO 3 M7001 7 Multi Turn Data 0 3 4 bits define MTD4 15 M7002 Multi Turn Data 4 15 12 bits define MTDO 15 M7003 7 Multi Turn Data 0 15 16 bits STDO_15 gt Y 78B20 4 16 MTDO 3 5Y 578B20 20 4 MTD4 15 5Y 578B21 0 12 MTDO 15 54 define MtrlActPos M162 MtrlActPos 5D 500008B 1 Actual position 1 Ixx08432 cts Open plc 1 clear MTDO 15 MTD4 15 10 MTDO 3 If MTDO_15 gt 7FFF MTDO 15 MTDO 154SFFFF a A ed If STDO_15 0 STDO_15 STDO 154SFFFF 1 1 Endif Endif MtrlActPos
264. or MASK e Enabling ModBus e Reloading communication boot and firmware These functions are accessible through the Configure Ethernet 100 BaseT utility found in the Windows Start menu under PMAC Executive Pro2 Suite gt Delta Tau Common gt Configure Ethernet 100 BaseT fam PMAC Executive Pro2 Suite gt Delta Tau Common Configure Ethernet 10 BaseT Geo Brick Setup Configure Ethernet 100 BaseT Geo PMAC Setup e2 Configure USB 1 1 GeoBrickLVSetup e2 Configure USB 2 0 P1Setup32PRO2 software Release Notes P2Setup32PRO2 8 PComm32 Driver Installation Instructions Pewin32PRO2 4a Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT X PmacPlot32PRO2 Code Program i Bootstrap firmware has not been PmacTuningPRO2 Store Boot programmed this session IP Address TurboSetup32PRO2 Store FAW Application firmware has not been UmacConfigPRO2 Sef Gammedins sessen Store IP Protocol Reg DHCP TCP C UDP jv Modbus Option 1025 HAW Type C UMAC ACC54E C CPCI C OMAC Gateway PC104 ACC2P Geo PMAC C Geo Yuasa C ACCESETH C Geo Brick _ Gateway P_ Serial No Gateway Mask Store MAC ID 00 50 C2 4D 7D 01 Note This utility only works with USB communication The Pewin32Pro2 or any other software communicating to the Brick must be closed before launching this utility Troubleshooting 249 Geo Brick LV User Manual Reloading PMAC firmware The
265. ort P1 P1 1 Counter using variable Pl Disable PLC 1 Disable plc 1 Close Close open buffer All PLC examples are stated in PLC number 1 It is the user s responsibility to arrange their application PLCs properly and handle z power on sequencing for various tasks Caution It is the user s responsibility to use the PLC examples presented in this manual properly That is incorporating the statement code in the application configuration and handling tasks in a sequential manner For example with serial absolute encoders setting up the global control registers should be executed before trying to read absolute position and absolute phase referencing Furthermore other PLC programs which would be trying to move motors should be disabled until these functions are executed Often times downloadable example codes use suggested M variables it is the user s responsibility to make sure they are downloaded or perform necessary changes to use the intended registers Caution Introduction 11 Geo Brick LV User Manual SPECIFICATIONS Part Number ORCRORON OOO o GBD 4 C 074 0 0 Axes GBDA BB CDD EFGHHHIO CPU Options GBDA BB CDD EFGHHHI0 Turbo PMAC 2 Processor 4 Four Axes Default 8 Eight Axes C0 80Mhz 8Kx24 Internal 256Kx24SRAM 1MB Flash Default C3 80Mhz 8Kx24 Internal 1Mx24SRAM 4MB Flash F3 240Mhz 192Kx24 Internal 1Mx24SRAM 4MB Flash Axes 1 to 4 Options _ GBDA BB C
266. otal Encoder Power Power Per Encoder Power Per Encoder Geo Brick LV Model Available Amps 4 x channels mA 8 x channels mA Older Newer Older Newer Older Newer Without Add in Board 1 5 2 375 500 188 250 With Add in Board 1 1 5 250 375 125 188 The newer models of the Geo Brick LV were introduced in October of 2012 and can be recognized by the 5 pin terminal block STO connector which was not previously available Note 146 Connections And Software Setup Geo Brick LV User Manual Wiring the Alternate 45V Encoder Power Pin Symbol Description Note 1 SVEXT Input 5V from external power supply 2 SVINT Output Tie to pin 1 to use internal power supply 3 GND Common Mating Connector 1 D Adam Tech part number 25CH E 03 nT 8V _ 3 x 2 EXT 5V Pins part number 25CTE R 4 Wa Crimping tool Molex EDP 11 01 0208 5V ENC PWR Only two of the three available pins should be used at one time Do not daisy chain the internal 5V power supply with an external one Caution By default pins 1 2 are tied together to use the internal power supply To wire an external power supply remove the jumper tying pins 1 2 and connect the external 5V to pin 1 and ground common to pin 3 Internal Power Supply External Power Supply Wiring Default Wiring 1 5V External 2 Power Supply oo O A jumper tying pins 1 and 2 is the de
267. pEna M439 Motor 4 Amplifier Enable Status Bit Mtr4AmpEna gt X 230 19 Suggested M Variable define MtrlEncLoss M180 Motor 1 Encoder Loss Status Bit MtrlEncLoss 5Y 5078807 0 1 define Mtr2EncLoss M280 Motor 2 Encoder Loss Status Bit Mtr2EncLoss 5Y 5078807 1 1 F define Mtr3EncLoss M380 Motor 3 Encoder Loss Status Bit Mtr3EncLoss 5Y 5078807 2 1 define Mtr4EncLoss M480 Motor 4 Encoder Loss Status Bit Mtr4EncLoss gt Y 078807 3 1 define SysEncLoss P5989 System Global Encoder Loss Status user defined SysEncLoss 0 Save and Set to 0 at download normal operation 1 System Encoder Loss Occurred OPEN PLC 1 CLEAR If SysEncLoss 0 No Loss yet normal mode If MtrlEncLoss 0 or Mtr2EncLoss 0 or Mtr4EncLoss 0 or Mtr4EncLoss 0 CMD K One or more Encoder Loss es detected kill all motors SysEncLoss 1 Set Global Encoder Loss Status to Fault EndIf EndIF If SysEncLoss 1 Global Encoder Loss Status At Fault If MtrlAmpEna 1 or Mtr2AmpEna 1 or Mtr4AmpEna 1 or Mtr4AmpEna 1 Trying to Enable Motors CMD K Do not allow Enabling Motors Kill all EndIF EndIF CLOSE 78 Connections And Software Setup Geo Brick LV User Manual X1 X8 Encoder Feedback SSI X1 X8 D sub DA 15F Mating D sub DA 15M 00000000 00000 Pin Symbol Function Notes 1 Unused 2 Unused 3 Unused 4 EncPwr Output Encoder Power 5 Volts only 5 Data Input
268. per motor then the phasing has failed and most times this indicates that the commutation cycle size is setup wrong check Ixx70 Ixx71 Also it could indicate that the encoder sense is reversed Halls Phasing where applicable needs to be re configured if the motor direction is reversed Xa Note Motor Setup 191 Motor 2 Step Move Plot Result Executed at 7 31 26 PM 4 7 2010 1380630 00 1380500 00 1380370 00 1380240 00 1380110 00 1379980 00 1379850 00 1379720 00 1379590 00 1379460 00 Actual and Commanded Position cts 1379330 00 Proportional Gain Ix30 700000 Derivative Gain Gain Ix31 4500 Velocity Feedforward Gain Ix32 4500 Integral Gain Ix33 1000 Integral Mode Ix34 1 Acceleration Feedforward Gain Ix35 0 Geo Brick LV User Manual Position Loop PID Gains IXxx30 Ixx39 The position loop tuning is done as in any Turbo PMAC PID Loop setup The PMACTuningPro2 automatic or interactive utility can be used for fine tuning Remember to perform an Open Loop Test after phasing and before trying to close the loop on the motor to make sure that the encoder decode 17mn0 is correct A positive open loop command should result in positive direction of the encoder WARNING motion and vice versa Good Open Loop Test Motor 1 Open Loop Test Plot Result Executed at 12 05 01 PM 1 5 2010 120000 00 1640 00 100000 00 1230 00 80000 00 820 00 60000 00 410 00 40000
269. pical for Renishaw BiSS Type 0 for BiSS C Trigger Mode 0 Continuous trigger typical Trigger Enable 1 Enable 211492 Data Ready Senc Mode 1 Enable serial driver Status Bits 2 Binary 010 Protocol Bits 18 Binary 010010 Control Registers Power On PLC The Global and Channel Control words have to be executed once on power up NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes M5990 through M5991 Coordinate system 1 Timer 1 Make sure that current and or future configurations do not create conflicts with these parameters M5990 5991 gt Self referenced M Variables M5990 5991 0 Reset at download GLOBAL CONTROL REGISTERS define SSIGlobalCtrll1 4 M5990 Channels 1 4 BiSS global control register SSIGlobalCtr11 4 5X 578B2F 0 24 U 7 Channels 1 4 BiSS global control register address CHANNEL CONTROL REGISTERS define Ch1SSICtrl M5991 Channel 1 BiSS control register Ch1881Ctr1 58 878B20 0 24 U Channel 1 BiSS control register Address POWER ON PLC EXAMPLE GLOBAL amp CHANNEL CONTROL REGISTERS Open PLC 1 Clear SSIGlobalCtr11 4 563000B Trigger at Phase 1 MHz serial Clock M 99 N 0 User Input Ch1SSICtr1 5211492 Channel 1 BiSS C protocol 18 bit
270. power up without the need for a phasing search move This initial phasing provides reasonable torque With a hall sensors error of about 4 loss in torque of about 15 it will need to be corrected for top operation Hall effect sensors usually map out 6 zones of 60 electrical each In terms of Turbo PMAC s commutation cycle the boundaries should be at 180 120 60 0 60 and 120 Zone Definitions Definitions define Phase30Deg 1 define Phase30Deg 4 define Phase90Deg 5 define Phase90Deg 6 define Phasel50Deg 4 define Phasel50Deg 2 1 define Phase210Deg 6 define Phase210Deg 3 define Phase270Deg 2 define Phase270Deg define Phase330Deg 3 define Phase330Deg 5 define Phase30Deg 2 define Phase30Deg 5 define Phase90Deg 3 define Phase90Deg 4 define Phasel50Deg 1 define Phasel50Deg 6 2 define Phase210Deg 5 define Phase210Deg 2 define Phase270Deg 4 define Phase270Deg 3 define Phase330Deg 6 define Phase330Deg define Phase30Deg 3 define Phase30Deg 6 define Phase90Deg 1 define Phase90Deg 2 define Phasel50Deg 5 define Phasel50Deg 3 3 define Phase210Deg 4 define Phase210Deg define Phase270Deg 6 define Phase270Deg 5 define Phase330Deg 2 define Phase330Deg 4 30 resulting a In order to decide which set of definitions to use for a motor a one time test needs to be done It consists of forcing locking the motor to a phase with a current offset and readin
271. prompt for the bin file MAKE SURE you open the correct file Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT 8 Code Program Store Boot Store FAW Protocol TCP EEPROM Download Bootstrap fimware has not been programmed this session Look in ModBus Unlock Application firmware has not been programmed this session B MODBUS 00 50 C2 7A 98 41 BIN C UDP IT Modbus Option 1025 HAW Type C UMAC ACCS4E C CPCI C OMAC PC104 ACC2P Geo PMAC Geo Yuasa C ACCESETH Geo Brick ro File name MODBUS 00 50 C2 7A 9B 41 BIN Files of type BIN Files BIN Sa Serial No Store MAC ID 00 50 C2 4D 7D 01 IP Address Store IP Reg DHCP Gateway Gateway IP Gateway Mask Sm 2 Step3 Release the BOOT SW switch button after the ModBus unlocked message is generated 4 Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT X Done Code Program Store Boot Store FAW Protocol TCP Bootstrap firmware has not been programmed this session IP Address Application firmware has not been programmed this session 94 10 Store IP 192 6 Reg DHCP EthUSBConfigure R C UDP M Modbus Option 1025 HAW Type UMAC ACC54E Success Modbus feature unlocked Gateway IP 295 255 255 255 C CPCI PC104 ACC2P C Geo PMAC C ACCE5ETH
272. put AENAS at Ch5 encoder connector P E36 i No Jumper for TTL Level input for Ch6 Index signal C N tamer D 2 Jumper 1 2 to output AENA6 at Ch6 encoder connector P E37 f No Jumper for TTL Level input for Ch7 Index signal C No Jumper 1 2 Jumper 1 2 to output AENA7 at Ch7 encoder connector P E38 No Jumper for TTL Level input for Ch8 Index signal C No Jumipei 1 2 Jumper 1 2 to output AENA8 at Ch8 encoder connector P E40 USB Ethernet Communication Firmware Load Enable Default E40 Remove Jumper to reload communication firmware Installed 260 Appendix B Geo Brick LV User Manual APPENDIX C Schematic Samples Watchdog X15 DGND PLANE pp woo 22 DGND PLANE Inputs J6 amp J7 Opto Gnd Plane aaah 51616 MAY PE 28828 REIRE WAN 2222 EEL Appendix C 261 Geo Brick LV User Manual Outputs J6 amp J7 603793 109 and earlier pemco i 071 D72 lo73 lore Ta 07s 077 078 AKO 1 1 Aa RUEDSO os Raycnem NZTSS0A Por srea four oraz itemise aai ne ad ao ME a E la
273. put drivers for Ww 0 SENC_MODE the SENC_SDO SENC_CLK SEN C ENA pins for each respective channel It also directly drives the respective SENC_MODE pin for each channel 09 00 R 0x0 Reserved Reserved and always reads zero 116 Connections And Software Setup Geo Brick LV User Manual Yaskawa Feedback Channel Control Power On Example PLC Motors 1 8 This code statement can be added to your existing initialization PLC End Gat Del Gat Close Open PLC 1 clear CMD WX 578B20 51400 CMD WX 78B24 1400 CMD WX 78B28 1400 CMD WX 78B2C 1400 CMD WX 578B30 51400 CMD WX 78B34 1400 CMD WX 78B38 1400 CMD WX 78B3C 1400 Disable plc Close Yaskawa Data Registers Yaskawa Data Registers Channel 1 Y 578B20 Channel 5 Y 78B20 Channel 2 Y 78B24 Channel 6 Y 78B34 Channel 3 Y 78B28 Channel 7 Y 78B38 Channel 4 Y 78B2C Channel 8 Y 78B3C Connections And Software Setup 117 Geo Brick LV User Manual Yaskawa Sigma Il 16 Bit Absolute Encoder Y 78B21 Y 78B20 23 12 11 0 23 20 19 4 3 0 Multi Turn Position Absolute Single Turn Data 16 bits 16 bits Yaskawa Data Registers Channel 1 Y 78B20 Channel 5 Y 578B30 Channel2 Y 578B24 Channel 6 Y 578B34 Channel 3 Y 578B28 Channel 7 Y 578B38 Channel 4 Y 578B2C Channel 8 Y 578B3C The on going s
274. r r r r r Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address SIN COS Bias word Tracking filter from conversion Maximum change in counts cycle Proportional gain Reserved setup word Integral gain Resolver Counter Clockwise Excitation address location location location location location 3503 350B 3513 351B 3523 62 Connections And Software Setup Geo Brick LV User Manual 8042 5000000 8043 D8352B 8044 5400 8045 580000 8046 50 8047 55 Channel 7 8048 F78B0C 8049 478B10 8050 000000 8051 D83533 8052 400 8053 80000 8054 0 8055 Channel 8 8056 F78B0E 8057 478B10 8058 000000 8059 D8353B 8060 400 8061 80000
275. r 10 078426 Servo Node 1 6 10 or 14 078436 Servo Node 9 3 7or 11 07842A Servo Node 4 Tii 11 or 15 07843A Servo Node 12 4 8 or 12 07842E Servo Node 5 g 12 or 16 07843E Servo Node 13 212 MACRO Connectivity Geo Brick LV User Manual 16 The current feedback mask Ixx84 should be set to SFFFCO00 17 Commutation Cycle Size Ixx70 Number of pair poles Ixx71 Number of counts per revolution 32 18 I2T Settings example for motor 9 I15 0 define define define define define define define define MaxPhaseFreq P8000 PWMC1k P8001 PhaseClk P8002 ServoClk P8003 MaxPhaseFreq 117964 8 241680043 PWMC1k 117964 8 441680046 PhaseC1k MaxPhaseFreq 16801 1 ServoClk PhaseClk 16802 1 Mtr9ContCurrent 3 Mtr9PeakCurrent 9 MaxADC 33 85 Mtr9I12TOnTime 1 F r Trigonometric calculation in degrees Max Phase Clock KHz PWM Clock KHz Phase Clock KHz Servo Clock KHz Continuous Current Limit Amps User Input Instantaneous Current Limit Amps User Input See slave electrical specifications User Input Time allowed at peak Current sec I957 INT 32767 Mtr9ContCurrent 1 414 MaxADC cos 30 I969 INT 32767 Mtr9PeakCurrent 1 414 MaxADC cos 30 I958 INT I969 I969 I957 I957 ServoClk 1000 Mtr9I2TOnTime 32767 32767 19 Current Loop Tuning Ixx61 Ixx62 Ixx76 Current loop tuning is performed in the same manner as it wo
276. r Fault Inputs M523 5X 5078100 15 1 Amp M623 gt X 078108 15 1 Amp M723 5X 5078110 15 1 Amp M823 gt X 078118 15 1 Amp Fault Fault Fault Fault Input Input Input Input Connector X9 Connector X10 Connector X11 Connector X12 This feature is commonly used when an amplifier is commanded through the DAC outputs on X9 X12 and the need of a fault input signal is required to run the operation safely i e kill in the occurrence of an amplifier fault Connections And Software Setup 139 Geo Brick LV User Manual X13 USB 2 0 Connector This connector is used to establish USB A B type cable communication between the host PC and the Geo Brick LV This type of USB cable can be purchased at any local electronics or computer store It may be ordered from Delta Tau as well Pin Symbol Function 1 VCC N C D Data D Data Gnd GND Shell Shield Shell Shield OAIM BW bo The electrical ground plane of the host PC connected through USB must be at the same level as the Geo Brick LV Ground loops may result in ESD shocks causing the damage of the communication Caution processor on the Geo Brick LV IN Use a shielded USB category 6 or 7 cable In noise sensitive KY environment install ferrite cores at both Geo Brick and PC side Note If the electrical ground planes of the host PC and the Geo Brick LV are not at the same level e g laptop
277. r word Output1 5Y 510FF 0 1 Output 1 Output2 gt Y S10FF 1 1 Output 2 Output3 gt Y S10FF 2 1 Output 3 Output4 gt S10FF 3 1 Output 4 Output5 gt Y S10FF 4 1 Output 5 Output6 gt Y S10FF 5 1 Output 6 Output7 gt Y S10FF 6 1 Output 7 Output8 gt Y S10FF 7 1 Output 8 Output9 gt Y S10FF 8 1 Output 9 Qutput10 5Y S10FF 9 1 Output 10 Outputl1 gt Y 10FF 10 1 Output12 5Y S10FF 11 1 Output 11 Output 12 Output13 5Y 510FF 12 1 Output 13 Output14 7Y S10FF 13 1 Output 14 Output15 gt Y S10FF 14 1 Output 15 Outputl16 54 510FF 15 1 7 Output 16 Macro Connectivity 235 Geo Brick LV User Manual Bitwise Inputs J6 define Inputl M7 define Input2 M7 define Input3 M7 define Input4 M7 define Input5 M7 define Input6 M7 define Input7 M7 define Input8 M7 define Input9 M7 define Input10 M7 define Input11 M7 define Input12 M7 define Input13 M7 define Input14 M7 define Input15 M7 define Input16 M7 Bitwise Inputs J7 define Input17 M7 define Input18 M7 define Input19 M7 define Input20 M7 define Input21 M7 define Input22 M7 define Input23 M7 define Input24 M7 define Input25 M7 define Input26 M7 define Input27 M7 define Input28 M7 define Input29 M7 define Input30 M7 define Input31 M7 define Input32 M7 nput1 5X nput2 gt X nput3 gt X nput4 gt X nput5 gt X nput6 gt X nput7 gt X nput8 gt X nput9 gt X nao nn nh mm
278. re ng Motor Ixx25 Register ng Motor Ixx25 Register 1 5or9 3440 Servo Node 0 5 9or13 3448 Servo Node 8 2 6or 10 3441 Servo Node 1 6 10 or 14 3449 Servo Node 9 3 Torll 3444 Servo Node 4 hi ll or 15 344C Servo Node 12 4 8or12 3445 Servo Node 5 g 12 or 16 344D Servo Node 13 11 The motor command output address Ixx02 is initiated by default in the firmware MACRO Motor Ixx02 Register MACRO Motor Ixx02 Register motor motor Sor9 8078420 Servo Node 0 5M 9 or 13 078430 Servo Node 8 2m 6or 10 078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 3 7or 11 078428 Servo Node 4 7 11 or 15 078438 Servo Node 12 ae 8 or 12 07842C Servo Node 5 gh 12 or 16 07843C Servo Node 13 12 Make sure that the slave motors are phased e g MX0 P8000 1 to initiate the slave phasing routine Note It is probably wise at this point and before trying to close the loop to perform some open loop commands test e g nOO This will ensure the capability of enabling the slave amplifier s 13 Tuning the PID Loop The PID gains saved on the slave initially can be a good starting point Otherwise tuning from the master can be carried out in the traditional manner see motor setup section in this manual there are no special instructions for tuning the MACRO slave motors Macro
279. ress ECT processed data 803 3510 Motor 8 Position feedback address ECT processed data 804 3510 Motor 8 Velocity feedback address ECT processed data Motor Activation 100 8 100 1 Motors 1 8 Activated At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note Connections And Software Setup 125 Geo Brick LV User Manual Absolute Power On Position Read Yaskawa 20 bit Channel 1 example PLC 20 bit Absolute Sigma II Encoder End Gat Del Gat Close define FirstWord M1000 Yaskawa Data Registerl 1 word define SecondWord M1001 Yaskawa Data Registerl 2 word define STDO_19 M1002 Single Turn Data 0 19 20 bits define MTDO_15 M1003 Multi Turn Data 0 15 16 bits FirstWord gt Y 78B20 0 24 SecondWord gt Y 78B21 0 4 STDO_19 gt MTDO_15 gt define MtrlActPos M162 MtrilActPos gt D 00008B 1 Actual position 1 Ixx08432 cts open plc 1 clear MTDO_15 SecondWord amp SFFFF STDO_19 int FirstWord amp SFFFFFO 16 If MTDO_15 gt 7FFF MTDO_15 MTDO_15 S FFFF 1 1 If STDO 19 0 STDO 19 STDO 194SFFFFF 1 1 Endif 7 7 Endif MtrlActPos MTDO_15 100000 STDO 19 1108 32 disable plc 1 close 126 Connections And Software Setup Geo Brick LV User Manual Yaskawa Sigma Il 13 Bit Incremental Encoder
280. rotary encoders this is the number of counts per revolution 23 86Tum Resolution For Linear encoders this is the number of counts per user units i e mm 1 Encoder Resolution In MtrxPhaseTest enter the position value recorded in the manual phasing test described above In ChPhaseSel specify which channels are desired to perform an absolute power on phasing This value is in hexadecimal A value of 1 in the corresponding field specifies that this channel is connected 0 specifies that it is not connected and should not perform phasing Examples Motor Setup 181 Geo Brick LV User Manual Absolute Power On Channel 81716 5 Phasing channels ChPhaseSel Binary 0 0 0 0 1 1 1 1 gt ChPhaseSel 0F 1 through 4 ChPhaseSel Hex 0 F Absolute Power On Channel 8 6 4 3 2 Phasing channels ChPhaseSel Binary O 1 0 1 0 1 0 1 gt ChPhaseSel z555 1 3 5 7 ChPhaseSel Hex 5 5 NOTES ABOUT THIS PLC EXAMPLE This PLC example utilizes P7050 through P7079 Suggested M Variables make sure they are downloaded Make sure that current and or future configurations do not create conflicts with these parameters asssssssssaaaaasaaaaaaaaaa asses aaa aaa aaa seas aaa P7050 7079 0 Reset P Variables at download USER INPUT f define Mtr1SF P7050 define
281. ry serial encoder or a linear scale with similar protocol resolution 25 bits 10 nanometer Encoder Conversion Table for Position Technique 2 e Conversion Type Parallel pos from Y word with no filtering Width in Bits Singleturn absolute resolution in bits e g 25 bits Offset Location of LSB leave at zero No shifting Source Address serial data register A see table below Remember to click on Download Entry for the changes to take effect Source Address serial data register A Channel 1 Y 78B20 Channel5 Y 78B30 Channel 2 Y 78B24 Channel6 Y 78B34 Channel 3 Y 78B28 Channel7 Y 78B38 Channel 4 Y 78B2C Channel8 Y 78B3C Turbo Encoder Conversion Table Device BE Select a table entry to view edit Enty 1 l End of Table Download Entry 3 First Entry of Table Done Entry Y 3501 Processed Data X g3502 Address Address View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering Source Address 578B20 m Width in Bits 125 Offset Location of LSB at Source Address 0 Do Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left aba This is a 2 line ECT entry its equivalent script code I8000 S2F8B20 Unfiltered parallel pos of location Y 78B20 I18001 519000 Width and Offset Processed result at 3502 Typically the position and velocity pointers are set to th
282. s e Servo IC 0 e Servo IC 1 e MACRO IC 0 119 specifies which gate is the clock source master 119 is equal to 7007 by default indicating that Servo IC O is the master gate However the analog output on J9 is generated from MACRO IC 0 The relationship between the PWM clock frequency of the clock receiving gate and the clock generating gate should always be respected in such a way that Fowmre cipient X Fpwm generator Where n is an integer Example With Servo IC 0 sourcing the clock at its recommended settings 20 KHz PWM the following are suggested MACRO IC 0 clock settings which would provide a good analog output signal Servo IC 0 Resulting MACRO IC 0 Resulting Clock Settings Frequencies KHz Clock Settings Frequencies KHz 17000 1473 16800 735 PWM 40 17001 0 LA 168013 PHASE 20 1700227 SERVO 5 16802 3 SERVO 5 110 1677653 16804 0 PW Mbeadtime 0 Note that n 2 in this case Output signal If the Brick is a MACRO Ring Controller then the analog output signal quality is compromised with a much lower PWM Note frequency or should not be used at all These MACRO ICO Clock settings are optimized for a good Analog Connections And Software Setup 39 Geo Brick LV User Manual For Help with clock calculations download the Delta Tau Calculator DT Calculator Forum Link J9 Analog Output Suggested M Variable 1 0 10 amp 11 Mode PWM M7051 gt Y 78404 10 1 M7052 5Y 578
283. s define Two2STHex M6003 2 STRes in Hexadecimal for bitwise operations define Two2MTDec M6004 2 MTRes in decimal for shifting operations define Two2MTHex M6005 2 MTRes in Hexadecimal for bitwise operations define MTTemp M6006 Multi Turn Data temporary holding register 1 define MTTemp2 M6007 Multi Turn Data temporary holding register 2 define STTemp M6008 Single Turn Data temporary holding register 1 define STTemp2 M6009 Single Turn Data temporary holding register 2 define ChNoHex M6010 Channel Number in Hex define ChAbsCalc M6011 Abs calc flag 1 true do read 0 false do not do read define LowerSTBits P7017 Lower Single Turn Bits RegA define UpperSTBits P7018 Upper Single Turn Bits RegB where applicable define LowerMTBits P7019 Lower Multi Turn Bits RegA where applicable define UpperMTBits P7020 Upper Multi Turn Bits RegB where applicable define STData P7021 Single Turn Data Word define MTData P7022 Multi Turn Data Word define NegTh P7023 Negative Threshold define Temp1 P7024 General Temporary holding register 1 define Temp2 P7025 General Temporary holding register 2 define SerialBase P7026 Indirect addressing index for serial registers 6020 define ChBase P7027 Indirect addressing index for channel No 162 define ChNo P7028 Current Channel Number define ResBase P7029 Indirect Addressing index for resolution input 6000 define STRes P7030 Single Turn Resolution of
284. s Torque Mode 1344 17842B Macro ICO Node 4 Command Address Torque Mode T444 S17842F Macro ICO Node 5 Command Address Torque Mode 1544 178433 Macro ICO Node 8 Command Address Torque Mode 1644 178437 Macro ICO Node 9 Command Address Torque Mode 1744 17843B Macro ICO Node 12 Command Address Torque Mode 1844 S 17843F Macro ICO Node 13 Command Address Torque Mode Setting Ixx44 to the MACRO command register hands control of the motors to the master To allow motor commands from the slave again Ixx44 needs to be set back to default of zero CT Note Ixx44 must be set for at least one channel to allow MACRO auxiliary mode communication thus enabling MX commands 11 Issue a Save followed by a reset to maintain changes The slave motors should be phased if commutated before setting Ixx44 This can be done through a handshaking PLC and using MACRO auxiliary MX commands to trigger the phase routine Slave Handshaking PLC Example Phase then kill Motor 1 M133 gt X 0000B0 13 1 Mtrl Desired Velocity bit M140 gt 0000C0 0 1 Mtrl In position bit P8000 0 Handshaking flag Open PLC 1 Clear IF P8000 1 CMD 1K 5 250 8388608 110 While I5 gt 0 Endw 144 0 Turn Auxiliary Control off 5 250 8388608 110 While I5 50 Endw CMD 1S 5 250 8388608 110 While I5 50 Endw While M133 0 OR M140 0 EndW CMD 1K 5 250 8388608 110 While I5 gt 0 En
285. s Use download only the parameters pertaining to the IC s present on your unit Condition Use Download Description 14900 1 and 14902 0 17000s Servo IC 0 present 14900 3 and 14902 0 17100s and 17000s Servo ICs 0 and 1 present 14900551 and 14902 1 16800s and I7000s Servo IC 0 and Macro IC 0 present 14900 3 and 14902 1 16800s 17100s and I7000s Servo ICs 0 1 and Macro IC 0 present Clock Calculations The following clock calculations are used in selected downloadable scripts in subsequent section s Thus it is highly recommended to adjoin them to your downloadable file I15 0 Trigonometric calculation in degrees define MaxPhaseFreq P8000 Max Phase Clock KHz define PWMClk P8001 PWM Clock KHz define PhaseClk P8002 Phase Clock KHz define ServoClk P8003 Servo Clock KHz MaxPhaseFreq 117964 8 241700043 PWMC1k 117964 8 4417000146 PhaseC1k MaxPhaseFreq 1700141 ServoClk PhaseClk 1700241 154 Motor Setup Geo Brick LV User Manual Stepper Motor Setup Direct Micro Stepping Before you start e Remember to create edit the motor type and protection power on PLC e Parameters with Comments ending with User Input require the user to enter information pertaining to their system hardware e Downloading and using the suggested M variables is highly recommended e Detailed description of motor setup parameters can be found in the Turbo SRM Manual Th
286. s necessary to avoid fatal following errors in closed loop and or to be able to perform proper motor phasing Example Take a 37 bit absolute serial rotary encoder 25 bit single turn 12 bit multi turn and its equivalent linear scale e g 10 nm resolution and compare for two different clock settings With the default servo clock of 2 258 KHz the maximum actual open loop velocity is MaxActVel 2 2 258 591 921 counts msec yielding Rotary rpm Linear mm sec MaxActVel 60000 SF MaxActVel 1000 SF Technique 1 3 5 bit shift 1 058 5 919 Technique 2 no shift 33 870 189 414 With a servo clock setting of 4 500 KHz the maximum actual open loop velocity is MaxActVel 2 4 500 1 179 648 counts msec yielding Rotary rpm Linear mm sec MaxActVel 60000 SF MaxActVel 1000 SF Technique 1 3 5 bit shift 2 109 11 796 Technique 2 no shift 67 500 377 487 The maximum actual velocity attainable is directly proportional to the EF servo clock frequency The faster the servo update the higher is the actual velocity threshold Note Appendix D 265 Geo Brick LV User Manual Maximum Commanded Closed Loop Velocity In closed loop mode the commanded desired velocity register is limited to 224 1signbit x3 218 x3 Ixx08 x32 Ixx08 In terms of motor counts per millisecond the maximum commanded velocity will be the same with or without shifting but since the number of co
287. s Status to Fault EndIf EndIF If SysEncLoss 1 Global Encoder Loss Status At Fault If MtrlAmpEna 1 or Mtr2AmpEna 1 or Mtr4AmpEna 1 or Mtr4AmpEna 1 Trying to Enable Motors CMD K Do not allow Enabling Motors Kill all EndIF EndIF CLOSE 48 Connections And Software Setup Geo Brick LV User Manual Step and Direction PFM Output To External Stepper Amplifier The Geo Brick LV has the capability of generating step and direction Pulse Frequency Modulation output signals to external stepper amplifiers These signals are accessible at the encoder connectors The step and direction outputs are RS422 compatible and could be connected in either differential or single ended configuration for 5V input signal amplifiers Tying pin 8 to pin 4 5V enables the PFM signal output Digital A quad B encoders can still be used alongside PFM output but hall sensors can NOT be brought into this connector they conflict with the PFM circuitry The PFM amplifier enable output signal is not available by default Jumpers E25 E26 E27 and E28 should be installed to activate the amp enable functions of channels 1 through 4 respectively Similarly jumpers E35 E36 E37 and E38 should be installed to activate the amp enable functions of channels 5 through 8 respectively IN We strongly recommend requesting that these jumpers be installed KY upon shipping to avoid opening the unit and losing warranty Note The index channel
288. s can now be set up as described in the motor setup section of this manual These are motors 1 through 8 or 4 if it is a 4 axis Geo Brick LV 5 Clock settings considerations e The MACRO ring is synchronized at phase rate The phase clock frequency must be the same on the master and each of the slaves Geo MACRO Drives e Itis also advised that the MACRO and servo ICs be set to the same phase frequency T6800 17000 Macro ICO MaxPhase PWM Frequency Control T6801 17001 7 Macro ICO Phase Clock Frequency Control T6802 17002 Macro ICO Servo Clock Frequency Control clock But if it is desired 119 can be simply set to 6807 followed by a It is not necessary for the master to have the MACRO IC sourcing the a save and a reset Note 6 MACRO ring settings e 180 181 and 82 enable the ring error check function e 16840 specifies whether this is a master or a slave e 16841 specifies which MACRO nodes are enabled Note that it is not advised to enable nodes which will not be used 6840 4030 Macro IC 0 Ring Configuration Status 6841 SOFF333 Macro IC 0 Node Activate Ctrl 8 axis servo nodes 0 1 4 5 8 9 12 13 78 32 Macro Type 1 Master Slave Communications Timeout 70 3333 Macro IC 0 Node Auxiliary Register Enable for 8 Ring motors 71 0 Type 0 MX Mode define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage 5
289. s cleared the serial encoder pins of that channel are tri stated enabling disabling communication with the encoder using the trigger control bit 23 16 15 14 13 12 11 10 9 8 6 5 0 CRC 0 BiSS C McD Trigger Trigger Rxdataready Status PositionBits Mask 1 BiSS B Mode Enable SencMode Bits Resolution Bit Type Default Name Description This bit field is used to define the CRC polynomial used for the position and status data The 8 bit mask is to define any 4 bit to 8 bit CRC polynomial The mask bits M 7 0 represent the coefficients 8 1 respectively in the polynomial M7xs Mox7 Msxo M4x5 M3x4 M2x3 Mix2 Moxi 1 The coefficient for 23 16 R W ost CRC_Mask xois always and therefore not included in the mask An all zero mask indicates no CRC bits in the encoder data Most common setting 21 00100001 x64 x1 1 typical for Renishaw 09 00001001 x4 xi 1 f This bit is used to select the BiSS protocol mode 15 R W 0 BiSS B C lt 0 BiSS C 1 BiSS B This bit is used to enable support for the optional MCD bit 14 R W 0 MCD in BiSS B mode Setting this bit has no effect if the BiSS B mode is not selected Trigger Mode to initiate communication 0 continuous trigger 13 R W 0 Trigger Mode 1 one shot trigger All triggers occur at the defined Phase Servo clock edge and delay setting 0 disabled 1 enabled Trigger gas
290. s remain killed Amplifier Enabled Closes the position loop Closes the position loop on all i e 100 Open Loop mode on all active Ixx0 1 motors amplifier enabled motors only Killed motors are not affected Servo ing in position Closed Loop mode Motor s remain in closed loop at velocity zero Motor s remain in closed loop at velocity zero Servo ing Jogging Closed Loop mode Motor s decelerate to zero velocity at Ixx15 rate Motor s decelerate to zero velocity at Ixx15 rate Servo ing Running Program s Closed Loop mode Aborts motion program s and decelerate to zero velocity at Ixx15 rate Aborts motion program s and decelerate to zero velocity at Ixx15 rate Wiring the Watchdog Output Watchdog Output Normally Open 24 VDC Power Supply COM 24VDC COM 24VDC Logic device safe shutdown Watchdog Output Normally Closed 24 VDC Power Supply COM 24VDC COM 24VDC Logic device safe shutdown Connection between pins Connection between pins a tual a 5 and 3 5 and 4 Pok tigated Open Closed normal operation Watchdog p F riggere Faulty operation logea Open 142 Connections And Software Setup Geo Brick LV User Manual RS232 Serial Communication Port An optional serial RS 232 communication port is available on the Geo Brick LVs This port
291. scription M Divisor N Divisor 0 0 Trigger Delay Protocol o Lu Bit 9 8 Binary 0 0 Hex S Field Value Notes Global Control Word M divisor 99 Hex 0x63 N divisor 0 Hex 0x0 Trigger clock 0 Trigger on Phase recommended 630002 Trigger Edge 0 Rising edge recommended Trigger Delay 0 No delay typical Protocol Code 2 Hex 0x2 SSI protocol Channel Control Register The Channel Control register is a 24 bit hexadecimal word which is set up as follows 0 Disabled 1 Enabled 00 None 01 Odd 0 Continuous 0 Disabled Encoder Resolution 10 Even 1 One shot 1 Enabled ST MT oooL v Description Reserved Parity Bese o c3 Reserved Bit Length always 0 Type ESES as always 0 Bit Binary Hex Connections And Software Setup 83 Geo Brick LV User Manual Field Value Notes Channel Control Word Parity Type 0 Hex 0x00 Trigger Mode 0 Continuous trigger typical Trigger Cable Enable 001419 Gray Binary 0 Binary Data Ready Senc Mode Enable serial driver Protocol Bits 25 Hex 0x19 Control Registers Power On PLC The global and channel control words have to be executed once on power up NOTES ABOUT THIS PLC EXAMPLE This PLC example ut
292. sec 157 INT 327674 ContCurrent 1 414 MaxADC cos 30 169 INT 327674 PeakCurrent 1 414 MaxADC cos 30 158 INT 1169 1I169 1157 1157 ServoC1k 1000 I2TOnTime 32767 32767 257 1157 258 1158 269 1169 357 1157 358 1158 369 1169 457 1157 458 1158 469 1169 557 1157 558 1158 569 1169 657 1157 658 1158 669 1169 757 1157 758 1158 769 1169 857 1157 858 1158 869 1169 This software I2T is designed to primarily protect the motor The Geo EF Brick LV s hardware built in I2T protects the amplifier and presents an added layer of system safety Note Motor Setup 195 Geo Brick LV User Manual ADC Offsets Ixx29 Ixx79 The ADC offsets importance may vary from one system to another depending on the motor s type and application requirements They can be left at default of zero especially if a motor setup is to be reproduced on multiple machines by copying the configuration file of the first time integration However they should ultimately be set to minimize measurement offsets from the A and B phase current feedback circuits respectively read in Suggested M variables Mxx05 Mxx06 IN Geo Brick LVs dating 10 1 2012 and later perform automatic ADC ce offset compensation Leave Ixx29 and Ixx79 at zero Note Current Loop Gains Open Loop Enc Decode Ixx61 Ixx62 Ixx76 17mn0 Tuning fine the current loop with DC brush motors is neither critical nor required Set Ixx61 to a c
293. sed data 104 3502 Motor 1 Velocity feedback address ECT processed data 203 3504 Motor 2 Position feedback address ECT processed data 204 S 3504 Motor 2 Velocity feedback address ECT processed data 303 3506 Motor 3 Position feedback address ECT processed data 304 53506 Motor 3 Velocity feedback address ECT processed data 403 3508 Motor 4 Position feedback address ECT processed data 404 53508 Motor 4 Velocity feedback address ECT processed data 503 5350A Motor 5 Position feedback address ECT processed data 504 S350A Motor 5 Velocity feedback address ECT processed data 603 350C Motor 6 Position feedback address ECT processed data 604 350C Motor 6 Velocity feedback address ECT processed data 703 350E Motor 7 Position feedback address ECT processed data 704 S350E Motor 7 Velocity feedback address ECT processed data 803 3510 Motor 8 Position feedback address ECT processed data 804 3510 Motor 8 Velocity feedback address ECT processed data Motor Activation 100 8 100 1 Motors 1 8 Activated At this point of the setup process you should be able to move the wT motor encoder shaft by hand and see encoder counts in the position window Note 122 Connections And Software Setup Geo Brick LV User Manual Absolute Power On Position Read Yaskawa 17 bit Channel 1 example PLC 17 bit Absolute Sigma II Encoder End Gat Del Gat Close define FirstWord M7000 Yaskawa Dat
294. ser Manual 9 Position And Velocity Pointers If all local motors have digital quadrature encoders or 1 line ECT entries and no other entries are used in the Encoder Conversion Table then the position Ixx03 and Velocity Ixx04 pointers of the MACRO motors are valid by default set by firmware and need not be changed banna Motor Ixx03 Ixx04 amag Motor Ki Bait 1 5 or 9 350A 5m 9 or 13 3512 as 6 or 10 350C 6 10 or 14 3514 3 7or11 350E 7 11 or 15 3516 4b 8 or 12 3510 8 12 or 16 3518 However if the Encoder Conversion Table has been modified then the MACRO motors nodes entries need to be configured properly This can be done using the Encoder Conversion Table utility in the PewinPro2 under Configure gt Encoder Conversion Table No Shifting Width in Bits 24 Ma po gp Record the processed data address Click on End of Table to access the next available entry Conversion Type Parallel position from Y word with no filtering Source Address Servo node Address See table below This is where the position and velocity pointers will be set to for a specific node motor number E g 1903 2 351A g Repeat steps for additional motors servo nodes ER Download Entry Done i Turbo Encoder Conversion Table Device Select a table entry to view edit End of Table First Entry of Table Processed Data g3519 ress Entry 17 Enty Y 8
295. set up properly at the slave side See J9 connector setup section Macro Connectivity 239 Geo Brick LV User Manual MACRO Limits Flags and Homing Limits and Flags MACRO Motors Limits and Flags are automatically copied by the Firmware They can be accessed from the Ring Controller using the MACRO Suggested M Variables In a Brick Brick MACRO configuration the over travel limits KJ should be disabled on the slave side Ixx24 1xx24 520001 They are only enabled on the master side Note Homing from Master If it is desired to home from the master centralized control then the position capture should be set to software capture with Ixx97 1 In this mode the slave s Servo IC m Channel n capture control I7mn2 and flag select control 17mn3 have to be configured This can be achieved from the master side using MX commands In a two 8 axis Brick Macro ring configure Motor 9 to home to User Flag High Motor 9 corresponds to Motor 1 on the Slave Station or Servo IC 0 channel 1 MX0 I17012 2 Servo IC O Channel 1Capture Control flag high MX0 I17013 3 Servo IC 0 Channel 1Capture Flag Select Control user flag In a two 8 axis Brick Macro ring configure Motor 14 to home to User Flag High Motor 14 corresponds to Motor 6 on the Slave Station or Servo IC 1 channel 2 MXO 17122 2 Servo IC 1 Channel 2 Capture Control flag high MX0 17123 3 Servo IC 1 Channel 2 Capture Flag Se
296. ship date e g if it has ever been back for repair This page is strictly for identification purposes Some information E may not be meaningful to the user and pertains to Delta Tau s internal 244 Troubleshooting Geo Brick LV User Manual D1 Error Codes The Geo Brick LV utilizes a scrolling single digit 7 segment display to exhibit amplifier faults In normal operation mode logic and DC bus power applied the Geo Brick LV will display a solid dot indicating that the software and hardware are running normally DISPLAY DESCRIPTION Solid Dot Normal mode operation No fault s e GLOBAL FAULTS Under Voltage Indicates that the bus voltage is not present or less than 12 Volts a Uan Over Voltage Indicates that the bus voltage has exceeded 85 Volts Pak Over Temperature Indicates that the internal electronics have exceeded 65 C e AXIS n FAULT n 1 through 8 Axis n Over load i Indicates that channel n s current rating 0 75A 3A 15A has been exceeded ea Axis n Over Current i Indicates that channel n s peak current has exceeded the permissible limit 20 A EE In order to reset clear the amplifier faults through software the E power on PLC which specifies the motor types clears error bits and N activates the strobe word write protect must be enabled ote Troubleshooting 245 Geo Brick LV User Manual Str
297. sition read is performed successfully prior to issuing a phase command Caution If closing the position loop is not desired with the n command then it is advised to create a simple PLC in which the current and PID loop gains are set to zero prior to issuing n then restored and motor killed after the phase position has been set e g Open PLC 1 Clear Make sure that the absolute position is read and reported prior to this script code 5 100 8388608 110 While I5 gt 0 Endw 100 msec delay CMD 1K Make sure motor is killed 5 100 8388608 110 While I5 gt 0 Endw 100 msec delay CMD I130 139 0 Zero PID loop gains 161 0 1162 0 1176 0 Zero Current loop gains 5 100 8388608 110 While I5 50 Endw 100 msec delay CMD 1S Phase command 5 500 8388608 110 While I5 50 Endw 500 msec delay CMD 1K 7 Kill Motor 5 500 8388608 110 While I5 gt 0 Endw 500 msec delay Here ok to restore PID and current loop gains 30 X I131 X I132 X I133 X 34 X I135 X I136 X I137 X I138 X 1139 x 61 X I162 X 1176 x I5 100 8388608 110 While I5 gt 0 Endw 100 msec delay Dis PLC 1 Close Motor Setup 187 Geo Brick LV User Manual Absolute Power On Phasing Yaskawa absolute encoders With absolute encoders the single turn data is used to find an absolute phase position offset per electrical cycle thus an absolute phase reference position K7 Note Prior
298. sns 156 Command Output Address IXx02 ccvazasaidasasanacapsdanstannostaiassaasaieinsutadatasavadenastaistacatadaeastonteiadas 156 Current Feedback ADC Mask Commutation angle Ixx82 Ixx84 Ixx72 oo nonua nanana 157 Flag Address Mode Control 0x25 1024 4 157 Commutation Address Cycle size Ixx83 03x70 IXX71 wanauiaauanauanaauanuanauahi 157 Maximum Achievable Motor Speed Output Command Limit Ixx69 00000000000nanananan 158 PWM Scale FABIO KO AA ABANGAN NAKAKA andaa aA Adaa ET 159 DT Protection Magnetization Current Ixx57 Ixx58 Ixx69 IXX77 nnne 160 Phasing Power On Mode Ixx80 Ixx73 Ixx74 Ixx81 IXX91 n 161 Table of Contents 7 Geo Brick LV User Manual Position Loop PID Gains 1x830 0X39 1a IBARRA NAALG 161 Current Loop Gains Ixx61 X62 DA O maanauadauanauanauanaunaauanaiamayak 162 Number of Counts per Revolution Stepper Motors 0000masasasasasasasasasasasssssssss 162 Brushless Motor AN aa Aaah kan AA AA 163 Before you NON Kaanak TNT AANI AA 163 Flag Control Commutation Angle Current Mask Ixx24 Ixx72 Ixx84 000000000asasasaaas 163 PWM Scale Factor ND ABA GAGA AA AA KUA AA 163 Current Feedback Address NB 2 nina GAEARA NAA KABU KAG 163 Commutation Position Address Commutation Enable Ixx83 IxXOL 00000000000saasaana 164 DT Protection Ixx57 Ixx38 IXXO9 ccc cccccccccccccssecccsecccuscccusecccuscceusecccsecesueceseeceuseseuseceeue
299. specifies the maximum command output value that corresponds to the maximum PFM Frequency 16826 3 MACRO IC Channel2 Output Mode Select C PFM M8000 gt Y 7841C 8 16 S Supplementary Channel 24 Output C Command Value Max Calculated Ixx69 M8001 gt X 7841D 21 Invert C Output Control 0 no inversion Min 0 1 invert Testing the J9 PFM Output Writing directly to the suggested M variable i e M8000 values proportional to the calculated Ixx69 produces the following corresponding frequencies M8000 PFM KHz 0 0 1213 11 2427 22 42 Connections And Software Setup Geo Brick LV User Manual Setting up the Handwheel Port J9 A quadrature encoder type device is normally brought into the handwheel port it can be wired and used in either single ended or differential mode The encoder power is not provided for this device it must be brought in externally Differential Handwheel Single ended Handwheel External 5V 5V External 5V Power Supply COM Power Supply Quadrature Encoder The encoder data can be brought into the Encoder Conversion Table allowing direct access with an M variable or used as a master position Ixx05 for a specific motor o Quadrature Encoder Example I18000 78410 ECT Entry 1 1 T extension of location 78410 M8000 gt X 3501 0 24 S ECT 1st entry result
300. sted M variables Mxx05 Mxx06 ADC offsets compensation can be done using the following procedure starting from a killed motor This can be implemented in a one time test PLC 1 Record the current loop tuning gains Ixx61 Ixx62 and Ixx76 Then set them to zero these will be restored at the end of the test 2 Issue a no0 zero open loop output 3 Sample ADC phases A and B Using suggested M Variables Mxx05 and Mxx06 respectively E g store snapshots in two separate arrays of P Variables 4 Average readings over the number of sampled points 5 Write the opposite value of the averaged ADCA readings in Ixx29 Write the opposite value of the averaged ADCB readings in Ixx79 6 Issue a nK Kill motor 7 Restore the original current loop gains IN Geo Brick LVs dating 10 1 2012 and later perform automatic ADC KY offset compensation Leave Ixx29 and Ixx79 at zero Note 168 Motor Setup Geo Brick LV User Manual Current Loop Gains Ixx61 Ixx62 Ixx76 The current loop tuning is done as in any Turbo PMAC digital current loop setup The PMACTuningPro2 automatic or interactive utility can be used to fine tune the Current Loop An acceptable Current Loop step response would look like Motor 1 Current Loop Interactive Plot Result Excuted at 12 56 10 PM 1 5 2010 5220 00 4640 00 4060 00 3480 00 2900 00 2320 00 1740 00 1160 00 F4 amp o 8 g 5 8 8 g 4 5 5 3 a Pi
301. t Max Sinusoidal Output 7 5W 29 5W 5 Max Output Power 69W 10 5W Nominal current S Max Sinusoidal Output 75W 295w 24 VDC 48 VDC Axis Efficiency 0 Tr 0 25A 0 75A 1A 3A 0 25A 0 75A 1A 3A Max Output Power eee Nominal current 20 KHz saa a big ag Max Output Power ok EG Nominal current 40 KHz TR BIG pee ve Max Sinusoidal Output 100 KHz 52 74 66 81 Specifications 17 Geo Brick LV User Manual RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the Geo Brick LV is received there are several things to be done immediately Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive Remove the drive from the shipping container and remove all packing materials Check all shipping material for connector kits documentation or other small pieces of equipment Be aware that some connector kits and other equipment pieces may be quite small and can be accidentally discarded if care is not used when unpacking the equipment The container and packing materials may be retained for future shipment Verify that the part number of the drive received is the same as the part number listed on the purchase order Inspect the drive for external physical damage that may have been sustained during shipment and report any damage immediately to
302. t Input 4 22 GPI6 Input Input 6 23 GPI8 Input Input 8 24 GPI10 Input Input 10 25 GPI12 Input Input 12 26 GPI14 Input Input 14 27 GPI16 Input Input 16 28 IN COM9 16 Common 09 16 Input 09 to 16 Common 29 COM COL Input Common Collector 30 GP01 Output Sinking Output 1 31 GP02 Output Sinking Output 2 32 GP03 Output Sinking Output 3 33 GP04 Output Sinking Output 4 34 GP05 Output Sinking Output 5 35 GP06 Output Sinking Output 6 36 GP07 Output Sinking Output 7 37 GP08 Output Sinking Output 8 30 Connections And Software Setup Geo Brick LV User Manual J7 General Purpose Inputs and Outputs Additional J7 is used to wire the additional optional general purpose digital Inputs Outputs to the Geo Brick J7 D sub DC 37F Mating D sub DC 37M O88 8HO0O0OOGOOGO 0AA Pin Symbol Function Description 1 GPI17 Input Input 17 2 GPI19 Input Input 19 3 GPI21 Input Input 21 4 GPI23 Input Input 23 5 GPI25 Input Input 25 6 GPI27 Input Input 27 7 GPI29 Input Input 29 8 GPI31 Input Input 31 9 IN_COM 17 24 Common 17 24 Input 17 to 24 Common 10 N C Not Connected 11 COM_EMT Input Common Emitter 12 GPO9 Output Sourcing Output 9 13 GPO10 Output Sourcing Output 10 14 GPO11 Output Sourcing Output 11 15 GPO12 Output Sourcing Output 12 16 GPO13 Output Sourcing Output 13 17 GPO1
303. t pair with an exclusive or XOR gate In normal operation mode the two quadrature inputs should be in opposite logical states that is one high and one low yielding a true output from the XOR gate Single Ended Quadrature Encoders are not supported for encoder loss Note Ch Address Definition Ch Address Definition 1 Y 78807 0 1 5 Y 78807 4 1 Status Bit Definition 2 Y 78807 1 1 6 Y 78807 5 1 0 Encoder lost Fault 3 Y 78807 2 1 7 Y 78807 6 1 Encoder present no Fault 4 Y 78807 3 1 8 Y 78807 7 1 Caution Appropriate action user written plc needs to be implemented when an encoder loss is encountered To avoid a runaway an immediate Kill of the motor encoder in question is strongly advised No automatic firmware Geo Brick action is taken upon detection of encoder s loss it is the user s responsibility to perform the necessary action to make the application safe under these conditions see example PLC below Killing the motor encoder in question is the safest action possible and strongly recommended to avoid a runaway and machine damage Also the user should decide the action to be taken if any for the other motors in the system The Encoder Loss Status bit is a low true logic It is set to 1 under normal conditions and set to 0 when a fault encoder loss is encountered Connections And Software Setup 47 Geo Brick LV User Ma
304. ter referencing to a hardware flag is an internal function of the Yaskawa encoder Bit 14 of the alarm code indicates whether the index has been detected since last power up The motor should be jogged until bit 14 is low the encoder will then place the incremental compensation value in the lower 11 bits of the second data word Subtracting the incremental compensation from the incremental position results into the true position of the index Motor 1 index detection example plc define FirstWord M7025 define SecondWord M7026 define OriginNotPassed M7027 FirstWord gt Y 78B20 0 24 SecondWord gt Y 78B21 0 24 OriginNotPassed gt Y 78B22 14 define MtrlActPos M162 Suggested M Variable Definition Motor 1 Actual Position MtrlActPos gt D 00008B 1 Actual position 1 Ixx08432 cts open plc 1 clear if OriginNotPassed 1 cmd 1j Jog in positive direction looking for index while OriginNotPassed 1 wait until index is detected endwhile cmd 1k Kill Motor endif while SecondWord amp S8FF 0 Incremental Compensation takes up to 2 msec to execute endwhile MtrlActPos int FirstWord amp S8FFFCO 40 SecondWord amp S8FF 40 1108 32 disable plc 1 close 132 Connections And Software Setup Geo Brick LV User Manual X9 X10 Analog Inputs Outputs X9 X10 D Sub DE 9F Mating D Sub DE 9M Pin
305. the decoding electronics to discern the direction of travel which would not be possible with a single signal 44 Connections And Software Setup Geo Brick LV User Manual i FAFA _ Channel A Or n l Channel B Typically these signals are 5V TTL CMOS level whether they are single ended or differential Differential signals can enhance noise immunity by providing common mode noise rejection Modern design standards virtually mandate their use in industrial systems Differential Quadrature Encoder Wiring Single Ended Quadrature Encoder Wiring Encoder shield solder to shell Encoder shield solder to shell Differential Quadrature Encoder with hall sensors optional Single Ended Quadrature Encoder with hall sensors optional Pin 7 Alternately some open collector single ended encoders may require tying the negative pins to ground in series with a 1 2 KOhm Note resistors For single ended encoders tie the negative pins to power reference AN Some motor manufacturers bundle the hall sensors with the motor O lead cable The hall sensors must be brought into this connector for setup simplicity Note Connections And Software Setup 45 Geo Brick LV User Manual Setting up Quadrature Encoders Digital Quadrature Encoders use the 1 T incremental entry in the encoder conversion table Position and velocity pointers should by default be valid and in most cases
306. the master gate However the analog outputs on X9 through X12 are generated out of Servo IC1 The relationship between the PWM clock frequency of Servo IC 1 recipient and the master gate generator typically Servo IC 0 should always be respected in such a way that Fowm re cipient X Fpwm generator Where n is an integer Example With Servo IC 0 sourcing the clock at its recommended settings 20 KHz PWM the following are suggested MACRO IC 0 clock settings which would provide a good analog output signal Servo IC 0 Resulting Servo IC 1 Resulting Clock Settings Frequencies KHz Clock Settings Frequencies KHz 17000 1473 17100 735 PWM 40 17001 0 Bae ri 17101 3 PHASE 20 17002 7 SERVO 5 17102 3 SERVO 5 110 1677653 17104 0 PWMbeaatime 0 Note that n 2 in this case For Help with clock calculations download the Delta Tau Calculator DT Calculator Forum Link Connections And Software Setup 135 Geo Brick LV User Manual Note These Servo IC 1 clock settings are optimized for a good quality analog output signal If any one of axes 5 8 is used for direct PWM control then the analog output signal quality should be compromised with a much lower PWM frequency or not used at all Analog Outputs Suggested M Variables De activate Motors 5 8 to write directly to the analog outputs De activate channels 5 8 to use direct write Set Output Limit User Input 1500 4 100 0 1569
307. time allowed at peak current Examples e For setting up I2T on a Geo Brick LV driving a 3A 9A motor 3 amps continuous and 9 amps instantaneous will be used as current limits And time allowed at peak is that of the motor e For setting up I2T on a Geo Brick LV driving a 4A 16A motor 4 amps continuous and 15 amps instantaneous will be used as current limits And time allowed at peak is 1 seconds The rule of thumb for Stepper magnetization current is Ixx77 Ixx57 V2 Motors 1 thru 8 have 5 amp continuous 15 amp peak current limits With a servo clock of 8 KHz I2T protection and magnetization current would be set to I15 0 Trigonometric calculation in degrees define ContCurrent 5 Continuous Current Limit Amps User Input define PeakCurrent 15 Instantaneous Current Limit Amps User Input define MaxADC 33 85 Brick IV full range ADC reading see electrical specifications define ServoClk P8003 KHz Computed in Dominant Clock Settings Section define I2TOnTime 1 Time allowed at peak Current sec define VoltOutLimit P7007 This is Ixx69 normally used in direct digital PWM 157 INT 32767 ContCurrent 1 414 MaxADC cos 30 177 1157 SORT 2 VoltOutLimit INT 32767 PeakCurrent 1 414 MaxADC cos 30 158 INT VoltOutLimit VoltOutLimit 1157 1157 ServoC1k 1000 12TOnTime 32767 32767 257 1157 271 1177 258 1158 357 1157 377511717 358 1158 457 1157 471 1177 458 1158 557 1157 577 1177 558 11
308. tion typical slave setting 1996 0F4003 Node activation servo nodes 0 1 User Input 11 Issue a Contro1 T in the terminal window to exit ASCII mode communication Master Slave MS commands should now be available for nodes 0 and 1 per this example 12 Clock Settings The phase frequency should be set the same as the master s Set the following MSO 1992 Value of 17000 or 16800 Max Phase Clock MSO 1997 Value of 17001 or 16801 Phase Clock Divider 13 Ring Check Error Enabling the ring check error function on the Geo MACRO drive requires computing and setting the following parameters MS0 I8 gt 180 16802 1 MS0 I9 gt I81 16802 1 18 1 MS0 N10 gt I82 16802 1 18 1 Where I8 80 181 182 and 16802 are masters parameters 14 Station Number The station number is used for ASCII communication MSO I11 1 Assign Station Number 1 User Input 15 Issue MSSAV0 followed by MS 0 to maintain changes on the Geo MACRO Drive Macro Connectivity 225 Geo Brick LV User Manual 16 Activating MACRO Motors Variable 14900 reports how many servo ICs is the Geo Brick LV populated with Knowing that each Servo IC services 4 axes querying 14900 will reveal how many local channels are occupied and thus the number of the 1 available motor on the Macro Ring Local First Motor Activation KIPAS perro TCs present Motors On The Ring 2 axis Slave 1 ICO only 4 axis 1
309. tion data If the data exceeds the 24 available bits in this register the upper overflow bits are LSB justified and readable in the Serial Encoder Data B which also holds status and error bits Serial Encoder Data C and D registers are reserved and always read zero BiSS Data B BiSS Data A 23 22 21 16 15 0 23 0 TimeOut Err Position Data 23 0 BiSS Encoder Data A BiSS Encoder Data B Channel 1 Y 78B20 Y 78B21 Channel 2 Y 78B24 Y 78B25 Channel 3 Y 78B28 Y 78B29 Channel 4 Y 78B2C Y 78B2D Channel 5 Y 78B30 Y 78B31 Channel 6 Y 78B34 Y 78B35 Channel 7 Y 78B38 Y 78B39 Channel 8 Y 78B3C Y 78B3D Data Registers C and D are listed here for future use and documentation purposes only They do not pertain to the BiSS setup and always read zero BiSS Encoder Data C BiSS Encoder Data D Channel 1 Y 78B22 Y 78B23 Channel 2 Y 78B26 Y 78B27 Channel 3 Y 78B2A Y 78B28 Channel 4 Y 78B2E Y 78B2F Channel 5 Y 78B32 Y 78B33 Channel 6 Y 78B36 Y 78B37 Channel 7 Y 78B3A Y 78B38 Channel 8 Y 78B3E Y 78B3F 94 Connections And Software Setup Geo Brick LV User Manual BiSS Control Registers Setup Example Channel 1 is driving an 18 bit Renishaw resolute BiSS C encoder The encoder requires a 1 MHz serial clock and has 2 status bits Global Control Register The Global Control register is a 24 bit hexadecimal word w
310. tion frequency Torque Mode is advised In this mode the Master bypasses the Slave control functions The Master handles the commutation it closes both the current and position loops and sends PWM commands directly to the Slaves power amplifier block 202 MACRO Connectivity Geo Brick LV User Manual Setting up the Slave in Torque Mode 1 Establish communication to Slave unit using USB Ethernet or Serial 2 Consider starting from factory default settings This can be done by issuing a followed by a Save and a 3 Consider downloading the suggested M Variables in the Pewin32Pro2 software 4 Set up motors per the motor setup section described in this manual 5 Clock settings considerations e The MACRO ring is synchronized at phase rate Keep in mind that the phase clock frequency must be the same on both the master and the slave e The MACRO IC must be sourcing the clock parameter 119 A Save followed by a are required whenever I19 is changed e Tt is advised to have both the MACRO and servo ICs set at the same phase frequency I19 6807 Clock source MACRO IC 0 T6800 17000 Macro IC 0 MaxPhase PWM Frequency Control T6801 17001 7 Macro IC 0 Phase Clock Frequency Control T6802 17002 Macro IC 0 Servo Clock Frequency Control 6 Make sure that the motors are fully operational and can be controlled in closed loop e g jog commands Position PID tuning is not critical at this point Fine
311. ts 5 Data Input Data packet 6 Clock Output Serial Encoder Clock 7 Unused 8 Unused 9 Unused 10 Unused 11 Unused 12 GND Common Common Ground 13 Clock Output Serial Encoder Clock 14 Data Input Data Packet 15 Unused IN e Some EnDat devices require 24V power which has to be brought O in externally Pins 4 and 12 are unused in this case leave floating Maes e Hardware capture is not available with Serial encoders Configuring EnDat Configuring the EnDat protocol requires the programming of two essential control registers Global Control Registers Channel Control Registers The resulting data is found in EnDat Data Registers Connections And Software Setup 85 Geo Brick LV User Manual Global Control Registers X 78BnF default value 5002003 where n 2 for axes 1 4 n 3 for axes 5 8 Global Control Register Axes 1 4 X 78B2F Axes 5 8 X 78B3F The Global Control register is used to program the serial encoder interface clock frequency SENC_CLK is the serial data clock transmitted from the Brick to the encoder It is used by the encoder to clock in data transmitted from the Brick and clock out data from the encoder 100 Senc_Clock 95 x M 1 x 25 M N Serial Clock Frequency 0 0 4 0 MHz 0 2 1 0 MHz 0 3 500 KHz 0 4 250 KHz Default Settings M 0 N 2 gt 1 MHz transfer rate There are two external trigger sources phase an
312. ts Brakes and Relays e Upto 4x 16 bit analog inputs 8 x 12 bit analog inputs 4 x brake relay outputs and 5 x 12 bit filtered PWM 10V outputs Communication e USB 2 0 Ethernet 100 Base T RS232 DPRAM required for NC software applications Fieldbus Connectivity e MACRO e ModBus 14 Specifications Geo Brick LV User Manual Environmental Specifications Specification Description Range Ambient operating Temperature EN50178 Class 3K3 IEC721 3 3 Minimum operating temperature 0 C 32 F Maximum operating temperature 45 C 113 F Storage Temperature Range EN 50178 Class 1K4 IEC721 3 1 2 Minimum Storage temperature 25 C 13 F Maximum Storage temperature 70 C 158 F Humidity Characteristics w no condensation and no formation of ice TEC721 3 3 from 35 C up to 50 C 122 F Minimum Relative Humidity 5 HU Maximum Relative Humidity up to 35 C 95 F ae Maximum Relative Humidity 85 HU De rating for Altitude 0 1000m 0 3300ft No de rating 1000 3000m 3300 9840ft 0 0190 m 3000 4000m 9840 13000ft 0 02 m Environment ISA 71 04 Degree 2 environments Atmospheric Pressure EN50178 class 2K3 70 KPa to 106 KPa Shock Unspecified Vibration Unspecified Air Flow Clearances 3 76 2mm above and below unit for air flow Cooling Natural convection and external fan Standard IP Prote
313. uld be for any digitally commuted amplifier A satisfactory current loop response PmacTuningPro2 screen shot would look like EJ Current Loop Step Response TAE BD a oe A m PAS Motor 9 Current Loop Interactive Plot Result Excuted at 10 21 34 AM 6 2 2010 5670 00 5040 00 4410 00 3780 00 2 3150 00 2520 00 1890 00 1260 00 630 00 0 00 eo 2 2 D o 5 e pa w a 2 5 o a 5 FT 3 25 30 Time msec Rise Time 0 002 s Peak Time 0 009 s Natural Freq 253 1 Hz Over Shoot 0 1 Damping 1 0 Settling Time 0 004 s Current Loop Gains Integral Gain Ki lx61 0 12 Forward Path Proportional Gain Kp2 Ix62 0 Backward Path Proportional Gain Kp1 Ix76 1 9 Actual Current Macro Connectivity 213 Geo Brick LV User Manual 20 21 Motor Phasing Open Loop Test Motor phasing is performed in the same manner as it would be for any digitally commutated motor The following is a satisfactory open loop test td PmacTuningPro2 v4 0 0 PMAC 0 V1 947T2 05 17 2010 QMAC TURBO USB Port File Current Logp Fosition Loop Trajectory Took Window Help ar tJOpen Loop Test E PmacTuningPro2 Open Loop Test Result Motor 9 hoa k DETER ate SAL gt Motor 9 Open Loop Test Plot Result Executed at 10 32 17 AM 6 2 2010 C PMAC O V1 947T2 05 171 OX An erratic or inverted saw tooth response is typically with quadrature or sinusoidal encoders an indication of rev
314. unts per revolution unshifted is 32 times less then the maximum programmable velocity is 32 times greater counts msec Example Take a 37 bit absolute serial rotary encoder 25 bit Singleturn 12 bit Multiturn and its equivalent linear scale e g 10 nm resolution The maximum commanded closed loop velocity Ixx16 Ixx22 setting programmable in Turbo PMAC is 786 432 counts msec with Ixx08 1 8 192 counts msec with Ixx08 96 With Ixx08 1 Rotary rpm Linear mm sec MaxCmdVel 60000 SF MaxCmdVel 1000 SF Technique 1 3 5 bit Shift 1 406 7 864 Technique 2 no Shift 45 000 251 658 With Ixx08 96 Rotary rpm Linear mm sec MaxCmdVel 60000 SF MaxCmdVel 1000 SF Technique 1 3 5 bit Shift 14 645 81 916 Technique 2 no Shift 468 667 2621 334 Notice the lower programmable closed loop velocity settings with ee techniques 1 and 3 5 bit shift associated with the default position scale factor Ixx08 of 96 Note Maximum Motor Travel In Jog mode the rollover is handled gracefully by PMAC and jogging can be virtually performed forever However this can be problematic when running a motion program indefinitely in incremental mode where the 48 bit fixed motor register can roll over much sooner than the 48 bit floating axis register roll over way before the motor position register in Turbo PMAC does Absolute Serial Encoders with limited multi turn range normally do KY i e 12 b
315. up Geo Brick LV User Manual Channel Control Registers X 78Bn0 X 578Bn4 X 78Bn8 X 78BnC where n 2 for axes 1 4 n 3 for axes 5 8 Channel 1 X 78B20 Channel 5 X 78B30 Channel 2 X 78B24 Channel 6 X 78B34 Channel 3 X 78B28 Channel 7 X 78B38 Channel 4 X 78B2C Channel 8 X 78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters Parameters such as setting the number of position bits in the serial bit stream enabling disabling channels through the SENC_MODE when this bit is cleared the serial encoder pins of that channel are tri stated enabling disabling communication with the encoder using the trigger control bit 23 22 21 16 15 14 13 12 11 10 9 6 5 0 Command Trigger Trigger Rxdata ready PositionBits Code Mode Enable Senc Mode Resolution Bit Type Default Name Description 23 22 R 0x000 Reserved Reserved and always reads zero 38 111000 Encoder to Send Position EnDat2 2 only 21 16 R 0x00 Command 515 010101 Encoder to Receive Reset EnDat2 2 only Code 07 000111 Encoder to Send Position EnDat 2 1 amp 2 2 2A 101010 Encoder to Receive Reset EnDat 2 1 amp 2 2 15 14 R 00 Reserved Reserved and always reads zero Trigger Mode O continuous trigger 13 1 one shot trigger R W 0 Trigger Mode All trigg
316. up Geo Brick LV User Manual Wiring the Digital Inputs and Outputs Sourcing Inputs Sourcing Outputs 12 24 VDC Power supply 2 o o 12VDC 24VDC C INPUT 2 18 C INPUT 3 19 C INPUT 4 20 CINPUT5 21 CINPUT6 22 CINPUT7 723 CINPUT8 24 CINPUT9 725 CINPUT 10726 CINPUT 12 28 CINPUT 13 29 CINPUT 14 7 30 CINPUT 15731 CINPUT 16 32 COM COLLECT OUTPUT 1 OUTPUT 2 OUTPUT 3 OUTPUT 4 OUTPUT 5 OUTPUT 6 14 OUTPUT 7 OUTPUT 8 16 Sinking Inputs Sinking Outputs Power supply 12 24 VDC COM eae ery je IN COM 01 08 17 24 IN COM 09 16 25 32 p ni HO HG 4d CD 69 G5 GD G3 G2 GD GO e 12VDC 24VDC 5 2099889 INPUT 16 32 IN COM 01 08 17 24 IN COM 09 16 25 32 COM EMIT OUTPUT 1 OUTPUT 2 10 OUTPUT 3 OUTPUT 8 EX Connections And Software Setup T je DODA ae we Geo Brick LV User Manual General Purpose I Os J6 Suggested M Variables Inputs M1 gt Y M2 gt Y M3 gt Y M4 gt Y M5 gt Y M6 gt Y M H gt Y s M8 gt Y M9 gt Y M10 gt Y M11 gt Y M12 gt Y M13 gt Y M14 gt Y M15 gt Y M16 gt Y 578800 4 578800 7 78800 0 78800 1 78800 2 78800 3 78800 5 78800 6 78801 0 578801 1 1 78801 2 1 78801 3 1 78801 4 1 78801 5 1 78801 6 1 78801 7 1
317. up by touching an unpainted metal grounded surface before touching the equipment Keep all covers and cabinet doors shut during operation Be aware that during operation the product has electrically charged components and hot surfaces Control and power cables can carry a high voltage even when the motor is not rotating Never disconnect or connect the product while the power source is energized to avoid electric arcing A Warning identifies hazards that could result in personal injury or death It precedes the discussion of interest WARNING A Caution identifies hazards that could result in equipment damage It precedes the discussion of interest Caution IN A Note identifies information critical to the user s understanding or Us use of the equipment It follows the discussion of interest Note MANUAL REVISION HISTORY REV DESCRIPTION DATE CHANGE APPROVED 1 PRELIMINARY MANUAL CREATION 02 24 08 C P R N 2 UPGRADE MANUAL TO FULL RELEASE 04 09 08 C P R N 3 UPGRADE STEPPER MOTOR SETUP 06 05 08 C P R N 4 ADDED DC BRUSH MOTOR EXAMPLE 06 05 08 C P R N 5 CORRECTIONS TO TROUBLESHOOTING P 44 46 08 14 08 C P R N 6 CORRECTED MOTOR PID GAINS TABLE P 19 11 18 08 C P R N 7 ADDED AUXILIARY BOARD INFO APPENDIX A 07 24 09 C P s s 8 REFURBISHED ENTIRE MANUAL 05 17 10 R N R N CONTROL BOARD PINOUTS AND SETUP 9 STROBE WORD PLCS ADC STATUS BITS 10 11 14 RN RN MOTOR SETUP
318. used to select the source and active edge to use as the internal serial encoder trigger The internal trigger is used by all four channels to initiate communication with the encoder To compensate for external system delays this trigger has a programmable 4 bit delay setting in 20 psec increments 23 16 15 12 uio 9 8 7 6 5 4 3 2 1 o0 M Divisor Nbi Trigger Clock Trigger Edge Protocol Code Trigger Delay Bit Type Default Name Description Intermediate clock frequency for SER Clock The 23 16 R W 0x63 M_Divisor intermediate clock is generated from a M 1 divider clocked at 100 MHz Final clock frequency for SER_Clock The final clock is 15 12 R W 0x0 N Divisor generated from a 2 divider clocked by the intermediate clock 11 10 R 00 Reserved Reserved and always reads zero 0 trigger on Phase Clock 09 R W 0 TriggerClock Trigger clock select 1 tiger Servo Clock 0 select rising edge 08 R W 0 TriggerEdge Active clock edge select 1 select falling edge Trigger delay program relative to the active edge of the Lala ee gad TepperDdlay trigger clock Units are in increments of 20 usec This read only bit field is used to read the serial encoder 03 00 R 0x2 ProtocolCode interface protocol supported by the FPGA A value of 2 defines this as SSI protocol 80 Connections And Software Setup Geo Brick LV User Manual
319. ut Cosine 11 CHC Input Index 12 GND Common Common Ground 13 Unused 14 Unused 15 ResOut Output Resolver Excitation Output This option allows the Brick to connect to up to eight Resolver feedback devices Setting up Resolvers The Resolver data sampling is done at phase rate and processed in the encoder conversion table The commutation occurring at phase rate position is retrieved from the Encoder Conversion Table which is normally read at Servo rate Thus the Servo and Phase cycles have to be at the same rate e Use an encoder cable with high quality shield Connect the shield to chassis ground and use ferrite core in noise sensitive environment if deemed necessary It is essential to set the Servo clock the same as the Phase Clock in Resolver applications This will greatly reduce noise The Servo Cycle Extension Period Ixx60 can be used to lower the CPU load and avoid quantization errors through the PID loop at high Servo rates Connections And Software Setup 59 Geo Brick LV User Manual Resolver Excitation Magnitude Revolvers excitation magnitude is a global setting used for all available Resolver channels It has 15 possible settings define ResExcMag M8000 Resolver Excitation Magnitude MACRO definition ResExcMag gt Y 78B11 0 4 Resolver Excitation Magnitude register Excitation Peak Peak Excitation Peak Peak Magnitude Volts Magnitu
320. utput 20 Output 21 Output 2 Common 23 Input 24 Input 25 HWC Input QOODOOOOOO GG O GOGO Q Notes Analog Input 1 Analog Input 3 Analog Input 5 Analog Input 7 For troubleshooting no practical use Common Ground Analog Output Pulse Output Direction Output Handwheel Quadrature A Handwheel Quadrature B Handwheel Quadrature C For troubleshooting no practical use Analog Input 2 Analog Input 4 Analog Input 6 Analog Input 8 For troubleshooting no practical use Analog Output Pulse Output Direction Output Common Ground Handwheel Quadrature A Handwheel Quadrature B Handwheel Quadrature C gt Analog Inputs at Y 784B0 using PMAC option12 Analog Output at Y 78412 8 16 S using Supp Ch1 Output A Pulse and Direction at Y 7841C 8 16 S using Supp Ch2 Output C Note Handwheel Input at Y 78410 using Supp Ch1 Handwheel 36 Connections And Software Setup Geo Brick LV User Manual Setting up the Analog Inputs J9 10VDC J9 port provides eight multiplexed 12 bit Input Signals single ended analog inputs using the AGND 7X ADC1 traditional PMAC Option 12 AGND 7 _ ADC2 Ca AGND ADC3 These analog inputs can be used either in er CN unipolar mode in the OV to 10V range or AGND 7 _ ADC4 amp bipolar mode in the 10V to 10V range AGND 7 _ ADCS cn
321. v 128 SF 32 Resolver SF 4096 SF 32 131072 SSI EnDat BiSS SF 257 SF 2 If Ixx01 3 Technique 1 z 32 SF 322T If Ixx01 1 SSI EnDat BiSS SF 2STS st 32 Technique 2 mi z2 262144 SSI EnDat BiSS SF 257 Technique 3 Yaskawa Sigma II SF 257 32 SF 3242 Where ST is the rotary encoder Singleturn resolution in bits For a linear motor the number of commutation cycles Ixx70 is typically equal to 1 Ixx70 1 The commutation cycle size Ixx71 is equal to the Electrical Cycle Length ECL or pole pair pitch in units of encoder counts Feedback Type Motor Scale Factor SF Ixx71 counts mm Quadrature SF 1 RES mm 4 SF ECLmm ECLinm RES um Sinusoidal HiperFace SF 128 RES mm SF ECL pm 32 4 ECLinm RES mm maana ECLinm SF ECLm RESmm If Ixx01 3 7 aa a mara ma If Ixx01 1 q 32 ECLinm RESmm xx01 SSI EnDat BiSS Technique 2 pia cna ECL yy SF 20 SSI EnDat BiSS ECLm RES um Technique 3 SF 1 RES mm Yaskawa Sigma II SF 1 RES mm 32 ECLmm SF 32 ECL mn RES mm Where RES is the linear scale resolution in user units e g mm ECL is the electrical cycle length of the linear motor in the same units as RES e g mm Offset is the ECT commutation offset linear encoder protocol bit length 18 Motor Setup 167 Geo Brick LV User Manual The Singleturn ST data bits for rotary encoders as well as the serial DV prot
322. vity 227 Geo Brick LV User Manual 18 Typical MACRO motor settings e The motor command output address Ixx02 is initiated by default in the firmware penoy Motor Ixx02 Register krr Motor Ixx02 Register 1 Sor9 078420 Servo Node 0 5 9or13 078430 Servo Node 8 gn 6or 10 078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 a 7or 11 078428 Servo Node 4 7 11 or 15 078438 Servo Node 12 4 8 or 12 07842C Servo Node 5 g 12 or 16 07843C Servo Node 13 e The flag address Ixx25 is initiated by default in the firmware esn Motor Ixx25 Register paring Motor Ixx25 Register 1 5or9 3440 Servo Node 0 At 9or13 3448 Servo Node 8 a 6or 10 3441 Servo Node 1 6 10 or 14 3449 Servo Node 9 3 7 or 11 3444 Servo Node 4 7 1l or 15 344C Servo Node 12 4 8or12 3445 Servo Node 5 g 12 or 16 344D Servo Node 13 e The Flag Control Ixx24 is typically set to 40001 560001 to disable hardware over travel limits e The commutation position addresses Ixx83 is initiated by default in the firmware MACRO Motor Ixx83 Register MACRO Motor Ixx83 Register motor motor bag Sor9 078420 Servo Node 0 ot 9 or 13 078430 Servo Node 8 gm 6or10 078424 Servo Node 1 6 10 or 14 078434 Servo Node 9 a Tor 11 078428 Servo Node 4 i 11 or 15 078438
323. vo Node Registers Node 0 1 4 5 8 9 12 13 24 bit Y 78420 Y 78424 Y 78428 Y 7842C Y 78430 Y 78434 Y 78438 Y 7843C 16 bit Y 78421 Y 78425 Y 78429 Y 7842D Y 78431 Y 78435 Y 78439 Y 7843D 16 bit Y 78422 Y 78426 Y 7842A Y 7842E Y 78432 Y 78436 Y 7843A Y 7843E 16 bit Y 78423 Y 78427 Y 7842B Y 7842F Y 78433 Y 78437 Y 7843B Y 7843F Geo Brick LV MACRO IC 0 I O Node Registers Node 2 3 6 7 10 11 24 bit X 78420 X 78424 X 78428 X 7842C X 78430 X 78434 16 bit X 78421 X 78425 X 78429 X 7842D X 78431 X 78435 16 bit X 78422 X 78426 X 7842A X 7842E X 78432 X 78436 16 bit X 78423 X 78427 X 7842B X 7842F X 78433 X 78437 200 MACRO Connectivity Geo Brick LV User Manual Review MACRO Auxiliary Commands In MACRO Auxiliary mode Brick Brick master and slave data exchange i e reads writes can be done using Macro Auxiliary MX commands For simplicity the following examples describe syntax commands intended to communicate with a slave unit associated with node O But ultimately these commands can be used with any enabled node on the addressed slave MACRO auxiliary commands are only valid from the master side Note Online Commands Syntax Example Description MX anynode slave variable MxXx0O P1 Read and report slave var
324. w CMD WX 78014 SFB4DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78014 SF30DFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I5 gt 0 Endw Axis 5 Settings CMD WX 78114 SF8CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78114 SF84DFE Clear error s on selected axis in stepper mode 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78114 SFOODFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I15 gt 0 Endw Axis 6 Settings CMD WX 78114 SF9CDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I5 gt 0 Endw CMD WX 78114 SF94DFE Clear error s on selected axis in stepper mode 5 50 8388608 I10 While I5 gt 0 EndW CMD WX 78114 F10DFE Save and write protect channel from strobe word changes 5 50 8388608 110 While I15 gt 0 Endw Axis 7 Settings CMD WX 78114 SFACDFE Select axis and set motor mode Stepper 5 50 8388608 110 While I15 gt 0 Endw CMD WX 78114 SFA4DFE Clear error s on selected axis in stepper mode 5 50 8388608 I10 While I5 gt 0 EndW CMD WX 78114 F20DFE Save and write protect channel from strobe word changes 5 50 8388608 I10 While I5 gt 0 EndW Axis 8 Settings CMD WX 78114 SFB
325. ypical master IC setting 6841 SOFF333 Macro ICO Node Activate Ctrl Servo nodes 0 1 4 5 8 9 12 13 User Input 78 32 Macro Type 1 Master Slave Communications Timeout 7083333 Macro IC 0 Node Auxiliary Register Enable for 8 macro motors 71 0 Type 0 MX Mode define RingCheckPeriod 20 Suggested Ring Check Period msec define FatalPackErr 15 Suggested Fatal Packet Error Percentage 5 80 INT RingCheckPeriod 8388608 110 I8 1 1 Macro Ring Check Period Servo Cycles 81 INT I80 FatalPackErr 100 1 Macro Maximum Ring Error Count 82 180 18144 Macro Minimum Sync Packet Count 7 Issue a Save followed by a reset to maintain changes 8 Activating MACRO motors Flag Control The master Geo Brick LV can be fitted with 1 or 2 servo ICs to service local channels 4 or 8 The next available channel will be the first macro slave motor This allows taking advantage of some of the default MACRO settings set by the firmware upon detecting a MACRO IC e If 14900 1 then only Servo IC 0 is present and the first macro motor is 5 I500 8 100 1 Activate channels 5 12 1524 8 100 840001 Channels 5 12 flag control 860001 to disable limits e If 14900 S3 then Servo ICs 0 and 1 are present and the first macro motor is 9 I1900 8 100 1 Activate channels 9 16 1924 8 100 840001 Channels 9 16 flag control 860001 to disable limits Macro Connectivity 205 Geo Brick LV U
326. z Servo Clock KHz Continuous Current Limit Amps User Input Instantaneous Current Limit Amps User Input See Geo MACRO electrical specifications User Input Time allowed at peak Current sec I957 INT 32767 Mtr9ContCurrent 1 414 MaxADC cos 30 I969 INT 32767 Mtr9PeakCurrent 1 414 MaxADC cos 30 I958 INT 1969 1969 1957 1957 ServoC1k 1000 Mtr9I2TOnTime 32767 32767 19 Current Loop Tuning Ixx61 Ixx62 Ixx76 Current loop tuning is performed in the same manner as it would be for any digitally commuted amplifier A satisfactory current loop response PmacTuningPro2 screen shot would look like EJ Current Loop Step Response Phalle A oe A 6 faae Motor 9 Current Loop Interactive Plot Result Excuted at 10 21 34 AM 6 2 2010 5670 00 5040 00 4410 00 3780 00 2 3150 00 2520 00 1890 00 1260 00 630 00 0 00 KA 2 2 D a 5 e b w oe 2 5 o a s FT 3 25 30 Time msec Rise Time 0 002 s Peak Time 0 009 s Natural Freq 253 1 Hz Over Shoot 0 1 Damping 1 0 Settling Time 0 004 s Current Loop Gains Integral Gain Ki lx61 0 12 Forward Path Proportional Gain Kp2 Ix62 0 Actual Current Backward Path Proportional Gain Kp1 Ix76 1 9 Macro Connectivity 229 Geo Brick LV User Manual 20 Motor Phasing Open Loop Test Motor phasing is performed in the same manner as it would be for any digitally commutated motor The follow

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