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Delta Tau GEO MACRO DRIVE User's Manual

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1. H 24v 24V Retum sinking Flag _y Separate Flag Suppl Supply 1224VDC a ee Eu Supply h poy Return ov Sample wiring the I O Sourcing Inputs and Sourcing Outputs Function Pin GP_OUT 1 EMT 2 Geo MACRO GP OUT 2 EMT 4 Sourcing Inputs GP OUT 3 EMT 6 Sourcing Outputs GP_OUT 4 EMT 8 COM COL 9 GP IN1 11 oV 24V GP IN2 12 L1 GP IN 3 13 ml g Input Return GP IN 4 14 I O RTN 15 d Input3 d Input2 4 e C Input1 10 G d Com Col C Output4 be C og G Output3 e Coa C a Output2 Le L C a Output1 d Connections 39 Geo MACRO Drive User Manual Sinking Inputs and Sinking Outputs Function Pin GP OUT COL 1 GP OUT 2 COL 3 GP OUT 3 COL 5 GP OUT 4 COL 7 COM EMT 10 GP IN 1 11 GP IN2 12 GP IN 3 13 GP IN 4 14 RTN 15 Sample Wiring the Flags Geo MACRO Sourcing Flags 24V Suppl Neg Limit 1 Pos Limit 1 peta tee tp pa as We ICI FLG RTN Geo MACRO Sinking Inputs Sinking Outputs 24V Supply 24M OV
2. Ixx91 Motor xx Power On Phase Position Format Range 000000 SFFFFFF Units None Default 0 Ixx91 specifies how the power on phase position data if any for Motor xx is interpreted Ixx81 specifies the address of the register containing this position data Ixx91 controls how that data is read This permits the use of a wide variety of absolute position sensors with the Turbo PMAC Ixx91 is used only on power on reset or on the or on line reset commands To get a new value of Ixx91 to take effect the or command must be issued or the value of Ixx91 must be stored to non volatile flash memory with the SAVE command and the board must be reset Ixx91 is a 24 bit value currently only bits 16 23 which comprise the first two of six hex digits are used Ixx91 is only used if Ixx81 1s set to a non zero value The possible values of Ixx91 and the position sources they specify are summarized in the following table 126 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual Absolute Position Source ACC 8D Opt 7 R D Converter 080000 180000 Parallel Data Y Register 480000 580000 Parallel Data X Register 730000 MACRO Station R D Converter 740000 MACRO Station Parallel Read MACRO Node Number 800000 SFF0000 Hall Sensor Read Turbo PMAC Memory I O Parallel Data Read If Ixx91 contains a value from 08000n t
3. DELTA DATA SYSTEMS INC 176 Appendix A Geo MACRO Drive User and Reference Manual Type of Cable for Encoder Wiring Low capacitance shielded twisted pair cable is ideal for wiring differential encoders The better the shield wires the better the noise immunity to the external equipment wiring Wiring practice for shielded cables is not an exact science Different applications will present different sources of noise and experimentation may be required to achieve the desired results Therefore the following recommendations are based upon some experiences that we at Delta Tau Data Systems have acquired If possible the best cabling to use is a double shielded twisted pair cable Typically there are four pairs used in a differential encoder s wiring The picture below shows how the wiring may be implemented for a typical differential sinusoidal encoder using double shielded twisted pair cable SIN EN SIN L sme CAM cos LL SHIELD INDEX El INDEX L Ed ENC PWR oT GND L sme L o OUTER SHIELD EXAMPLE OF DOUBLE SHIELDED 4 TWISTED PAIR CABLE The shield wires should be tied to ground Vcc return at the interpolator end It is acceptable to tie the shield wires together if there are not enough terminals available Keep the exposed wire lengths as close as possible to the terminals on the interpolator Note It has be
4. E A A A E E A 21 System Power Wiig ARR 21 AC Input JI E 23 EM eroi seise aeee E A ESEE EE NEE EE 23 Wiring 24V LOGIC Control 4 eet teste retient e EEEE a EAEE EERE 24 Witing the Motors ccccesccscessseesceescessceceesecnsecaeceaecsaecsaecaeeeseeeneeseesecesecesecaecaecsaecaaecaaecaeesaeseseseaeseeeeeeeseenaeeneenaees 24 J2 Motor T Output Connector PIROUE et e redi e e e e 24 J3 Motor 2 Output Connector PIROUL d ee de im Ea rt ag herede obs ee ee ee eee eee eee oen 24 Wiring the Motor Thermostats ccccescessscesessseceecseeeseeseeeeeeseeeseeeeeeseessecesecaecaeceaecaaecaeeeaeseaeeeaeseeeeeeeeseeeeeenaees 25 Wiring the Regen Sh nt Resistor 5 tee tag UHR put Rame eei ipe Ma eee ERR 25 J5 External Shunt Connector Pinout essent entente etre een entree enne nnne 26 Shunt Regulation E ads 27 Minimum Resistance Value esses eene trennen tree nennen entrent re reet nent nenne nnne nennen 27 Maximum Resistance Value sess 27 Energy Transfer Equations RRRR 27 29 30 Table of Contents i Geo MACRO Drive User Manual CEFE E 30 FOW Fiering esee
5. 166 Fiber Optic Cable Ordering Information esses enne ener enne neret nennen nns 166 Mating Connector and Cable Kits esses tia 166 Mating Connector and Cable Kits uia eiecti nas ete mo qu eia ke 166 Connector nd pins Part numbers eei ee ip NER te a EAA 168 pn M 170 Regenerative Resistor GAR78 48 iie era esee rien te eee ea 176 of Cable for Encoder Wiring ener ettet tret rete totae ee nde iere ri esie Hie erede Ene 177 APPENDIX 180 C ERE 180 LEER 180 X6 and X7 Analog Inputs 182 X8 and X9 Secondary Encoders 3 and 4 183 Gres 184 Communication to the Geo MACRO via the USB Port sse eene eren nnne 184 PUE dmt E E E E A EL E E 186 MACRO Flag Transfer 186 Turbo PMAC2 Node Addresses etii tee e tetro rete coon secs 187 Table of Contents y Geo MACRO Drive User Manual Eu eSuzuc dE c M 189 Stepping through an Electrica
6. Ixx81 Value Register Ixx81 Value Register 1181 003440 MACRO Flag Register Set 0 11781 8003460 MACRO Flag Register Set 32 1281 003441 MACRO Flag Register Set 1 11881 003461 MACRO Flag Register Set 33 1381 003444 MACRO Flag Register Set 4 11981 8003464 MACRO Flag Register Set 36 1481 003445 MACRO Flag Register Set 5 12081 8003465 MACRO Flag Register Set 37 I581 003448 MACRO Flag Register Set 8 12181 003468 MACRO Flag Register Set 40 1681 003449 MACRO Flag Register Set 9 12281 003469 MACRO Flag Register Set 41 1781 00344 MACRO Flag Register Set 12 12381 00346C MACRO Flag Register Set 44 1881 00344D MACRO Flag Register Set 13 12481 00346D MACRO Flag Register Set 45 1981 003450 MACRO Flag Register Set 16 12581 003470 MACRO Flag Register Set 48 11081 003451 MACRO Flag Register Set 17 12681 003471 MACRO Flag Register Set 49 I1181 003454 MACRO Flag Register Set 20 12781 003474 MACRO Flag Register Set 52 I1281 003455 MACRO Flag Register Set 21 12881 003475 MACRO Flag Register Set 53 11381 003458 MACRO Flag Register Set 24 12981 003478 MACRO Flag Register Set 56 11481 003459 MACRO Flag Register Set 25 13081 003479 MACRO Flag Register Set 57 I1581 00345C MACRO Flag Register Set 28 13181 00347C MACRO Flag Register Set 60 I1681 00345D MACRO Flag Register Set 29 13281 00347D MACRO Flag R
7. LED Function Color Description ENI Enable Axis 1 Green Red Green when first axis enabled Red when drive is not enabled Unlit does not necessarily mean fault EN2 Enable Axis 2 Green Red Green when second axis enabled Red when drive is not enabled Unlit does not necessarily mean fault REG Yellow Lit when drive is attempting to dump power through the external shunt regulator regen resistor 5V Green Lit when 5V logic has power Gate Enable Gate Enable Green Lit when Gate is Enabled MACRO MACRO Ring OK Red Green Green when MACRO ring operating properly Red when there is a MACRO ring error Cables could be reversed DC Bus Red Lit when bus is powered Troubleshooting 115 Geo MACRO Drive User Manual Geo MACRO Drive Ring Status Error Codes 5 4 MACRO Status Word Read Only 00000000 FFFFFFFF Bits Range Units This variable when queried reports the value of the current status word bits for the Geo MACRO Station The value reported should be broken into bits Each bit reports the presence or absence of a particular fault on the Station If the bit is 0 the fault has not occurred since Station faults were last cleared If the bit is 1 the fault has occurred since Station faults were last cleared Bit Fault Notes 0 MTR 1 Over Current Motor 1 Over current display E
8. 4 4 M HIA c 4 Motor sciatis REP PROPRE RERO ONERE EM VOTO Fd aam VE Te eae 4 Motor Torque CORSInL ioci rte GNE UIN E pe e RR HOPED EE J Motor INCH ccs E EE E E E E E E a E STE N A E EE 5 Motor Op pq sages 5 SPECIFICATIONS cc 7 Part INU DCL tenes ee ee 7 Geo MACRO Feedback e FEE e redde 8 Package Type Seieren meer e e E ERREUR EE EL EE RR ERES 8 Electrical Specifications cecinere n C i e EP HERE E a EHE 9 230VAC Input Drives ioi c oo E ORCI ORO GN ER OIN EGER ER DIO QI TER 9 ASOVAC Input Drives serait oH 11 Environmental Specifications nere tec ret HO IEEE He ER e IEEE de 13 Recommended Fusing and Wire Gauge sss nennen ener entrent nennen tnnt nnne nne ener 13 RECEIVING AND UNPACKING pivecccsvsvsssocssossscosessonssocnesnsseesouossseveneonseecvsuesecev ossoocvsusesssseusvasssssoncsessersosrsocvsonrsseves 15 User EE 15 d Teese 17 18 Sinple MOM 19 Double Width a E ELI 20
9. STATION 1 X Detailed Description MACRO IC O v Mode Card ID 603542 MI882 6527 MACRO Station Geo 2 Max Phase Freq KHz SID 0 997 ivi 0 COMMAND ERROR Phara Divider Firrnware 1 006 MI898 ivi 0 Firmware Date 07 11 2005 Sawo Digsr Station 111 1 Gloahl Status 14 1048576 Station Ring Errors 15 0 Flag Xfr Ena Addressing X 7 933 5 95 4080 Last Set of Commands 896 0F7003 Global Save Changes IB 32 Start MACRO ASCII 000010 Mig 000002 Stop MACRO ASCII s 0 000008 If the user clicks on his Right mouse button on the Station Window a new menu window will show up on screen Flag Xtr Ena Addressin WU miggs s4080 Wes soF2003 Detect MACRO Ring Setup Ring Controler 5 Reinit MACRO Ring Ring Check Star Start MACRO ASCII Stop MACRO ASCII Stor Reset MACRO Ring Save All Stations Variables Clear All Stations Faults Reset Station to Default Reset Station to Last Saved Save Station Variables Clear Station Faults First the user needs to select which MACRO station to start with Set the MI variables MI MACRO Station I variables and enable the nodes with MI996 Note MI996 and 16841 need to comply Then the user should click on the Save Changes button Start MACRO ASCII it starts MACRO ASCII communications Sends the online
10. Ixx25 Value Register Ixx25 Value Register I125 003440 MACRO Flag Register Set 0 11725 8003460 MACRO Flag Register Set 32 I225 003441 MACRO Flag Register Set 1 I1825 003461 MACRO Flag Register Set 33 I325 003444 MACRO Flag Register Set 4 I1925 003464 MACRO Flag Register Set 36 1425 003445 MACRO Flag Register Set 5 12025 8003465 MACRO Flag Register Set 37 1525 003448 MACRO Flag Register Set 8 12125 003468 MACRO Flag Register Set 40 1625 003449 MACRO Flag Register Set 9 12225 003469 MACRO Flag Register Set 41 I725 00344C MACRO Flag Register Set 12 12325 00346C MACRO Flag Register Set 44 1825 00344D MACRO Flag Register Set 13 12425 00346D MACRO Flag Register Set 45 1925 003450 MACRO Flag Register Set 16 12525 003470 MACRO Flag Register Set 48 11025 003451 MACRO Flag Register Set 17 12625 8003471 MACRO Flag Register Set 49 I1125 003454 MACRO Flag Register Set 20 12725 8003474 MACRO Flag Register Set 52 11225 003455 MACRO Flag Register Set 21 12825 003475 MACRO Flag Register Set 53 11325 003458 MACRO Flag Register Set 24 12925 003478 MACRO Flag Register Set 56 11425 003459 MACRO Flag Register Set 25 13025 003479 MACRO Flag Register Set 57 I1525 00345C MACRO Flag Register Set 28 I3125 00347C MACRO Flag Register Set 60 11625 00345D MACRO Flag Register Set 29 I3225 00347D MACRO Flag Register Set 61 Turbo PMAC2 Re
11. 0 to 60 to 120 to 180 to 120 to 60 to Ixx91 60 deg 120deg 180 deg 120 deg 60 deg 0 deg 011 010 110 100 101 001 800000 001 011 010 110 100 101 8B0000 101 001 011 010 110 100 950000 100 101 001 011 010 110 00000 110 100 101 001 011 010 ABO0000 010 110 100 101 001 011 50000 001 101 100 110 010 011 00000 011 001 101 100 110 010 CB0000 010 011 001 101 100 110 D50000 110 010 011 001 101 100 E00000 100 110 010 011 001 101 EB0000 101 100 110 010 011 001 50000 128 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual The following table shows the values of Ixx81 used here Turbo PMAC2 Ixx81 Typical Hall Phasing Settings Ix91 800000 SFF0000 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 0 078000 078008 078010 078018 First IC on board PMAC2 3U stack 1 078100 078108 078010 078018 Second IC on board PMAC2 3U stack 2 078200 078208 078210 078218 First Acc 24E2x first IC on first Acc 24P V2 3 078300 078308 078310 078318 Second Acc 24E2x second IC on first Acc 24P V2 4 079200 079208 079210 079218 Third Acc 24E2x first IC on second Acc 24P V2 5 079300 079308 079310 079318 Fourth Acc 24E2x second IC on second Acc 24P V2 6 07A200 07A208 07A210 07A218 Fifth Acc 24E2x first IC
12. NUR hs 3600 360 Find the Hall Effect Zero and record it for use in setting up Ixx91 Hall Effect Zero Determining the Polarity of the Hall Effects Standard or Reversed The polarity of the Hall Effects can be determined from the chart recorded in the previous section in the Current Loop 6 step procedure The polarity depends on how the motor leads were connected with respect to the encoder direction as well as how it was wired in the hall effects with respect to the electrical cycle in other words the U and V wires were swapped Standard Polarity If the current loop 6 step is being executed in the positive direction of the electrical cycle from 30 to 30 90 150 150 90 30 or 0 to 60 120 180 120 60 0 the system is considered to have a standard Hall Effect polarity if the transition of V at the Hall Effect Zero is from 0 to 1 Reversed Polarity If the current loop 6 step is being executed in the positive direction of the electrical cycle from 30 to 30 90 150 150 90 30 or 0 to 60 120 180 120 60 0 the system is considered to have a reversed Hall Effect polarity if the transition of V at the Hall Effect Zero is from 1 to 0 Refer to the chart below as an example An easy method to determine if the hall effects are standard or reversed setting bit 22 for Ixx91 would be to look at the data in columns Ixx79 Ix
13. 31 a E Ei 31 TOUTING E 31 Connecting Main Feedback Sensors amp 2 32 Digital Quadrature Encoders 32 Digital Hall Commutation 33 ERR E ee ee eee ene 33 Sinusoidal Encoders ER A E 34 RR 35 I Diar aD i 36 mM 37 Connecting Secondary Quad Encoders X8 amp X9 sse eene ener nnne nnn 38 Connecting General Purpose I O amp Flags X3 eese 39 Sample wiring the T O RR B 39 Sample Wiring the FLAGS clock seve e ORO Uo est EM OG epo Gi e reo E ORARE NER ag 40 Connecting MACRO Ring HET ED RESET ERE AE ERE EERER FE e ER ERE TR LEER CELER EHE ER ESTEE FR e 41 Fiber Optic MACRO connections 5 41 RJ 45 Copper MACRO connections X10 amp X11 esses eee eene nennen enne entren ens 41 Connecting optional Analog Inputs amp X7 ssssssssssesseseeseee ener tenen nennen enn 42 SOFTWARE SETUP FOR G
14. LED Description Green Activity there is link Red Link fault no link Check that the cables are correct in and out A bad cable can be the reason also X10 and X11 MACRO RJ 45 Copper Connectors Order Geo MACRO drive GMxxxxRx R stands for RJ 45 Copper Macro Link X10 MACRO Output Connector X11 Input Connector Front View Pin Symbol Function Description 1 DATA Data Differential MACRO Signal 2 DATA Data Differential MACRO Signal 3 Unused Unused terminated pin 4 Unused Unused terminated pin 5 Unused Unused terminated pin 6 Unused Unused terminated pin T7 Unused Unused terminated pin 8 Unused Unused terminated pin The cable used for the MACRO wired connections is a CATS verified straight through 8 conductor The input connector is tied to the MACRO output connector of the previous device on the link The output connector connects to the input MACRO connector of the next device on the link USB Connector This connector is used to perform software diagnostic procedures or to download the operational firmware This connector is used in conjunction with the Pewin32 Pro or equivalent software package Connectors 111 Geo MACRO Drive User Manual X12 USB Universal Serial Bus Port Function N C DATA DATA GND SHIELD SHIELD This connector is used only to change the operational firmware or to perform basic s
15. sene 148 Table of Contents Geo MACRO Drive User and Reference Manual MSfnode MI916 Output n Mode 148 MSf node MI917 Output n Invert 1 148 MS node MI918 Output n PFM Direction Signal Invert Control eee 149 MS riode MIOI9 Hardware 1 1 eti rire ria epit es suo bte ipe eie Ex genda 149 MS node MI921 Flag Capture Position Read Only esee 150 MSfnode MI922 ADC A Input Value Read Only sese eene nennen 150 MSfnode MI923 Compare Auto Increment Value eese 150 MS node M1924 ADC B Input Value Read eene renes 150 MSf node MI925 Compare A Position Value eese eene enne 151 MSfnode MI926 Compare B Position Value sess 151 MSf node MI927 Reserved for future 151 MSfnode MI928 Compare State Write Enable seen eene 151 MSfnode MI929 Compare Output Initial State esee eene 151 General Hardware Setup MI variables sese enne eene rennen ennt nennen tren enne nnns 152 MSfanynode MI930 SSI Channel 1 Control 152 MSfanynode MI931 SSI Channel 2 Control Word seen eene 152 MS anynode MI932 Resolver Excitation Frequency Divider eee 153 MS anynode MI933 SSI Clock Frequency Divider
16. 5 JHL 30 SLIOIQ 13874 SHI Sv T31344J31NI 33V SON 1599 131412348 3SI e3H1U SS3 Mf S310N OT H311 HLIM I3I ddf s dWIBJ T LSNI 1334 02 1334 t 02191395 1 XXXX NOTLYINg L UG H 30 SL S300 ME A 30 MRS SAIS YID TL UD 18 FRU QUE SIGS SH TM WORT IML YE 90 SM Hem Appendix A 172 Geo MACRO Drive User and Reference Manual SHON gigg 50 760 Z oma 2 88 00 SYR 37855 LON Og 3 LOZ KMS 1300 ONS Hd E 55 31990 on Fee tha mh ui TMOI SOW HOMI EhIJESH TIT JOR IMU siga M3L1XIMV T3IT3IHSMI Dv OF AOLINCHOJ 37897 ne 006 1869 Med TOOL dWIHO XS 10W amp S3aIDOa a2 CLedo Gl ctr Ned SA DW geM MH3l dala ZTP0 9182F X37 UM Nid ONISMOH JUNIWS31 3199143234 T 0 035 MLDIILdIS2 s 30 xla vd SZ SI T3 LSNTA271LNTT at T XXX HIONMII Wo qi5u3 3 divildd OMM MIM HDI Ld S 3 SHOES 3 271995 01 QSHOVL Le 39 DI 13897 71391 NO G3iNIBd ANE Ja TS0NI l d HILDA avi sr MOSCA 3 ON H3HWHDN 3I4311MSCM 01 318923 eae TW VIS VJ LJJ3H ONY ZM ddz Wuanpad SSINAvH DMIBSIM AIONO 7313477 XINGMDOHDUJ U3ZINDO234 1 HII agh 38 01 S3DIIg4dssw SzdMvHz3ISV2 NO 1334 Fe SI que T NHISL A3M v ST Iec Se8ED3
17. Country region United Stat Bits per second 38400 Enter the area code without the long dis Area cade Data bits Phone number le Parity Connect using Stop bits 1 Flow control Hardware Xon Hardware None ANSIW 38400 8 N 1 Note The USB port cannot handle hardware handshaking 184 Appendix C Geo MACRO Drive User and Reference Manual Appendix C 185 Geo MACRO Drive User Manual APPENDIX D MACRO Flag Transfer Location For proper servo operations the Master Controller must process information in real time For MACRO systems this information is brought to the Master via Ixx25 For Turbo systems the locations are at 3440 3441 3444 3445 3448 3449 344C 344D etc The following tables list the data that is transferred through these locations NodeCntrlStatus Sent by Slave Located in gate array except for bits 0 7 Turbo at X 3440 X 347F X portion of Flag Address Bit Function Not Used Not Used Not Used Not Used Not Used Not Used Not Used Not Used Encoder Count Error 9 Position compare EQUn output 10 Position captured on gated index flag 11 Position Captured Triggered Event Occurred Flag 12 A Power On Reset POR has occurred 13 This Node detected a MACRO Ring Break MRB 14 Amplifier Enabled 15 Amplifier or Stati
18. Geo MACRO Drive User Manual Double Width Gxx201xx Gxx301xx GxH102xx and Gxx152xx Width Height Depth Weight Mounting dimensions 6 50in 165mm 11 001 280mm 8 00in 203mm Call the factory 10 0 20 0 amp 15 0 30 0 AMPS CONT PEAK 306 603703 MACRO Version Internal Heatsink Mtg Double wide with 2 Fans 20 Mounting Geo MACRO Drive User and Reference Manual CONNECTIONS System Power Wiring EARTH Sob BLOCK SHUNT RESISTOR w STI WHT g g Motor 2 z MAIN POWER L j 8 a 9 i U g Too 2 iu Y 5 8 amp SHUNT a Motor 1 MCR J EARTH pa px 7 FRAME Geo MACRO Encoders J4 LOGIC 2 8 c E g 9 J1 S AC INPUT THAM OPTIONAL 18 EMI FILTER sawc a to Main 24V RET Earth Block STZ Twisted Wires 02 Fusing WARNING 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 all regulations pertaining to the
19. REV DESCRIPTION DATE CHG APPVD 1 UPDATED ENDAT SETUP INFO P 82 07 18 06 P SHANTZ 2 UPDATED ERROR CODE EF GATE DRIVE INFO 09 21 06 P SHANTZ 3 CORRECTED GP OUT INPUT FUNCTIONS P 39 06 11 08 2 4 CORRECTED RESET COMMAND 138 10 30 08 S MILICI 5 CORRECTED M VARIABLE DEFINITIONS P 87 12 08 09 S MILICI 6 CORRECTED ERRORS PPS 85 87 02 25 10 S MILICI 7 CORRECTED COVER PAGE FORMATTING 03 01 10 C PERRY 8 ADDED SAFETY RELAY PN INFO P 108 04 27 10 S MILICI Geo MACRO Drive User and Reference Manual Table of Contents Copyright Information iicet eet ee ner ee deat i eee e ie im i 4 nin rper t ett i Safety Instructions 4 acere ee e v i E eer eS i INTRODUCTION Poor 1 User eet 1 EO MACRO DTIVES H 1 Geo PMAC DIVES EE 2 Direct PWM DY iV6S ccccccccccsccsesccsssessccsnessncesncccecnunsccecnsccensensecesussuecssnsssuseuneesesnnactecancsuseceeesnucstsceseeceesensaeeees 2 MACRO Defined 2 deeb E p UTER EDEN e ER RE 2 Ecedback DEVICES ee E E erecta erect re 3 EE EERE Jase do 3 Maximum Speed GHI PORE 3 VE 3 Motor Poles m
20. 122 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual Ixx70 Ixx71 Commutation Cycle Size If the Turbo PMAC2 is performing commutation for Motor xx providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands direct PWM output the size of the commutation cycle is equal to Ixx71 Ixx70 normally expressed in encoder counts Because the MACRO station provides position feedback in units of 1 32 count for both servo and commutation the value of Ixx70 and Ixx71 must be set to provide a ratio 32 times the number of true counts in the commutation cycle For example if the commutation cycle has 1000 encoder counts Ixx70 could be set to 1 and Ixx71 could be set to 32 000 Ixx72 Commutation Phase Angle Ixx72 controls the angular relationship between the phases of a multiphase motor When Turbo PMAC is closing the current loop digitally for Motor xx the proper setting of this variable is dependent on the polarity of the current measurements If the phase current sensors and ADCs in the amplifier are set up so that a positive PWM voltage command for a phase yields a negative current measurement value Ixx72 must be set to a value less than 1024 683 for a 3 phase motor or 512 for a DC brush motor If these are set up so that a positive PVM voltage command yields a positive current measurement value Ixx72 must be set to a value greater than 1024 1365 for a 3 phase motor
21. 104 Setting Up Discrete Inputs and Outputs Geo MACRO Drive User and Reference Manual CONNECTORS Connector Pinouts X1 Encoder Input 1 The main encoder input channels for the Geo Drive supports a variety of encoder feedback types 5V supply to power the encoder is provided and also four digital Hall sensors UVWT for phasing Quadrature Encoder Input or SSI Absolute Encoders Optional Sinusoidal Encoder Input with x4096 Interpolation Resolver Feedback Endat and Hiperface Interfaces X1 Encoder Input 1 Os On Os Os Os Os Os B DB 25 Female Connector Ba Oa aces e Ge De Or Or Die Ou Pin Digital SSI Sinusoidal Resolver Use for Incremental Encoder Sinusoidal Encoder Encoder Symbol Encoder Resolver Symbol Symbol 1 ChA1 Sinl N A Axis 1 Encoder A Encoder Sine Not used 2 ChB1 1 Axis 1 Encoder B Encoder Cosine Not used 3 Index 1 Index 1 N A Axis 1 Encoder Index Encoder Index Not used 4 N A N A ResSin1 Axis 1 Not used Not used Resolver Sine 5 N A N A ResCos1 Axis 1 Not used Not used Resolver Cosine 6 CLK AltSin1 CLK N A Axis 1 SSI Clock Power On Position for Endat output CLK Not used 7 DAT AltCos1 DAT N A Axis 1 SSI Data Power On Position for Endat input DATA Not used 8 ChU1 ChU1 ChU1 Axis 1 U Commuta
22. Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 After setting the correct value to the MI996 click the Next button to move on The Setup software will come up with a new pop up window asking if it is a Geo MACRO drive You should reply by clicking the Yes button 56 Software Setup Geo MACRO Drive User and Reference Manual All the screens following are the Steps to setup your motors so check the boxes and enter the correct data to the questions to setup phase and tune your motors There are 23 steps Setup PMAC Devi Setup PMAC De Motor 1 7 2 PC Ultralite 2 PC Ultralite Note K will kill all motors in any screen Step 2 of 23 Instruction Note K will kill all motors in any screen Step 1 of 23 Instruction Motor Type C PMAC commutated DC Brush Do Not Use Digital Current Loop PMAC commutated DC Brushless PWM Channel Station 0 Channel 1 ADC Channel Station 0 Channel 1 Stepper PMAC commutated AC Induction c c Non Commutated Analog 10 r The Motor is Rotary C Linear iv This motor is on MACRO D E LTA TA Continue DATASYSTEMS INC Press F to turn on or turn off Verbose Mode Press F6 to turn on or turn off Verbose Mode
23. HLI Q3IsILNS0NI 38 01 371499 Cd6TH 0 ON 22 TavONVLS YSI L334 ANY 2h4d2 WYdOOsd SS3N3vH SNISI AJANN 1313391 NY SLNSNODWOD Q3ZINDSD238 HLIM 30YW 38 OL S3TIHW3SSV SS3N2IVH 3 199 ONO 1334 r2 51 ONY 3 18v2 1 N lSl 3 8 wv 51 lr20 8 2 09 J2 SSHIN NI 10314133d4 SHION3 71 UAI NUISIA34 S310N3TI XI44NS JHL 30 1597 JHL ONY HLONST S3LON30 5 JHL 30 511910 13874 GH1 S UTIJ Sv T3134d4931NT 33v SUN 1999 Ji 0131312395 3SI e3H1U SS3 Nfl S310N OT WAIT HLI 03119905 A307 dWDJ3 TIVLSNI Pe d 13334 0 00 114 42 53 XXXX NOTLYING 1 Appendix A 174 Geo MACRO Drive User and Reference Manual 3183 01 3HIVLIY AT1N3NvW3id 38 OL T38v1 I38vw1 NO C3LNI d ANI 3 7 8T130NI LO XXO LOZXX9 STACOW m XIVA ONISN NDISLA33 ONY Hd LONI SY ASSv 3189v25 m HLI I3LJILNA3INI 39 01 3043 ONL SW31SAS 0170 CO6IH 0 ON AVL 222 IHV INVIS YSJ LIAW ONY 2 4147 WYAOOsd SS3M3vH SNISIA AJANN T3133971 KG DL GI01 N d B31XINW OMY OT N3345 Gaim 13 xx oF x o sae ee CO 01 STOT N d ASLXINY SHI9N31 Whos OMY OT 341 L3 XX 05 0057 11889 N d TOOL XSIOW S33Ino33 c ds ONO 1334 r2 S1 ONY 31482 TE00 ST8Zb N d X31Dkb TwNIHN3l dHIH2 1 NOUIS1A3 v 51 Wwa0 8ES 09 J2 gIr0 9182 N d XJI NIJ DNISQOH OWNIMS3I 31Jv143233 t 0 S3H2NMl NI 031312395 SHION31 77 NBISIA
24. ede e un ESEE a EE E 107 X4 Safety Relay Optional diia eene e eget 108 Analog IN 1 Optional 3 4 5 108 X75 Adn log IN 2 Optional 3 4 53 REOR evt sabe bona t Sabla KR OERE 108 XS S Encoder REEE 109 XD S Encoder HC ARTE EENE ENS 109 MAB Discrete ioi ees caved ea sabe ER ale PT E ME Sheen eR IMMER 109 JT AC Input Connector PIROUL tea iv ve he e iei ripe pei Deep er obese 110 J2 Motor Output Connector Pinout RIED S REINES ERTES 110 J3 Motor 2 Output Connector Pinout Optional eese eene eere 110 J4 24VDC Input Logic Supply Connector eese eee eene ennt en nennen nter nete ennt 110 J5 External Shunt Connector Pinout essent enne nre en en nnns 110 MACRO Link Connectors ce ret iH HERE EID pere IE E Ir P REED RUE ee 111 X5 MACRO I O MACRO Fiber Optic Transceiver Optional eese 111 X10 and X11 MACRO RJ 45 Copper Connectors esses eene ener ene rennen nne 111 IU I Rau 111 X125 USB Oniversal Serial Bus Port ete bd E Oc piv ex AE Utne 112 TROUBLESHOOTING est 113 Brrr N sees ad oa da ag eed aac EE ee aa 113 Table of Contents iii
25. 1 rounded down Examples To set a PWM frequency of 10 kHz and therefore a MaxPhase clock frequency of 20 kHz MI992 117 964 8 kHz A 10 kHz 1 2948 To set a PWM frequency of 7 5 kHz and therefore a MaxPhase clock frequency of 15 kHz MI992 117 964 8 kHz 4 7 5 kHz 1 3931 MS node MI993 Hardware Clock Control Handwheel Channels Range 0 4095 Units MI993 Encoder SCLK Divider 8 CLK Divider 64 DAC CLK Divider 512 ADC Divider where Encoder SCLK Frequency 39 3216 MHz 2 Encoder SCLK Divider PFM CLK Frequency 39 3216 MHz 2 PFM_CLK Divider DAC Frequency 39 3216 MHz 2 DAC_CLK Divider Frequency 39 3216 MHz 2 ADC_CLK Divider Default 2258 2 8 2 64 3 512 4 Encoder SCLK Frequency 39 3216 MHz 2 2 9 8304 MHz PFM CLK Frequency 39 3216 MHz 2 2 9 8304 MHz Geo Macro Drive MI Variable Reference 155 Geo MACRO Drive User Manual DAC Frequency 39 3216 MHz 2 3 4 9152 MHz Frequency 39 3216 MHz 2 4 2 4576 MHz MI993 controls the frequency of three hardware clock frequencies SCLK PFM_CLK DAC_CLK and ADC CLK for the handwheel interface channels 1 and 2 It is a 12 bit variable consisting of four independent 3 bit controls one for each of the clocks Each of these clock frequencies can be divided down from a starting 39 3216 MHz frequency by powers o
26. Note Geo Drives are using Digital Current Loop with PWM outputs User needs with the current version of Turbo Setup before 9 1 05 to manually edit at the terminal window 101 and MI102 for the Encoders Software Setup 57 Geo MACRO Drive User Manual Using the PEWIN32PRO 2 MACRO Ring ASCII Feature With the new PEWIN32PRO Suite2 a new configuration application has been added to initiate the MACRO Ring ASCII communication between the Ring Controller and other Slave stations and or secondary Masters Slaves This new application allows the user to setup the Ring Controller detect or reinitialize all other stations on the Ring set up all communication parameters save these parameters in a backup file and can start or stop MACRO Ring ASCII communication to any station on the Ring So as to start the application you need to start your PEWIN32 PRO Suite2 and with the mouse on the Menu Bar select the Configure Menu and click on the MACRO Ring ASCII X PEWIN32PRO C PROGRAM FILES DELTA TAU PRO SUITE2APEWINS2PRO2PEWINGSI File Configure View PMAC Resources Backup Setup Tools Window Help I Variables P Variables Q Variables M Variables Coordinate System Encoder Conversion Table Encoder Converstion Table MACRO Modbus Setup MACRO Ring ASCII The new application starts make sure you have selected which PMAC device the PEWIN32PRO communicates to else with the right click on the __ click on the S
27. a Input Return e Co Input4 C cod Input3 Co Input2 c Input rie Com EMT d d Ca Output4 e G d G d Output3 d m d Output2 d G 24 Output1 Geo MACRO 24V Suppl Sinking Flags Neg Limit 2 Pos Limit 2 Neg Limit 1 FLG RTN JLJUJL JLJL JL JE JUL JL JL JI Function Pin FLG RTN 16 PLIMI 17 NLIMI 18 HOMEI 19 USERI 20 PLIM2 21 NLIM2 22 HOME2 23 USER2 24 40 Connections Geo MACRO Drive User and Reference Manual Connecting MACRO Ring Fiber Optic MACRO connections X5 Geo MACRO ae m mm To You 0 Previous MACRO ec I O Q Input X5 H ae fX r b Output RJ 45 Copper MACRO connections X10 amp X11 Geo MACRO Er Input RJ45 2 fl Output Out 0 Next X11 DO 8 Output RMS plow o Previous X12 Connections 41 Geo MACRO Drive User Manual Connecting optional Analog Inputs X6 amp X7 The MACRO Geo Drive can be ordered with two analog to digital converters option 3 4 5 These A D converters are 16 bit
28. encoder loss shutdown MI107 0 e For Motor 1 shutdown on loss of digital quadrature on Encoder 1 MI107 1 e For Motor 1 shutdown on loss of analog sinusoid on Encoder 1 MI107 4 e For Motor 1 shutdown on loss of digital quadrature on Encoder 1 or Encoder 2 dual feedback MI107 3 MS node MI108 Motor 2 Encoder Loss Mask Range 0 F Units none Default 0 MI108 specifies which encoder loss condition s will cause a shutdown fault on the second motor of the Geo MACRO drive MI108 consists of 4 bits each of which permits a shutdown fault on a specific encoder loss condition 140 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual If bit 0 value of 1 is set to 1 then if the digital quadrature encoder loss detection circuit for the encoder wired into X1 Encoder 1 reports a loss the second motor will be shut down If bit 0 is set to 0 there will be no reaction to this circuit reporting a loss If bit 1 value of 2 is set to 1 then if the digital quadrature encoder loss detection circuit for the encoder wired into X2 Encoder 2 reports a loss the second motor will be shut down If bit 1 is set to 0 there will be no reaction to this circuit reporting a loss If bit 2 value of 4 is set to 1 then if the analog sinusoidal encoder loss detection circuit for the encoder wired into X1 Encoder 1 reports a loss the second motor will be shut down If bit 2 is set to 0 the
29. esee 153 MSfanynode MI934 MI939 Reserved for future use esee eene 153 MSfanynode MI940 Resolver Excitation Gain eene ennt ener 153 MSfanynode MI941 Resolver Excitation Phase Offset sese 154 MS anynodej MI942 Strobe Word Channel 1 amp 2 sse 154 MSfnode MI943 Encoder Power control 154 MS node MI944 MI949 Reserved for future use essent 154 Global amp 2 Axis Board 1 155 5 992 MaxPhase Frequency Control esee eene nre 155 MS node M1993 Hardware Clock Control Handwheel Channels sse 155 MS1node MI994 PWM Deaditime eene trennen nente trenes 157 MS node MI995 MACRO Ring Configuration Status eese eee eene eene 157 MS node MI996 MACRO Node Activate Control esses 158 MSfnode MI997 Phase Clock Frequency Control eee 160 MS node MI998 Servo Clock Frequency Control seen 160 ABSOLUTE POWER ON ONLINE COMMANDS esee esee eene sete tn statu notas tns tn stas ens tns ees suse 161 A ES 161 PH RES 161 2 13 DIA DI D etc CC
30. 13 30R090 Littelfuse NZT560A 1 16 SOT 223 15 OUT3 EMT c R199 Fi hg PS2701 4 l O OUTA4 COL 4 2 RUEO90 RAYCHEM o 30R090 Littelfuse NZT560A 1 SOT 223 OPT l O OUTA4 EMT ap RIS 1K N N N N D26 D27 DNE D29 P MBRS140T3 88514073 MBRS140T3 MBRS140T3 COM_EMT Appendix B 181 Geo MACRO Drive User Manual X6 and X7 Analog Inputs Equivalent Circuits 5V Power From Orive Analog VO DB9 Drive Fault Output Digital Common Notes 1 Analog Input is 20K Ohm Differential 5V Single Ended is 10Vde 2 Absolute maximum Input voltage is 6V Single Ended is 12Vdc 3 For Single Ended Inputs wire reference to Analog Input Analog Input 1 dub OW 8 01K 0 1 R106 ad ref1 24 0k 1 C203 3 01k 0 1 C204 pmac gnd for amp fault pmac 5 for amp fault analog gnd for a d 24 0k 196 R295 C182 TP6 24 0k 196 TP C165 1 PMAC 5V 22pf 3 01k 0 196 1 amp flt 1 amp fit MN O 00 OO 24 0k 196 HEADER 10 3 01k 0 1 R68 5014 182 Appendix Geo MACRO Drive User and Reference Manual Analog Input 2 pmac_gnd for amp fault pmac_ 5 for amp fault analog gnd for a d 3 01k 0 1 R67 9 AD824AR 7 24 0k 1 R302 014 2 PMAC 5V b 2 pmac gnd C164 R78 3 b 1 2 aena 2 p 2_amp_flt or 22 pf 3 01k 0 1 R2
31. 07A420 MACRO IC 2 Node 0 Reg 0 1283 078424 MACRO IC 0 Node 1 Reg 0 11883 07A424 MACRO IC 2 Node 1 Reg 0 1383 078428 MACRO IC 0 Node 4 Reg 0 11983 07A428 MACRO IC 2 Node 4 Reg 0 1483 07842C MACRO IC 0 Node 5 Reg 0 I2083 07A42C MACRO IC 2 Node 5 Reg 0 1583 078430 MACRO IC 0 Node 8 Reg 0 I2183 07A430 MACRO IC 2 Node 8 Reg 0 1683 078434 MACRO IC 0 Node 9 Reg 0 I2283 07A434 MACRO IC 2 Node 9 Reg 0 1783 078438 MACRO IC 0 Node 12 Reg 0 I2383 07A438 MACRO IC 2 Node 12 Reg 0 1883 07843C MACRO IC 0 Node 13 Reg 0 I2483 07A43C MACRO IC 2 Node 13 Reg 0 1983 079420 MACROIC 1 Node 0 Reg 0 12583 07B420 MACRO IC 3 Node 0 Reg 0 11083 079424 MACRO IC 1 Node 1 Reg 0 I2683 07B424 MACRO IC 3 Node I Reg 0 11183 079428 MACROIC 1 Node 4 Reg 0 12783 07B428 MACRO IC 3 Node 4 Reg 0 11283 07942 MACRO IC 1 Node 5 Reg 0 I2883 07B42C MACRO IC 3 Node 5 Reg 0 11383 079430 MACROIC 1 Node 8 Reg 0 12983 07B430 MACRO IC 3 Node 8 Reg 0 11483 079434 MACROIC 1 Node 9 Reg 0 13083 07B434 MACRO IC 3 Node 9 Reg 0 11583 079438 MACROIC 1 Node 12 Reg 0 13183 07B438 MACRO IC 3 Node 12 Reg 0 11683 07943 MACROIC 1 Node 13 Reg 0 13283 07B43C MACRO IC 3 Node 13 Reg 0 Because these are all Y addresses bit 1 of Ixx01 must be set to 1 With bit 0 of Ixx01 set to 1 to enable commutation the net value of Ixx01 is 3
32. Geo MACRO Drive User Manual D1 Geo MACRO Drive Status Display Codes eene eene enne 113 MACRO Network Errors ccc isti dae ne deti ee pear ete 114 Sius M estes 115 Geo MACRO Drive Ring Status Error 116 MS node MI4 MACRO Status Word Read Only sse 116 MSfnode MI6 Status Word Control sse eene trennen eene eerte 117 Sla Em 117 TURBO PMAC2 RELATED I VARIABLE REFERENCE ccsssssssssseesssssscesssssscesscssssessessssesssesseesesesseeseees 119 Ixx10 Motor xx Power On Servo Position Address eene eere enne 119 Ixx25 Ixx24 Flag Address and Mode sese enne nennen enne enne nnns 121 Ixx70 Ixx71 Commutation Cycle 12 2 ener nennen 123 Ixx72 Commutation Phase Angle 123 Ixx 75 Absolute Phase Position Offset eee tte e teres rer e eR Ho porre sidere 123 Ixx81 Motor xx Power On Phase Position Address and Mode seen 124 Ixx82 Current Loop Feedback Address sse eere enne ener enne 125 Ixx83 Commutation Feedback Address essere enne nennen enne 126 Ixx91 Motor xx Power On Phase Position Format essen ennemi nenne tnnt nnns 126 Ixx95 Motor xx Power On Servo Position Format essere ennt 12
33. MS node MI7 Geo MACRO Error Counter Range 000000 SFFFFFF Units Error Count This variable when queried reports the total number of any errors detected by the Geo MACRO Station since the most recent power up reset MS node or value reset by the user at any time MS node MI8 Geo MACRO Ring Check Period Range 0 255 Units Station phase cycles Default 2 MIS determines the period in phase cycles for the Geo MACRO Station to evaluate whether there has been a Geo MACRO ring failure or not Every phase cycle the Station checks the ring communications status In MI8 phase cycles or Geo MACRO ring cycles the Station must receive at least MI10 sync packets and detect fewer than MI9 ring communications errors to conclude that the ring is operating correctly Otherwise it will conclude that the ring is not operating properly set its servo command output values to zero set its amplifier enable outputs to the disable state and force all of its digital outputs to their shutdown state as defined by MS node MII13 and report a ring fault If MIS is set to 0 at power on reset the Geo MACRO Station will automatically set it to 8 MS node MI9 Geo MACRO Ring Error Shutdown Count Range 0 255 Units none Default 2 MIO determines the number of Geo MACRO communications errors detected that will cause a shutdown fault of the Geo MACRO Station If the Station detects MI9 or greater Geo MACRO communications erro
34. that must be received during a check period for the Station to consider the ring to be working properly If the Station detects fewer than MI10 sync packets in MI8 phase Geo MACRO Ring cycles it will shut down on a Geo MACRO communications fault setting its servo command output values to zero setting its amplifier enable outputs to the disable state and forcing all of its digital outputs to their shutdown state as defined by MS node MI13 The node number 0 15 of the sync packet is determined by bits 16 19 of Station variable MI996 On the Geo MACRO Station this is always node 15 F because this node is always active for Geo MACRO Type 1 auxiliary communications The Station checks each phase cycle to see if a sync packet has been received or not Setting MI10 to 0 means the Station will never shut down for lack of sync packets Setting MI10 greater than MI8 means that the Station will always shut down for lack of sync packets If MI10 is set to 0 at power on reset the Geo MACRO Station will automatically set it to 4 MS node MI11 Station Order Number Range 0 254 Units none Default 0 MI11 contains the station order number of the Geo MACRO Station on the ring This permits it to respond to auxiliary MACROSTASCIIn commands from a Turbo PMAC ring controller regardless of the Geo MACRO Station s binding to a MACRO Master The station ordering scheme permits the ring controller to isolate each master or sl
35. 1 PLIMn Positive End Limit Flag n 2 MLIMn Negative End Limit Flag n 3 USERn User Flag n Default 0 This parameter determines which of the Flag inputs will be used for position capture if one is used see MI912 This parameter is typically set to 0 or 3 because in actual use the LIMn flags create other effects that usually interfere with what is trying to be accomplished by the position capture If you wish to capture on the LIMn flags you probably will want to disable their normal functions with Ixx25 or use a channel n where none of the flags is used for the normal axis functions MS node MI914 Primary Encoder n Gated Index Select Range 0 1 Units none 0 Use ungated index for encoder position capture 1 Use index gated by quadrature channels for position capture Default 0 When MI914 is set to 0 the index channel input CHCn for the encoder mapped to the specified GEO MACRO Node is passed directly into the position capture circuitry 144 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual When MI914 is set to 1 the encoder index channel input CHCn is logically combined with gated by the quadrature signals of Encoder n before going to the position capture circuitry The intent is to get a gated index signal exactly one quadrature state wide This provides a more accurate and repeatable capture and makes the use of the capture function to confirm the pro
36. 2a2 ME 03 dds 35 SHIDON3 TI9 WIISLIA 348 S31D0N37 xI1343n 40 13971 JHL HITUN31 53104341 1 gt FHL 511010 15314 JHL SAO 5 g3irddd431MI 38v SON Lavd T H3rJI23dS JSiMAAJHLO 33 1N0 S31DMH Nan uwa A IB M 34 LHM n OF Wall HLI qaria4ns ADOT dara TW LSNI 1334 02 1334 al MOILd IAs 3d NOLL Wd L IN ee lhe AL 3 IRLI SUH SH 3 HOES 509 THI SAAS Pup 30 9 OWE Xh SHOWA OMe SHOR 00 SLM 17 7281 SAUSAS BL IL LTD 40 SMES HT Ton TLLA L 180 JEn 18 z LH3WOOO MOEN AHF D x5 LHIMOQD DL JWL Gian BG eC Si OA Sas 9190 1720 0 SAL 51 SHL 173 Appendix Geo MACRO Drive User Manual tu menos incon 571300 NY 304 319911447 Hd t LONI OY ASSv J979 ONI SWILSAS 170 NFL v1130 0 S9 2I STOT N d W3lXIN SHIO9N31 Whos OMY 2T JAIM OST TIS7 9 7001 dWl423 X3 DW S33Ino3a 1200 5192 N d X31DWM TvNIMH3L dWIJ2 zI 0 9182 N d x3 lDW NIJ DNIS OH wMIW331 3127133233 NULL dIS2S 30 LISI 51499 T31vNIBA31INP EF XXX nox disio63 ER Oooo O 14 oe EE t 0 j ALO 3s advo OL Q3GHIVLLY AlINJNvWHdd 38 01 38v 38v NO I3LlNIad ANT 3 T 131NT A3741 ONISN NDISIA33 ONY AJAWNN
37. Geo MACRO Drive User and Reference Manual Erg is the lost energy in joules J i is the current required for the deceleration in amperes A equal to the required deceleration torque divided by the motor s rms torque constant Rpp is the phase to phase resistance of the motor in ohms tq is the deceleration time in seconds s Capacitive Stored Energy in the Drive The energy not lost during the transformation is initially stored as additional capacitive energy due to the increased DC bus voltage The energy storage capability of the drive can be expressed as where E QU n ua B Vm Ec is the additional energy storage capacity in joules J C is the total bus capacitance in Farads V regen is the DC bus voltage at which the regeneration circuit would have to activate in volts V Vnom 15 the normal DC bus voltage in volts V Evaluating the Need for a Regen Resistor Any starting kinetic energy that is not lost in the transformation and cannot be stored as bus capacitive energy must be dumped by the regeneration circuitry in to the regen shunt resistor The following equation can be used to determine whether this will be required Eexcess Eg ELE If Eexcess in this equation is greater than 0 a regen resistor will be required Regen Resistor Power Capacity A given regen resistor will have both a peak instantaneous and a continuous average power dissipation limit It is therefore necessary
38. Note bit 9 is two functions overlapping it will have the value of the error that got triggered first Troubleshooting 117 Geo MACRO Drive User Manual 118 Troubleshooting Geo MACRO Drive User and Reference Manual TURBO PMAC2 RELATED I VARIABLE REFERENCE Ixx10 Motor xx Power On Servo Position Address Range 000000 SFFFFFF Units Turbo PMAC or Multiplexer Port Addresses Default 0 Ixx10 controls whether Turbo PMAC reads an absolute position sensor for Motor xx on power up reset and or with the or commands If an absolute position read is to be done Ixx10 specifies what register 1s read for that absolute position data Ixx95 specifies how the data in this register 1s interpreted If Ixx10 is set to 0 no absolute power on reset position read is performed The power on reset position is considered to be zero even if an absolute sensor reporting a non zero value is used Ixx10 should be set to 0 when an incremental position sensor is used a homing search move is typically then executed to establish a position reference If Ixx10 is set to a non zero value an absolute position read 1s performed for Motor xx at power on reset from the register whose location is specified in Ixx10 unless Bit 2 of Ixx80 is set to 1 This is either the address of a Turbo PMAC register the multiplexed data address on the Multiplexer Port or the number of the MACRO node on the Turbo PMAC depending on the sett
39. Units none Default 0 Geo Macro Drive MI Variable Reference 133 Geo MACRO Drive User Manual MS node MI4 MACRO drive Status Word Read Only 00000000 SFFFFFFFF Bits Range Units This variable when queried reports the value of the current status word bits for the Geo MACRO Station The value reported should be broken into bits Each bit reports the presence or absence of a particular fault on the Station If the bit is 0 the fault has not occurred since Station faults were last cleared If the bit is 1 the fault has occurred since Station faults were last cleared Bit Fault Notes 0 MTR 1 Over Current Motor 1 Over current display Ee or FES 1 MTR 2 Over Current Motor 2 Over current display ET or HET 2 MTR 1 Output Short Circuit Motor 1 Short Circuit display ES or AEF 3 MTR 2 Output Short Circuit Motor 2 Short Circuit display or FIER 4 MTR 1 Over Temperature Motor 1 Over Temperature display SES or HES 5 MTR 2 Over Temperature Motor 2 Over Temperature display ER or FIERY 6 MTR 1 IGBT Over Temperature IGBT 1 Over Temperature display or 7 MTR 2 IGBT Over Temperature IGBT 2 Over Temperature display ES or AET 8 Encoder 1 Loss Encoder 1 Loss display Eh or FE check MS node MI100 and MS node MI107 9 Encoder 2 Loss Encoder 2 Loss
40. command description for the exact actions of this command Function Read motor absolute position Scope Motor specific Syntax The command causes PMAC to perform a read of the absolute position for the addressed motor as defined by Ixx10 and Ixx95 for the motor It performs the same actions that are normally performed during the board s power up reset cycle The command performs the following actions on the addressed motor The motor is killed servo loop open zero command amplifier disabled If the motor is set up for local hardware encoder position capture by input flags with bit 0 of Ixx97 set to 0 to specify hardware capture and bit 18 of Ixx24 set to 0 to specify local not MACRO flag operation these are default values the hardware encoder counter for the same channel as the flag register specified by Ixx25 is set to 0 e g if Ixx25 specifies flags from channel 3 then encoder counter 3 is cleared The motor home complete status bit is cleared The motor position bias register which contains the difference between motor and axis zero positions is set to 0 If Ixx10 for the motor is greater than 0 specifying an absolute position read the sensor is read as specified by Ixx10 and Ixx95 to set the motor actual position The actual position value is set to the sum of the sensor value and the Ixx26 home offset parameter Unless the read is determined to be unsuccessful the motor home complete status bit is set to
41. s They are not the same with the 8 axis or 16 axis MACRO CPU s Firmware 1 005 and newer can only be downloaded to Geo MACRO drives that use logic board 603542 revision 105 and above Secondary Encoders are installed into Geo MACRO drives that use logic board 603542 revision 10A and above Firmware 1 006 gives the user the capability to enable or disable the Motor Over Temperature Input each axis individually MS lt node MI100 Firmware 1 006 gives the user the capability to disable the second motor node for single axis units MS lt node MI100 Firmware 1 006 Enables the Encoder Loss Circuitry Quadrature or Sinusoidal ECO 1629 against 300 603542 10B Friday August 19 2005 Firmware 1 007 gives the ability to the user to turn on 5V and off OV the ENCPWR line of the primary encoder channels which allows resetting of the encoder Appendix D 193
42. ty FHL XR ORLY SUYA LWIA SH 40 ESEO OHI SAAS VINO DL 9 QAE 3 SHOLHIAMME EHEJ GL SLE Tht 20 ENSIS vC TL YLTR XO TLGH HO OL ENEAN ATO 18 Qi LAGASSE HUI OS MW X AIH 51 LIA DL 3lUL OD NO PRLS DL De 51 CM 2M Seca VLN fri 710 X WORN DHL NOMI SHL Appendix A 170 Geo MACRO Drive User and Reference Manual TIO pape 3898 gae conan SD TNO CATH IZZI DNIOL MNDSHS lt 50 00 4 amp 20 N d AVL 1730 T3073IHS OMY bT ADLINGNOD avd CAOT INW Ned WE OTH TWNIWASL ONIH O0pO TIGE9 Ned 7001 dWTd2 X30 SIATNOJY 1000 GZECP N d TwNIMS3I dHIs2 E g Ibkb N d X31D0H Nid E DSNISIDH TPNIWJIJL 3139143233 NDILLdISJS3 ALO L811 51899 Sc 0S l 3LYNIMASLNN os ONISNL MNISHS HLM NTA WNIWAGL O1 O13IHS Ex XXX HIDN3I WAN OL 1 nio 4132530 RED aas advo OL T3JHJVLLY A7IN3NVW33d 38 OL 73477 NO C3LNI d ANI 3 HT 130NT 32V ONISN NDISL A33 JJAWNN l d HLII IJ3LJILLN3UINI 38 01 3741923 Cd6TH 0 ON e 22 CavONVLS YSI LJAW ONY 2442 WYAOOAsd SSINAYH SNISIA AJANN T3133971 NY SLNSNODWOD Q3ZINDSD238 IN HLIM 3OYW 38 OL S3TIHW3SSV SS3N2UVH 3 18V3 ONO 1334 r2 51 ONY J143 L NUIS1 3 V SL 20 6 2 09 022 S3H ONM1 NI 0321319395 SHION31 717 73437 5 SALONS JHL 30 1597 ONY
43. 10 667 11 0B hex 360 360 1181 78420 or 1181 3440 94 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual Ixx91 CB0000 Hex C Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 Value 11110 1 1 1 0 0 0 0 0 0 A M v Hall Effect Offset 0B Reversed Hall Sense 1 Hall Effect Type Phase 1 Setting Up Turbo Motor Operation 95 Geo MACRO Drive User Manual Setting Protection It is important to set the protection for the amplifier motor system for Turbo PMAC2 direct PWM commutation Normally an amplifier has internal protection because it is closing the current loop When Turbo PMAC2 is closing the current loop the amplifier cannot protect itself or the motor from over heating Either set up the protection using one of the Setup Programs or set the Ixx69 Ixx57 and Ixx58 variables manually based on the following specifications Parameter Description Notes MAX ADC Value Maximum Current output of amplifier GMx012xx 7 3 A Peak relative to a value of 32767 in Ixx69 GMx032xx 14 6A Peak GMx05xxx 16 3A Peak GMx10xxx 32 5A Peak GMx15xxx 48 8A Peak GMx201xx 65 A Peak GMx301xx 97 6A Peak x Position in part number is irrelevant Instantaneous Current Limit The lower of th
44. Enabled for MACRO IC 2 Nodes 8 9 12 13 Software Setup 45 Geo MACRO Drive User Manual 176 53333 Enabled for MACRO 3 Nodes 05 Ay Dy Bi Oy 12V 13 171 173 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control 171 173 175 and 177 are 16 bit I variables bits 0 15 in which each bit controls whether PMAC uses the uses MACRO Type 0 protocol or the MACRO Type protocol for the node whose number matches the bit number for the purposes of the auxiliary servo flag transfer for MACRO ICs 0 1 2 and 3 respectively A bit value of 0 sets a Type 0 protocol a bit value of 1 sets a Type 1 protocol All 3U MACRO Station nodes use the Type 1 protocol so each MACRO node used for servo purposes with a MACRO Station must have bit n of 11002 set to 1 Generally 171 170 173 172 175 174 and 177 176 on a Turbo PMAC2 communicating with a MACRO Station Remember that if servo nodes for more than one MACRO Station are commanded from a single MACRO IC the protocol must be selected for all of the active servo nodes on each station 178 MACRO Master Slave Auxiliary Communications Timeout If I78 is set greater than 0 the MACRO Type 1 Master Slave Auxiliary Communications protocol using Node 15 is enabled Turbo PMAC implements this communications protocol using the MACROSLAVE MS MACROSLVREAD MSR and MACROSLVWRITE MSW commands If this function is enabled I78 sets the timeout value in PMAC servo cycles In this
45. Geo MACRO Drive User Manual ngs Cable Draw SINGH 2002 een AFH 37975 LDH CQ GGzvbS 02368 n a 3 OM arts 13000 Ty OL 318vOnddv KENN aS 20 2 assy 31992 AE th gt it LEEY qul CT SALH Omswausaswava vid sues e OGD ads La g 32 391 5IDI Md B3LXINV OG 34l p 327 BIL SIOT H31XIMy COM sp ADT JAIA 00 0 8 9 Ned TOOL dIa X3 DW amp 3alnad3a q d szc amp r Ned X3 DW wNDHH3I dala a00e tree M d X371DW2 Nld 2 ONISNOH TUMIBH3S3I 37139143133 MDIILAT425 521999 ET ep tym DAMM GL DIESE OXITV v EN d amp w1134H OMM MN Canad HOLS 3 134 47 1 03H 318343 OL SHI LIS ATLNANYWadd 38 DI 13877 138v NO WSLNTad AND U8IT3INI ADV 17 ONSA NOS TASS ONY AJIAN Lad HIG SIJILIMdCNI 34 01 318v3 28 61N 00N eco UAVONTLS YSI L33W4 ONY 34 WeAODAd s3gWamH DNDBIM amm 9373951 SINGMDJH UO 3Z2IMOD234 IN HLTA 38 01 S3Dl8HdSsv S 3NWHVvH 3418v2 INOI 1334 tZ ZI que 30g T N ISLA3d8 v SI 20 2560 02 53HJM NE 2313123945 34v SHIDN3 TI TAJI WUISsL 34 8310430 x144nS AHL 40 1557 3Hl ON HIUN3 S3LlDM3U XLJJns JHL 40 511910 LSals JHL SAO 59 q3r3J3d431MI 38v SUM L d T O4lsloads 3SL 43J3HID 33 Nn S31DM E NLIELLdIS25 31 NOLLIA 71
46. H x 8 0 D 164 mm W x 280 mm H x 203 mm D Weight 11 6lbs 5 3kgs 8 Specifications Geo MACRO Drive User and Reference Manual Electrical Specifications 230VAC Input Drives GxL051 GxL101 GxL151 GxL201 GxL301 Nominal Input Voltage VAC Rated Input Voltage VAC Rated Continuous Input Current A 3 3 ACrms Rated Input Power Watts 1315 Frequency Hz Phase Requirements 1 or 3 Charge Peak Inrush Current A Main Bus Capacitance uf Rated Output Voltage V Rated Cont Output Current per Axis Peak Output Current A for 2 seconds Rated Output Power per Axis Watts Nominal DC Bus Over voltage Trip Level VDC Under voltage Lockout Level VDC Turn On Voltage VDC Turn Off Voltage VDC Delta Tau Recommended Load Resistor 300 W Max Contro Input Voltage VDC Logic Input Current A Power Inrush Current A Current Resolution bits Delta Tau Recommended PWM Transistor Frequency kHz rated current Control Minimum Dead Time us Charge Pump Time 96 of PWM period Bus Protection Shunt Regulator Ratings Note All values at ambient temperature of 0 45 C 113F unless otherwise stated Specifications 9 Geo MACRO Drive User Manual GxL012 GxL032 GxL052 GxL102 GxL152 Output Circuits axes Nominal Input Voltage VAC 230 Rated Input Voltage VAC Rated C
47. ICO 11 11 X 078434 X 078435 X 078436 X 078437 ICO 12 Axis7 12 Y 078438 Y 078439 Y 07843A Y 07843B ICO 13 Axis 8 13 Y 07843C Y 07843D Y 07843E Y 07843F ICO 14 Master Master 14 X 078438 X 078439 X 07843A X 07843B ICO 15 Master Slave 15 X 07843C X 07843D X 07843E X 07843F IC1 0 Axis 9 16 Y 079420 Y 079421 Y 079422 Y 079423 IC1 1 Axis 10 17 Y 079424 Y 079425 Y 079426 Y 079427 IC1 2 IO 18 X 079420 X 079421 X 079422 X 079423 Appendix D Geo MACRO Drive User Manual Turbo PMAC2 Node Addresses Continued MACRO Axis IO User Node 24 bit Transfer Node 16 bit upper 16 bits IC Node Node Addresses Transfer Addresses IC1 3 Uo 19 X 079424 X 079425 X 079426 X 079427 IC1 4 Axis 11 20 Y 079428 Y 079429 Y 07942A Y 07942B IC1 5 Axis 12 21 Y 07942C Y 07942D Y 07942E Y 07942F IC1 6 Uo 22 X 079428 X 079429 X 07942A X 07942B IC1 7 Uo 23 X 07942C X 07942D X 07942E X 07942F IC1 8 Axis 13 24 Y 079430 Y 079431 Y 079432 Y 079433 IC1 9 Axis 14 25 Y 079434 Y 079435 Y 079436 Y 079437 IC1 10 26 X 079430 X 079431 X 079432 X 079433 IC1 11 27 X 079434 X 079435 X 079436 X 079437 IC1 12 Axis 15 28 Y 079438 Y 079439 Y 07943A Y 07943B IC1 13
48. command MACSTA lt node gt Stop MACRO ASCII it stops MACRO ASCII communications Sends the online command T Ctrl T Station Specific Commands Reset Station to Default sends the command MS lt node gt and re initializes the MACRO station n on the ring Reset Station to Last Saved sends the online command MS lt node gt and does a reset to the last saved by the user values It is the same with Power cycle at all the units Save Station Variables it saves all the MI variables of the station that the application currently is communicating to The online command is MSSAVE lt node gt Clear Station Faults it clears all the faults unless there is a hardware fault The online command is CLRF lt node gt Software Setup 61 Geo MACRO Drive User Manual PEWIN32PRO Suite 2 MACRO Status window One more new addition to the new PEWIN32PRO Suite2 is the MACRO Status window So as to open it the user needs to select the View Menu from the Menu Bar and click on the MACRO Status PEWIN32PRO2 C PROGRAM FILES DELTA TAU PRO SUITE2 PEWIN32P File Configure View PMAC Resources Backup Setup Tools Window Help Terminal Watch Window Position Jog Ribbon C S Axis Jog Ribbon DPR Viewer Connector Status Motor Status Coordinate System Status Global Status Motor Setup Summary Program PLC Status and Upload Special Program Status and Upload PLCC
49. e Do not touch filters for a period of ten seconds after removing the power supply Motor Line Filtering Motor filtering may not be necessary for CE compliance of Geo Drives However this additional filtering increases the reliability of the system Poor non metallic enclosure surfaces and lengthy unbonded or unshielded motor cables that couple noise line to line differential are some of the factors that may lead to the necessity of motor lead filtering Motor lead noise is either common mode or differential The common mode conducted currents occur between each motor lead and ground line to neutral Differential radiated currents exist from one motor lead to another line to line The filtering of the lines feeding the motor provides additional attenuation of noise currents that may enter surrounding cables and equipment I O ports in close proximity Differential mode currents commonly occur with lengthy motor cables As the cable length increases so does its capacitance and ability to couple noise from line to line While every final system is different and every application of the product causes a slightly different emission profile it may become necessary to use differential mode chokes to provide additional noise attenuation to minimize the radiated emissions The use of a ferrite core placed at the Geo Drive end on each motor lead attenuates differential mode noise and lowers frequency 30 to 60 MHz broadband emissions to within speci
50. it is possible to disable the second primary encoder of the drive check MS lt node gt MI100 variable and enable the appropriate motor nodes For example if the user wants to setup a single axis Geo MACRO Station 1 with one quadrature primary encoder and one secondary encoder he would have to enable two motor nodes no I O nodes are being set for this example 50 1996 5 003 Enable motor nodes 0 and 1 MSO MI100 1 Disable second primary channel MSO MI101 0 or 1 Set up the primary encoder channel for quadrature feedback MSSAVEO All changes to take effect MS 0 or power cycle T100 1 Activates axis 1 position 1200 1 Activates axis 2 position Setting Up Secondary Encoders 75 Geo MACRO Drive User Manual 76 Setting Up Secondary Encoders Geo MACRO Drive User and Reference Manual SETTING UP THE TURBO PMAC CONVERSION TABLE The position feedback from the Geo MACRO drive must be processed in the Turbo PMAC s encoder conversion table ECT before it can be used for servo purposes such as position or velocity loop feedback The position feedback whether primary or secondary appears in the 24 bit Register 0 for the servo node used This is mapped as a Y register in the Turbo PMAC and the servo tasks can only access X registers for their source data So the primary purpose of the Turbo PMAC ECT entries for processing feedback from the Geo MACRO drive is to move the data from the
51. or 1536 for a DC brush motor The testing described below shows how to determine the proper polarity The direct PWM algorithms in the Turbo PMAC are optimized for 3 phase motors and will cause significant torque ripple when used with 2 or 4 phase motors Delta Tau has created user written phase algorithms for these motors contact the factory 1f interested in obtaining these Note It is important to set the value of Ixx72 properly for the system Otherwise the current loop will have unstable positive feedback and want to saturate This could cause damage to the motor the drive or both if overcurrent shutdown features do not work properly If unsure of the current measurement polarity in the drive consult the Testing PWM and Current Feedback Operation section of this manual For commutation with digital current loops the proper setting of Ixx72 is unrelated to the polarity of the encoder counter This is different from commutation with an analog current loops sine wave control in which the polarity of Ixx72 less than or greater than 1024 must match the encoder counter polarity With the digital current loop the polarity of the encoder counter must be set for proper servo operation with the analog current loop once the Ixx72 polarity match has been made for commutation the servo loop polarity match is guaranteed Ixx75 Absolute Phase Position Offset If Ixx81 see below is set to a value greater than zero then PMAC will
52. 1 If Ixx10 for the motor is set to 0 specifying no absolute position read the motor actual position register is set to 0 Because the motor is killed the actual position value is automatically copied into the command position register for the motor There are several things to note with regard to this command The motor is left in the killed state at the end of execution of this command To enable the motor a command should be used if this is a PMAC commutated motor and a phase reference must be established otherwise a J A or lt CTRL A gt command should be used to enable the motor and close the loop If bit 2 of Ixx80 is set to 1 PMAC will not attempt an absolute position read at the board power on reset in this case the command must be used to establish the absolute sensor If bit 2 of Ixx80 is set to 0 the default PMAC will attempt an absolute position read at the board power on reset Absolute Power On Online Commands 161 Geo MACRO Drive User Manual With Ixx10 set to 0 the action of is very similar to that of the HOMEZ command There are a few significant differences however always kills the motor HOMEZ leaves the servo in its existing state sets the present actual position to be zero HOMEZ sets the present commanded position to be zero zeros the hardware encoder counter in most cases HOMEZ does not change the hardware encoder counter All of the motors in a single coordinate system that r
53. 1500 1129 3000 90 elec 1179 3000 1129 1500 150 elec 1179 1500 1129 1500 150 elec 1179 1500 1129 3000 90 elec 1179 3000 1129 1500 30 elec I179 P179 T129 P129 restore previous offsets after test Hall Sensors at 0 120 and 240 179 1179 129 1129 store previous offsets before test 100 Open loop command of zero magnitude Six Step Method U Mx26 V Mx25 W Mx24 1179 3000 1129 0 O elec 1179 0 1129 3000 60 elec 1179 3000 1129 3000 120 elec 1179 3000 1129 0 180 elec 1179 0 I129 3000 120 elec 1179 3000 1129 3000 60 elec 1179 3000 1129 0 0 elec I179 P179 1129 129 restore previous offsets after test Commutation Phase Angle at 240 Ixx72 1365 90 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual Hall Sensors at 30 150 and 270 P179 1179 129 1129 Store previous offsets before test 100 Open loop command of zero magnitude Six Step Method U M126 V M125 W M124 1179 1500 1129 1500 _ 30 elec 1179 3000 1129 1500 30 elec 1179 1500 1129 3000 90 elec 1179 1500 1129 1500 150 elec 1179 3000 1129 1500 150 elec 1179 1500 1129 3000 _ 90 elec 1179 1500 1129 1500 30 elec 1179 179 1129 129 restore previous offsets after
54. 32 of a software count Therefore with the Geo drive a software count is 1 32 the size of a hardware count The following equations express the relationships between the different units when using the Geo Drive 1 line 4 hardware counts 128 software counts 4096 states LSBs line 1 hardware count 32 software counts 1024 states LSBs 1 128 line 1 32 hardware count 1 software count 32 states LSBs 1 4096 line 1 1024 hardware count 1 32 software count 1 state LSB Note that these are all just naming conventions Even the position data that is fractional in terms of software counts 15 real The servo loop can see it and react to it and the trajectory generator command to it 128 whole software counts and 3 bits of fractional counts 1024 states per line One HW count Y Four hardware counts per line The Interpolator can accept a voltage source 1Vp p signal from the encoder The maximum sine cycle frequency input is approximately 8 MHz 1 400 000 SIN cycles sec which gives a maximum speed of about 5 734 billion steps per second When used with a 1000 line sinusoidal rotary encoder there will be 4 096 000 discrete states per revolution 128 000 software counts The maximum calculated electrical speed of this encoder would be 1 400 RPS or 84 000 RPM which exceeds the maximum physical speed of most en
55. Axis 16 29 Y 07943C Y 07943D Y 07943E Y 07943F IC1 14 Master Master 30 X 079438 X 079439 X 07943A X 07943B IC1 15 Master Slave 31 X 07943C X 07943D X 07943E X 07943F IC2 0 Axis 17 32 Y 07A420 Y 07A421 Y 07A422 Y 07A423 IC2 1 Axis 18 33 07 424 Y 07A425 Y 07A426 Y 07A427 IC2 2 34 07 420 X 07A421 07 422 X 07A423 IC2 3 35 07 424 X 07A425 X 07A426 X 07A427 IC2 4 Axis 19 36 Y 07A428 07 429 Y 07A42A Y 07A42B 1C2 5 Axis 20 37 Y 07A42C Y 07A42D Y 07A42E Y 07A42F 1C2 6 38 07 428 X 07A429 X 07A42A X 07A42B IC2 7 Uo 39 X 07A42C X 07A42D X 07A42E X 07A42F IC2 8 Axis 21 40 Y 07A430 Y 07A431 Y 07A432 Y 07A433 1C2 9 Axis 22 41 Y 07A434 07 435 Y 07A436 Y 07A437 IC2 10 42 X 07A430 X 07A431 X 07A432 X 07A433 IC2 11 43 X 07A434 X 07A435 X 07A436 X 07A437 IC2 12 Axis 23 44 07 438 Y 07A439 Y 07A43A Y 07A43B 1C2 13 Axis 24 45 Y 07A43C Y 07A43D Y 07A43E Y 07A43F IC2 14 Master Master 46 X 07A438 X 07A439 X 07A43A X 07A43B IC2 15 Master Slave 47 X 07A43C X 07A43D X 07A43E X 07A43F IC3 0 Axis 25 48 Y 07B420 Y 07B421 Y 07B422 Y 07B423 IC3 1 Axis 26 49 Y 07B424 Y 07B425 Y 07B426 Y 07B427 IC3 2 50 X 07B420 X 07B421 X 07B422 X 07B423 IC3 3 51 X 07B424 X 07B425 X 07B426 X 07B427 IC3 4 Axis 27 52 Y 07B428 Y 07B429 Y 07B42A Y 07B4
56. HLONST S310N3 XIJJfs JHL 40 511910 15313 3Hl S uTI3 Sv T31344331NI 33V SUM 1599 131412348 ASLMASHLO SS3 Nf S310N 1334 0020 1333 0t NMD1IJIS23S3 XXXX NOTLYINg L 171 Appendix A Geo MACRO Drive User Manual ES or as OL 318v2llddv Hd HOLOM ASSY 3ldv3 mu ASS TUT 3 wu JNISW31SAS 7190 vlIT3Q0 Syn S3 t40 7035 ONL L T221L4 N d WHIT ONIENL WpiHs 13 OS 05 lt 50 00 20 M d NYL 17 0 CT3013IHS OMY bI BDIOnINDO 33392 13 XX OF C T Pl M N d WE QT TWNIWASL T 0E 0057 11989 Ned 7001 dWTH2 X30 3I033 m CLEOO ST92r M d X3JlDkD WNIKSSL HIJI 2 0 3182 N d X31D0H NId SNISIDH OWNIWHS3I 313291439334 oT At 835 1817 Slsvd SC 061 31vNIB331LND os DNIS Il ANIAHS HIIM DNI WNIWASL 01 EF XXX HIONGI advo OL Q3HIVLIY ATLNANYWY4d 38 OL Wav 38v NO G3LNtdd ANT 3 HT 131NT 3297 ONISN NDISLA33 e 38MWN 1999 HLI IJ3LJILLN3GINI 38 01 3043 cd6TH 0 ON 22 1 YSI LAAW ANY 2 4427 WYAOOsd SSINAYH SNISIA AJANN 03739971 NY SLNSNODWOD Q3ZINSD238 IN HLIM 3OYW OL S3TIHW3SSV SS3N2VH 3 lHVv23 ONO 1334 r2 S1 ONY J149 N lS1 3 V SL 20 8 2 09 022 S3H N1 NI 031379395 SHION31 TIv NBISIA34 S310N3I XI44NS JHL 30 1597 JHL ONY Hl5N371 S3LON30
57. Integrated bus power supply including soft start and shunt regulator external resistor required Separate 24VDC input to power logic circuitry Complete protection over voltage under voltage over temperature PWM frequency limit minimum dead time motor over temperature short circuit over current input line monitor Ability to drive brushed and brushless permanent magnet servo motors or AC induction motors Single digit LED display and six discrete LEDs for status information Optional safety relay circuitry Please contact factory for more details and pricing Easy setup with Turbo PMAC and UMAC controllers User Interface The Geo Drive family is available in different versions distinguished by their user interface styles Geo MACRO Drives The Geo MACRO Drive interfaces to the controller through the 125 Mbit sec MACRO ring with either a fiber optic or Ethernet electrical medium accepting numerical command values for direct PWM voltages and returning numerical feedback values for phase current motor position and status It accepts many types of position feedback to the master controller as well as axis flags limits home and user and general purpose analog and digital I O Typically the Geo MACRO Drives are commanded by either a PMAC2 Ultralite bus expansion board or a UMAC rack mounted controller with a MACRO interface card This provides a highly distributed hardware solution greatly simplifying system wiring while maintaining a
58. It is generally set to the negative average of the maximum and minimum ADC readings across the cycle MS node MI105 Cosine Encoder Resolver 1 bias Range 32768 32767 Units bits Default 0 This variable sets the value of the bias that is added to the Cosine ADC reading for the first channel before arctangent calculations are done to calculate position It is generally set to the negative average of the maximum and minimum ADC readings across the cycle MS node MI106 Cosine Encoder Resolver 2 bias Range 32768 32767 Units bits Default 0 This variable sets the value of the bias that is added to the Cosine ADC reading for the second channel before arctangent calculations are done to calculate position It is generally set to the negative average of the maximum and minimum ADC readings across the cycle Geo Macro Drive MI Variable Reference 139 Geo MACRO Drive User Manual MS node MI107 Motor 1 Encoder Loss Mask Range 0 SF Units none Default 0 MI107 specifies which encoder loss condition s will cause a shutdown fault on the first motor of the Geo MACRO drive 107 consists of 4 bits each of which permits a shutdown fault on a specific encoder loss condition If bit 0 value of 1 is set to 1 then if the digital quadrature encoder loss detection circuit for the encoder wired into X1 Encoder 1 reports a loss the first motor will be shut down If bit 0 is set to 0 there will be no reactio
59. MACRO Absolute Position Reads Ixx95 720000 740000 F20000 F 40000 Addresses are MACRO Node Numbers MACRO Node Ixx10 for Ixx10 for Ixx10 for Ixx10 for Number MACRO IC 0 MACRO IC 1 MACRO IC2 MACROIC 3 0 000100 000010 000020 000030 1 000001 000011 000021 00003 1 4 000004 000014 000024 000034 5 000005 000015 000025 000035 8 000008 000018 000028 000038 9 000009 000019 000029 000039 12 00000C 00001C 00002C 00003C 13 00000D 00001D 00002D 00003D If obtaining the absolute position through a Delta Tau MACRO Station or equivalent MACRO Station setup variable MI11x for the matching node must be set properly to obtain the type of information desired Ixx25 Ixx24 Flag Address and Mode If the auxiliary functions for Node n of MACRO IC 0 1 2 or 3 have been enabled by setting Bit n of 170 172 174 or 176 respectively to 1 the flag information in Register 3 for the node is copied automatically to and from PMAC RAM register 00347n 00357n 00367n or 00377n respectively In this case Ixx25 should specify the address of the RAM copy not the actual MACRO interface register The following table lists the default values for Ixx25 on a Turbo PMAC2 Ultralite which shows the address of the RAM copy register for each MACRO servo node Turbo 2 Ultralite Ixx25 Defaults
60. MI101 8 IC 1 MS29 MI102 12 or 13 X 79439 8 16 s X 7943A 8 16 s 532 101 9 ICZ2 MS33 MI102 12 or 13 X 7A421 8 16 s X 7A422 8 16 s MS36 MI101 10 IC 2 M537 M1102 12 or 13 X 7A429 8 16 s 7 42 8 16 5 540 101 11 IC 2 M541 M1102 12 or 13 X 7A431 8 16 s X 7A432 8 16 s MS44 MII01 12 IC 2 M545 M1102 12 or 13 X 7A439 8 16 s X 7A43A 8 16 s MS48 MI101 13 IC 3 MS49 MI102 12 or 13 X 7B421 8 16 s X 7B422 8 16 s MS52 MI101 f 14 IC 3 MS53 MI102 12 or 13 X 7B429 8 16 s X 7B42A 8 16 s MS56 MI101 15 IC 3 MS57 MI102 12 or 13 X 7B431 8 16 s X 7B432 8 16 s MS60 MI101 f 16 IC 3 MS61 MI102 12 or 13 X 7B439 8 16 s X 7B43A 8 16 s The ADCs can be set to be read one at a time Resolver 1 or Resolver 2 by setting the MI101 or MI102 to 12 or 13 and then pointing with an M variable at the IC variables Suggested M variables to point to the X registers are M905 and M906 Example M905 gt X 78421 8 16 s M906 gt X 78422 8 16 s Note Setting Up MI101 or MI102 equal to 12 or 13 is only for tuning the phase shift or trouble shooting the resolver inputs Return MI101 or MI102 to its original value for resolver inputs 4 or 5 Appendix D 189 Geo MACRO Drive User Manual Stepping through an Electrical Cycle It is important to know what commands to use in order to force the motor into different locations of the electrical cycle Two different cases wil
61. MI933 can be set equal to 1 which sets the clock output 307 2 KHz while a value of 2 sets the clock output 614 4 KHz to the SSI encoder interface And the highest value the clock can be set would be when MI933 3 setting the clock output 1 23MHz MI933 is setting the clock output for both channels 1 and 2 so user can not have different excitation frequencies for his two SSI interface encoders SSI encoders especially multi turn generally provide absolute position information that eliminates the need for a homing search move to establish a position reference 68 Setting Up Primary Feedback Geo MACRO Drive User and Reference Manual Setting up Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two sinusoidal or quasi sinusoidal encoders and provide encoder position data to the motion processor This interpolator creates 4 096 steps per sine wave cycle The Geo MACRO drive so as to read the sinusoidal encoders needs the device control variable MS lt node gt MI101 for the first channel 1 or MS lt node gt MI102 for the second channel 2 equal to 6 Also the user can reverse the direction of the sinusoidal encoder by setting the MS lt node gt MI910 equal to 3 Clock Wise or 7 CounterClock Wise If the direction decode variable is changed the user must save the setting MSSAVE node and reset the card MS node before the fractional direction sense matches Note Home Capture
62. Output Current A for 2 seconds Rated Output Power per Axis Watts Nominal DC Bus Over voltage Trip Level VDC Under voltage Lockout Level VDC Turn On Voltage VDC Turn Off Voltage VDC Delta Tau Recommended Load Resistor 300 W Max Control Input Voltage VDC 20 27 Logic Input Current A 2A Power Inrush Current A 4A 12 Current Resolution bits Feedback Full scale Signed Reading Amperes 16 26 32 53 48 79 65 05 97 58 Delta Tau Recommended PWM 12 10 3 T isi Frequency KHz rated current ransistor A Control Minimum Dead Tune us 1 6 Charge Pump Time of PWM 5 period Note Bus Protection Shunt Regulator Ratings All values at ambient temperature of 0 45 C 113F unless otherwise stated Specifications 11 Geo MACRO Drive User Manual GxH012 GxH032 GxH052 GxH102 GxH152 Nominal Input Voltage VAC 480 Rated Input Voltage VAC 300 525 Rated Continuous Input Current A ACpms GP Rated Input Power Watts Frequency Hz Phase Requirements Charge Peak Inrush Current A Main Bus Capacitance uf Rated Output Voltage V Rated Current Rated Cont Output Current per Axis Peak Output Current A for 2 seconds Rated Output Power per Axis Watts Nominal DC Bus Over voltage Trip Level VDC Under voltage Lockout
63. PEWIN32PRO2 and sets up the MACRO communications and displays to the user some useful information about his system Sample screens and procedures for these programs are shown in the following section Establishing MACRO Communications with Turbo PMAC Several variables must be set up properly for proper ring operation Usually this is done automatically through use of the Turbo Setup program or with the new application tool PEWIN32PRO2 MACRO Ring ASCII on a PC The following instructions permit direct manual setting of these variables MACRO Ring Frequency Control Variables The MACRO ring update frequency is the phase clock frequency of the ring master controller If there is more than one Turbo PMAC2 controller on the ring only one of them can be the ring master controller others are masters but not ring masters Of course if there is only one Turbo PMAC2 controller on the ring it will be the ring master controller Determining which Turbo PMAC2 technically which MACRO IC on a Turbo PMAC2 is ring master is explained below While the ring master has the capability to force the clock generation of other devices on the ring into synchronization it is strongly recommended that all devices on the ring both other Turbo PMAC2 controllers and any slave devices be set up for the same phase clock frequency Determining which IC sets the phase clock frequency and the actual setting the phase clock frequency for a Turbo PMAC2 controller is explain
64. Software Reference manual shows the common values of offsets used for all the cases where the zero point in the hall effect cycle is at a 0 60 120 180 120 or 60 point where manufacturers generally align the sensors Ixx81 Hall Effect phase settings are described in the Turbo Software manual Ixx91 Hall Effect Setup for Turbo PMAC2 Hex C B 0 0 0 0 Bit 23 22 21 20119 18 17 16 15 14 13 12 1110 9 8 7 6 15 4 3 2110 Value 11 1 0 01 01 1 0 0 000 0 0 00 0 0 0 0 00 0 0 J pe gt v Se Hall Effect Offset 0B Reserved Standard Hall Sense 0 Reversed Hall Sense 1 Hall Effect Type Phase 1 Ixx91 mask 80 40 0B CB For Turbo PMAC2 axis 1 this would give us 1191 SCBO000 Example 2 of Hall Effect Values Rough phasing routines Based on Tests Results OPEN PLC 11 CLEAR IF M128 amp 7 6 171 330 360 1171 ELSE IF M128 amp 7 2 171 270 360 1171 ELSE IF M128 amp 7 3 171 210 360 1171 ELSE IF M128 amp 7 1 171 150 360 1171 ELSE IF M128 amp 7 5 171 90 360 1171 ELSE 171 30 360 1171 ENDI ENDI ENDI ENDI ENDI DISPLC11 CLOSE 192 Appendix D Geo MACRO Drive User and Reference Manual USEFUL NOTES Geo MACRO drives are using 2 axis MACRO station CPU
65. _ E N 1Vpp B 2 Up P gt a OV Supply a DATA DATA CLOCK CLOCK 36 Connections Geo MACRO Drive User and Reference Manual Resolvers The Geo Drive can interface to most industry standard resolvers if the appropriate option is ordered Typical resolvers requiring 5 to 10 kHz excitation frequencies with voltages ranging from 5 to 10V peak to peak are compatible with this drive Fundamentally the Geo Drive connects three differential analog signal pairs to each resolver a single excitation signal pair and two analog feedback signal pairs The wiring diagram below shows an example of how to connect the Geo drive to the Resolver Hardware Setup The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery The wiring diagram to the right shows an example of how to connect the Geo Drive to a Resolver Function Pin ResSin 4 ResSin 17 ResCos 5 ResCos 18 ResOut 11 GND 13 25 X1 or X2 Geo Drive Resolver Wiring Diagram ResCos ResOut GND m GND Twisted pair Screened Cable Notes Terminate shields on pins 13 and 25 Connections 37 Geo MACRO Drive User Manual Connecting Secondary Quad Encoders X8 amp X9 Secondary encoders in the Geo MACRO Amplifier are standard since logic
66. a MACRO Ring Break MRB amp became a Synchronizing Master 14 Real time Data or Amplifier Enable 15 When B13 1 then B15 1 amp is a Station Fault 16 Reserved for future ring protocol control 17 Reserved for future ring protocol control 18 Reserved for future ring protocol control 19 Fast User Defined Command Flag UserCmd1 20 Fast User Defined Command Flag UserCmd2 21 Fast User Defined Command Flag UserCmd3 22 Fast User Defined Command Flag UserCmd4 23 Fast User Defined Command Flag UserCmd5 Note The items in bold are reserved and defined flag locations Turbo PMAC2 Node Addresses MACRO Axis IO User Node 24 bit Transfer Node 16 bit upper 16 bits IC Node Node Addresses Transfer Addresses ICO 0 Axis 1 0 Y 078420 Y 078421 Y 078422 Y 078423 ICO 1 Axis 2 1 Y 078424 Y 078425 Y 078426 Y 078427 ICO 2 IO 2 X 078420 X 078421 X 078422 X 078423 ICO 3 Uo 3 X 078424 X 078425 X 078426 X 078427 ICO 4 Axis 3 4 Y 078428 Y 078429 Y 07842A Y 07842B ICO 5 Axis 4 5 Y 07842C Y 07842D Y 07842E Y 07842F ICO 6 6 X 078428 X 078429 X 07842A X 07842B ICO 7 Uo 7 X 07842C X 07842D X 07842E X 07842F ICO 8 Axis 5 8 Y 078430 Y 078431 Y 078432 Y 078433 ICO 9 Axis 6 9 Y 078434 Y 078435 Y 078436 Y 078437 ICO 10 10 X 078430 X 07843 1 X 078432 X 078433
67. a motor based system by the use of inductors placed between the motor and the amplifier 178 Appendix A Geo MACRO Drive User and Reference Manual Appendix A 179 Geo MACRO Drive User Manual APPENDIX B Schematics X3 Discrete Channel 1 Flags U65 PS2705 4 Channel 2 Flags U10 PS2705 4 x1KSIP8I IN SOCKET 1 1KSIP8I 4 7KSIP8I x1KSIP8l IN SOCKET 4 RPI 1KSIP8I 180 Appendix B Geo MACRO Drive User and Reference Manual General Purpose Inputs 1 4 ug OPT_VO_IN1 R13 12 R30 8 9 OPT lO IN2 R14 12K z1 R31 ri AE OPT IO IN3 R15 12K z R32 OPT I O IN4 R16 12K R33 6 acs es HI 1 1 MMAZ5V6ALT1 MMBZS5VGALT1 MMBZ5V6ALT1 MMBZSVOALT1 P Acs Co D32 D34 ala us aj 4 AC2 Eo 1 2 2 06 07 D8 D9 E2 4 MMBZSS ALTI MMBZaSVALTI 2 acy er HE D33 D35 2 23063 ceo e e PS2705 4 MMBZ33VALT1 MMBZ33VALT1 uf uel lORTN 4 1 General Purpose Outputs 1 4 COM COL N eI WW Di DA f D5 f MBRS140T3 MBRS140T3 MBRS140T3 MBRS140T3 gt F4 l O OUT COL 5 RUEO90 RAYCHEM 308090 Littelfuse OPT_ O_OUT1_EMT F3 OUT2 COL zu bcc 308090 Littelfuse l O OUT2 EMT OUT3 COL A RUE090 RAYCHEM oz
68. active on the matching MACRO Station whether for servo I O or auxiliary communications should have its node activation bit set to 1 When working with a Delta Tau MACRO Station Node 15 of each MACRO IC on a Turbo PMAC2 must be activated to permit auxiliary communications so bit 15 of this variable should always be set to 1 If the IC is used to communicate with a MACRO Station Bits 16 19 Packet Sync Node Slave Number These four bits together usually read as one hex digit form the slave number 0 to 15 of the packet whose receipt by the PMAC2 will set the Sync Packet Received status bit in the MACRO IC Usually this digit is set to F 15 because Node 15 is always activated Turbo PMAC2 must see this bit set regularly otherwise it will assume ring problems and shut down servo and I O outputs on the ring Bit 7 of 16840 must be set to 1 on the MACRO IC 0 of all Turbo PMAC2s that are not ring controllers to enable the synchronization of their phase clocks to that of the ring controller based on receipt of the sync packet 44 Software Setup Geo MACRO Drive User and Reference Manual Bits 20 23 Master Number These four bits together form the master number 0 to 15 of the MACRO IC on the MACRO ring Each MACRO IC acting as a master on the ring whether on the same card or different cards must have its own master number and acts as a separate master station for the purposes of the ring protocol This master number forms half of
69. be ordered with two analog to digital converters option 3 4 5 These A D converters are 16 bit devices that are ready to be used without any software setup Delta Tau uses the Burr Brown ADS8343 for this circuit The analog signals for analog input 1 are wired in to pins 5 ADC1 and 9 ADCI of and for analog input 2 into pins 5 ADC2 and 9 ADC2 of X7 When selected for bipolar mode differential inputs allow the user to apply input voltages to 10 volts 20V p p When selected for unipolar mode the user can apply input voltages from to 10V the negative input ADCn must be grounded To read the A D data from the MACRO device create the M variable definitions to the node associated with the MACRO device The data is transferred into the upper 16 bits of the MACRO IO node registers For example if the Geo MACRO Drive is associated with node 2 then make the following M variable assignment Unipolar The data received is an unsigned 16 bit number scaled from 0 to 10V Octs to 32767cts M3004 gt X 78421 8 16 u ADCO upper 16 bits of IO Node 2 wordl M3005 gt X 78422 8 16 u ADC1 upper 16 bits of IO Node 2 word2 Bipolar The data received is a signed 16 bit number scaled from 10V to 10V 32767cts to 32767cts M3004 gt X 78421 8 16 S ADCO upper 16 bits of IO Node 2 wordl M3005 gt X 78422 8 16 S ADC1 upper 16 bits of IO Node 2 word2 This example also assumes that the IO nodes are activated at both the M
70. board revision 10A and above and are found on Db connectors X8 and X9 They must be Quadrature TTL encoders Hardware Setup The Geo Drive also accepts inputs from two digital quadrature encoders and provides encoder position data to the motion processor X8 is secondary encoder 1 and X9 is secondary encoder 2 The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery Geo Drives encoder interface circuitry employs differential line receivers The wiring diagram on the right shows an example of how to connect the Geo drive to a quadrature encoder Function Pin ChA 1 ChA ChB ChB ChC ChC ENCPWR 5V GND Secondary Encoders Quadrature mm d ee DELE ded NL 7 2 Float Shield Shield 38 Connections Geo MACRO Drive User and Reference Manual Connecting General Purpose I O amp Flags X3 X3 provides the connector for general purpose I O 12 24VDC and the input flags for each axis Positive Limit Negative Limit Home Switch and USER flag input The outputs are rated for 0 5A and have to be set up all sinking or all sourcing no mixing topologies Same is true for the inputs no mixing topologies all sinking or all sourcing
71. display or AEH check MS nodej MI100 and MS node 1108 10 16 Reserved for future use 17 Ring Fault Taxi Error Global Fault Ring Break display b 18 Ring Fault Synch Packet Global Fault Node 15 Synch Packet Fault determined by MIIO display 19 Ring Fault Ring Errors Global Fault Exceeded Ring Error in MI9 display dl 20 Bus Under Voltage Fault Global Fault display EL or 21 Bus Over Voltage Fault Global Fault display EB or FEB 22 De saturated Shunt Fault Global Fault display ED or FIED 23 DC to DC Power Supply Fault Global Fault display EF or FEF Any of the fault bits that are set can be cleared with the MSCLRF node clear fault command or the MS node Station reset command Also look MI6 MS node MI5 Range Units 000000 FFFFFF Error Count Ring Error Counter This variable when queried reports the number of ring communications errors detected by the Geo MACRO Station since the most recent power up reset 134 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual MS node MI6 Status Word Control Range 0 Units none Default 1 MI6 controls what information is returned when the Geo MACRO drive status word MI4 is queried with Function Ring Status Word Bus Voltage value MS node MI6 MS node MI6
72. drive and slows the rise time of the PWM signal into the cable resulting in less voltage overshoot at the motor Introduction 5 Geo MACRO Drive User Manual Introduction Geo MACRO Drive User and Reference Manual SPECIFICATIONS Part Number Geo MACRO Drive Model Number Definition G M L 03 1 R 0 Feedback Options Voltage Rating Direct Mains 0 No options eee Scan L 110 240 VAC per axis is quadrature dif erential H 300 480 VAC encoder with hall effect inputs or SSI absolute encoder 1 Analog Feedback including Continuous Peak Current Rating Option 0 Standard Feedback Sinusoidal RMS ds interpolator e 01 1 5 4 5 Amp one or 3p operation Feedback 03 3 9 Amp one or 39g operation Option 1 Analog Feedback 05 5 10 Amp 39 input for single g need to derate 20 Endat 10 10 20 Amp 39 input VE i oi 3 4 5 Same as Options 0 1 and 2 15 15 30 Amp 39 input described above but with two 16 bit 20 20 40 Amp 39 input analog to digital converter inputs 30 30 60 Amp 39 input Note Any available method can be used for For single phase input need to derate 30 feedback but only one method can be used at any time Feedback method is selected by Number of Axes wiring 1 Single Axis 2 Dual Axis MACRO Link Options F Fiber Optic Product Width According to Ratings R RJ 45 Default Single Wid
73. following error limit is active and as tight as possible so the motor will be killed quickly in the event of a serious phasing search error Absolute Phase Power On Position Address and Format Ixx81 Ixx91 Ixx75 To read an R D converter for absolute phase position Ixx81 is set equal to the MACRO node s position feedback register and Ixx91 is set to 180000 Motor phase offset variable Ixx75 contains the difference between the absolute resolver position and the resulting phase angle position if any Absolute Servo Power On Position Address and Format Ixx10 Ixx95 Turbo PMAC will obtain the absolute servo power on position through the MACRO ring To read an R D converter for absolute power on position Ixx10 specifies the address of the register containing the position data from the Geo MACRO drive which points to the ECT See Appendix under Ixx95 And Ixx95 is set to 5B0000 Parallel X register unsigned value 19 bits Motor xx will do parallel data read of the Turbo PMAC memory at the address specified by Ixx10 Motor offset variable Ixx26 contains the difference between the absolute resolver position and the resulting motor position if any Scaling the Feedback Units The Geo Drive R D converter is a 12 bit converter It reports 4096 separate states per electrical cycle of the resolver per mechanical revolution for a typical 2 pole resolver per half revolution for a 4 pole resolver 74 Setting Up Primary Feedback Geo
74. frequency 2 2586 Khz Now PMAC has PWM Freq 4 5173 Khz Phase Freq 9 0346 Khz Servo Freq 2 2587 Khz Close Back After you select the dominant PWM frequency click on Next A new setup screen will appear to Assign your MACRO Master number to the MACRO IC s For most of the systems default values are good Assign MACRO Master Number to MACRO ICs _ Is this a ring controller on the ring if you have only one Turbo Ultra Light on the ring select Yes Que LIN Note Master Number 0 to 3 is reserved for the Turbo ULtra Light with ring controller in it Master Number 4 to 7 is suggested for first non ring controller Turbo Ultra Light Master Number 8 to 11 is suggested for 2nd non ring controller Turbo Ultra Light and so on Your Master ID number for 1st Macro IC o v Your Master ID number for 2nd Macro IC fi v Your Master ID number for 3rd Macro IC 2 v Your Master ID number for 4th Macro IC JH Close 54 Software Setup Geo MACRO Drive User and Reference Manual The following screen of the Setup program selects which method to use to bind the MACRO stations to the MACRO controller Two methods can be used to bind the stations slave to its master Switch Setting Method is the simpliest way just look up the Switch setting table and set the switch 1 and switch 2 on the MACRO station If for some reason you d like to do switch setti
75. frequency to determine if the amplifier will properly close the current loop Systems with very low time constants need the addition of chokes or in line inductive loads to allow the PMAC to properly close the current loop of the system In general the lower the time constant of the system the higher the PWM frequency must be Calculate the motor time constant by dividing the motor inductance by the resistance of the phases L motor R Tmotor motor The relationship used to determine the minimum PWM frequency is based on the following equation 20 T gt 2z x PWM Hz 20 PWM Hz gt 2 Example Loto 5 80 mH Rmotor 11 50 5 80mH 0 504 T UU motor dd 20 Therefore PWM Hz 6316 Hz 2 x 0 504m sec Based on this calculation set the PWM frequency to at least 6 32kHz Setting Up Turbo Motor Operation 97 Geo MACRO Drive User Manual 98 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual SETTING UP DISCRETE INPUTS AND OUTPUTS Inputs and Outputs For the I O Geo MACRO drive use the 24 bit node register of the activated node Using the I O is accomplished by writing to a node register to activate the desired outputs and reading the same node register to read the status of the inputs In other words the one 24 bit node register is used for both inputs and outputs This is efficient b
76. hardware interface is working properly PMAC s M Variables are used to access the input and output registers directly The examples shown here use the suggested M Variable definitions for Motor 1 Purpose The purpose of these tests is to confirm the basic operation of the hardware circuits on PMAC in the drive and in the motor and to check the proper interrelationships Specifically e Confirm operation of encoder inputs and decode e Confirm operation of PWM outputs e Confirm operation of ADC inputs e Confirm correlation between PWM outputs and ADC inputs 86 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual e Determine proper current loop polarity e Confirm commutation cycle size e Determine proper commutation polarity Preparation First define the M Variables for the encoder counter the three PWM output registers the amplifier enable output bit and the two ADC input registers Using the MACRO suggested definitions for Motor 1 utilizing MACRO IC 0 Node 0 M101 gt Y 078420 0 24 S Channel 102 gt 5078420 8 16 5 Channel M104 gt Y 078421 8 16 S Channel M107 gt Y 078422 8 16 S Channel M105 gt Y 078421 8 16 S Channel 106 gt 5078422 8 16 5 Channel Phase B ADC input value read only M114 gt X 003440 14 Channel 1 Amp Enable command bit Note Encoder position register read only PWM Phase A command value write only PWM Phase B command value write o
77. highly centralized software solution keeping system programming simple Choices for main feedback for each axis A B quadrature encoder sinusoidal encoder with EnDat or Hiperface SSI encoder resolver Secondary A B quadrature encoder for each axis General purpose isolated digital I O 4 in 4 out at 24VDC 2 optional A D converters 12 or 16 bit resolution Note Geo MACRO is not using the regular 8 axis or 16 axis MACRO station CPU A new MACRO CPU was developed for the Geo MACRO drive Introduction 1 Geo MACRO Drive User Manual Geo PMAC Drives The Geo PMAC Drive is a standalone capable integrated controller amplifier with a built in full PMAC 2 controller having stored program capability It can be operated standalone or commanded from a host computer through USB2 0 or 100 Mbps Ethernet ports The controller has the full software capabilities of a PMAC see descriptions with an internal fully digital connection to the advanced Geo power stage providing a convenient compact and cost effective installation for one and two axis systems with easy synchronization to other drives and controls e Choices for main feedback for each axis A B quadrature encoder sinusoidal encoder with EnDat or Hiperface SSI encoder resolver e Secondary A B quadrature encoder for each axis e General purpose isolated digital I O 8 in 6 out at 24VDC e 2 optional A D converters 12 or 16 bit resolution Geo Direct P
78. of the following error for the motor has exceeded the warning limit in Ixx11 Turbo PMAC will consider this the trigger condition for the triggered move Because there is nothing in this mode that can create a hardware capture only software capture should be used with error trigger Ixx97 3 Summarizing the values of Ixx97 and their effect e Ixx97 0 Input trigger hardware position capture e Ixx97 1 Input trigger software position capture e Ixx97 2 Error trigger hardware position capture not useful e Ixx97 3 Error trigger software position capture 132 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual GEO MACRO DRIVE MI VARIABLE REFERENCE The Geo MACRO Station is set up through its own set of initialization I variables which are distinct from the I variables on PMAC Usually they are referenced as MI variables e g MI900 to distinguish them from the PMAC s own I variables although they can be referenced just as I variables These MlI variables can be accessed from the Turbo PMAC2 Ultralite UMAC MACRO through the on line MS nodes MI variable read and MS node MI variable constant write commands or the MSR node MI variable PMAC variable read copy and MSW node MI variable PMAC variable write copy commands either on line or background PLC where node specifies the MACRO node number 0 to 15 variable specifies the number of the Station MI va
79. per real time interrupt every 18 1 servo cycles The time interval set by 180 must be large enough that 182 real time interrupts in PMAC can execute within the time interval or false ring errors will be detected Remember that long motion program calculations can cause skips in the real time interrupt Typically values of 180 setting a time interval of about 20 milliseconds are used 180 can be set according to the formula I80 Desired cycle time msec Servo update frequency kHz For example with the default servo update frequency of 2 26 kHz to get a ring check cycle interval of 20 msec I80 would be set to 20 2 26 45 MACRO Node Addresses The MACRO ring operates by copying registers at high speed across the ring Therefore each Turbo PMAC2 master controller on the ring communicates with its slave stations by reading from and writing to registers in its own address space MACRO hardware handles the data transfers across the ring automatically Starting in Turbo firmware version 1 936 the base addresses of the up to 4 MACRO ICs must be specified in 120 123 for MACRO IC 0 3 respectively Before this the base addresses were fixed at 078400 079400 07 400 and 07B400 respectively Only UMAC Turbo systems can support any other configuration and only rarely will another configuration be used The following table gives the addresses of the MACRO ring registers for Turbo PMAC2 controllers Note It is p
80. pre set threshold of 16 to 30Vdc no AC input power to the drive Shunt Regulator Fault Excessive shunt regulator current fault Check wiring to the shunt regulator resistor to ensure that no short across the resistor or to ground exists Do not reset drive for at least 60 seconds Gate Drive Power Fault Gate power 20V was not detected This fault can occur if the outputs are shorted and the mains for the DC bus are not on Check output wiring to ensure no shorts exists from wire to wire or from any wire to ground If safety relay option ordered must supply 24V DC to satisfy Encoder loss for encoder 1 quadrature or sinusoidal Check your Eh Encoder Loss 1 encoder wiring the encoder power and the Encoder added at 1 006 firmware and above Encoder loss for encoder 2 quadrature or sinusoidal Check your Encoder Loss 2 encoder wiring the encoder power and the Encoder added at 1 006 firmware and above MACRO Network Errors Display Description Notes Cause n Normal Operation Normal Operation with decimal point blinking b MACRO Taxi Fault Possible break somewhere in the fiber or copper network wiring E MACRO Sync Fault A node may exist that has not been enabled on the Master d MACRO Ring Fault Too much or too little data from node 114 Troubleshooting Geo MACRO Drive User and Reference Manual Status LEDs
81. the address byte with each packet sent by the PMAC2 over the MACRO ring The master number can be the same number as the MACRO IC number e g MACRO IC 0 has master number 0 MACRO IC 1 has master number 1 and so on and if there is only one Turbo PMAC2 in the ring this probably will be the case However this is not required The MACRO IC that is the ring controller must have master number 0 if Type 1 master to master auxiliary communications are to be used Hex 0 0 0 0 0 0 Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 The table shown in an above section and in the Hardware Reference Manual for the 3U MACRO Station s SW1 switch setting provides a starting point for the Turbo PMAC2 s 16841 16891 16941 16991 value Additional bits of these I variables may be set to 1 if I O nodes are enabled or if more than one 3U MACRO station is commanded from a single MACRO IC 170 172 174 176 MACRO IC 0 1 2 3 Node Auxiliary Function Enable 170 172 174 and I76 are 16 bit I variables bits 0 15 in which each bit controls the enabling or disabling of the auxiliary flag function for the MACRO node number matching the bit number for MACRO ICs 0 1 2 and 3 respectively A bit value of 1 enables the auxiliary flag function a bit value of 0 disables it If the function is enabled PMAC au
82. there are no amp faults on the drive If there is an amp fault then issue a MS n for that drive where n is an active node on that drive Enable PLC10 Set P2 500 P4 500 P7 0 from the terminal window You should now see some rather noisy values in Mx05 and Mx06 of the watch window Ifthe sign of Mx05 is positive and the sign of Mx06 is negative then the phases match the ADC inputs and Ixx72 will be greater than 1024 For a three phase motor it will be 1365 If not then Ixx72 will be less than 1024 For a three phase motor it will be 683 Set 2 0 4 0 7 0 and Mx54 0 4 Now it is time to check the PWM phasing Set Ixx70 4 the number of poles of your motor for a rotary motor or 1 for a linear motor Set Ixx71 32 counts in one revolution of a rotary motor or 32 counts in one commutation cycle for a linear motor Set Ixx80 for your phasing method it should always be disabled on startup or reset with a MACRO drive the MACRO station will always lose communications with the PMAC on reset or startup and you will need to explicitly reset the MACRO drives after each PMAC reset BEFORE attempting to phase Usually Ixx80 0 Set Ixx73 for the amount of effort used in finding phase Around 3000 is probably ok but this needs to be checked against the maximums for your system and the phasing type If phasing to Halls or an absolute encoder this number can be very small as there will be no actual motion If there is a large load friction or
83. this IC to be synchronized to the ring controller IC every time it receives a ring packet specified by 16841 16890 16940 16990 MACRO IC 1 2 3 Master Configuration A Turbo PMAC2 Ultralite may have additional MACRO ICs if Options 101 102 and or 103 are ordered A UMAC Turbo system may have additional MACRO ICs if Option 1 on an Acc 5E is ordered or if multiple Acc 5E boards are ordered These additional ICs should be set to be masters but not ring controllers by setting 16890 16940 and 16990 respectively to 10 This sets bit 4 of the variable to 1 making the IC a master on the ring These ICs should never be synchronizing masters and since they do not control the clock signals on their own board their internal clocks do not need to be synchronized to the ring only MACRO IC 0 needs to do this 16841 16891 16941 16991 MACRO IC 0 1 2 3 Node Activation Control 16841 16891 16941 and 16991 on Turbo PMAC2 control which of the 16 MACRO nodes for MACRO ICs 0 1 2 and 3 respectively on the card are activated They also control the master station number for their respective ICs and the node number of the packet that creates a synchronization signal The bits of these I variables are arranged as follows Bits 0 15 Activation of MACRO Nodes 0 to 15 respectively 1 active 0 inactive These 16 bits usually read as four hex digits individually control the activation of the MACRO nodes in the MACRO IC on a Turbo PMAC2 Each node that is
84. to compare the required peak and continuous regen power dissipation requirements against the limits for the resistor The peak power dissipation that will occur in the regen resistor in the application will be 2 Vregen R where P neak Ppeak is peak power dissipation in watts W Vegen is the DC bus voltage at which the regeneration circuit activates in volts V R is the resistance value of the regen resistor in ohms Q However this power dissipation will not be occurring all of the time and in most applications only for a small percentage of the time Usually the regen will only be active during the final part of a lengthy deceleration after the DC bus has charged up to the point where it exceeds the regen activation voltage The average power dissipation value can be calculated as on time P peak 100 avg where Payg is average power dissipation in watts W on time is the percentage of time the regen circuit is active Note The Turn on voltage for the shunt circuitry for all Low power Geo drives is 392V high power is 784V There is a Hysteresis of 20V so if the regen turns on 392V 784V it will not turn off until it drops to 372V 744V Bonding The proper bonding of shielded cables is imperative for minimizing noise emissions and increasing immunity levels The bonding effect is to reduce the impedance between the cable shield and the back Connections 29 Geo MACRO Drive User Ma
85. with high resolution feedback requires bit 11 of Ixx24 on the Turbo PMAC to be set to one value 800 or 2 048 Bit 12 of Ixx24 enables the Sub count Capture while the Geo MACRO s MS lt node gt MI7mn0 is set to one Principle of PMAC Interpolation Operation Decoder Counter i T gt BU vA Comparator 1 Bit A D T gt W Sin Cos Differential Signals Analog Amplifier Photo Current Encoder Controller The sine and cosine signals from the encoder are processed in two ways in the Geo Drive board see above diagram First they are sent through comparators that square up the signals into digital quadrature and sent into the quadrature decoding and counting circuit of the Servo IC on the Geo Drive The units of the hardware counter which are called hardware counts are thus 1 4 ofa line For most users this fact is an intermediate value an internal detail that does not concern them However this is important in two cases First if the sinusoidal encoder is used for PMAC based brushless motor commutation the hardware counter not the fully interpolated position value will be used for the commutation position feedback Therefore the units of Ixx71 will be hardware counts Second if the hardware position compare circuits in the Servo IC are used the units of the compare register are hardware counts The same is true of the hardware position capture circuits but often these scaling issues are handled au
86. 0 Capture on Index 6000 Capture on Home Flag 40 0 Capture Flag AND Index Default 0 This parameter determines which of the Flag inputs will be used for position capture if one is used see MI912 and MI913 for secondary encoders Note Immediately after power up the Yaskawa encoder automatically cycles its AB outputs forward and back through a full quadrature cycle to ensure that all of the hall commutation states are available to the controller before any movement is started However if the encoder is powered up at the same time as the Turbo PMAC this will happen before the Servo IC is ready to accept these signals Bit 2 of the channel s status word Invalid De multiplex will be set to 1 if the Servo IC has not seen all of these states when it was ready for them To use this feature it is recommended that the power to the encoder be provided through a software controlled relay to ensure that valid readings of all states have been read before using these signals for power on phasing MS node MI916 Output n Mode Select Range 0 3 Units none 0 Outputs A amp B are PWM Output C is PWM 1 Outputs A amp B are DAC Output C is PWM 2 Outputs A amp B are PWM Output C is 3 Outputs A amp B are DAC Output C is PFM Default 3 MI916 controls what output formats are used on the command output signal lines for machine interface channel n If a three phase direct PWM command format i
87. 00 150 elec I17920 1129 3000 120 elec I17921500 1129 3000 90 elec I17923000 1129 3000 60 elec 1179 3000 1129 1500 30 elec I17923000 1129 0 0 elec 1179 179 1129 129 restore previous offsets after test Note Remember to clear the offsets when finished with the test Ixx79 0 and Ixx29 0 190 Appendix D Geo MACRO Drive User and Reference Manual Now that we know how to step through electrical cycle we must determine the location and values of the Hall Effect Transitions Typically there are two different locations for the transitions 0 60 120 180 120 60 30 90 150 150 90 30 To determine where the transitions occur drive the motor to electrical zero by issuing the following command 179 1179 129 1129 Store previous offsets before test 100 for motor 1 2 for motor 2 etc I179 3000 1129 0 O elec Then write the phase position to 0 and turn off the current to the motor by M171 0 I179 P179 T129 P129 restore previous offsets after test 1k Now that the motor is killed rotate the shaft through the electrical cycle looking for a change of state Once we find the location where the halls change state we can calculate where in the electrical cycle we are by the following formula Electrical Cycle Degrees M171 1171 360 It might be easier to write a short PLC that stores the electrical cycle location similar to the following OPEN PLC 2 CLEAR 171
88. 042815 0031 42815 0031 CONKIT2A Connector D T part number D T part number individuals Molex part number Housing 014 000F02 HSG 44441 2002 24VDC amp 200 000F02 HSG Shunt Resistor Pins 014 043375 001 43375 0001 Housing 014 H00F03 049 42816 0312 Motor x2 200 H00F03 049 5 3pins Pins 014 0428 15 0031 42815 0031 Housing 014 H00F03 049 42816 0312 AC Input 200 H00F03 049 Pins 014 042815 0031 42815 0031 2 Connector D T part number D T part number individuals Molex part number Housing 014 000F02 HSG 44441 2002 24VDC amp 200 000F02 HSG Shunt Resistor Pins 014 043375 001 43375 0001 Housing 014 H00F03 049 42816 0312 Motor x1 200 H00F03 049 5 3pins Pins 014 042815 0031 42815 0031 Housing 014 H00F03 049 42816 0312 AC Input 200 H00F03 049 Pins 014 042815 0031 42815 0031 168 Appendix A Geo MACRO Drive User and Reference Manual CONKIT4A D T part D T part number Molex part number Connector UE number individuals Housing 014 000F02 HSG 44441 2002 24VDC 200 000F02 HSG Pins 014 043375 001 43375 0001 Housing 014 H00F03 049 42816 0312 Shunt Resistor 200 H00F03 049 Pins 014 042815 0031 42815 0031 Motor x1 Housing 014 H00F04 049 42816 0412 200 H00F04 049 4pins Pins 014 042815 0031 42815 0031 Housing 014 H00F04 049 42816 0412 AC Input 200 H00F04 049 Pins 014 042815 0031 42815 0031 Appendix A 169
89. 082 079426 MACRO IC 1 Node 1 Reg 2 I2682 07B426 MACRO IC 3 Node 1 Reg 2 I1182 07942A MACRO IC 1 Node 4 Reg 2 12782 07B42A MACRO IC 3 Node 4 Reg 2 I1282 07942E MACRO IC 1 Node 5 Reg 2 I2882 07 42 MACRO IC 3 Node 5 Reg 2 I1382 079432 MACRO IC 1 Node 8 Reg 2 I2982 07B432 MACRO IC 3 Node 8 Reg 2 I1482 079436 MACRO IC 1 Node 9 Reg 2 13082 07B436 MACRO IC 3 Node 9 Reg 2 I1582 07943A MACRO IC 1 Node 12 Reg 2 13182 07B43A MACRO IC 3 Node 12 Reg 2 11682 07943E MACROIC 1 Node 13 Reg 2 13282 07B43E MACRO IC 3 Node 13 Reg 2 Turbo PMAC2 Related I Variable Reference 125 Geo MACRO Drive User Manual Ixx83 Commutation Feedback Address If the Turbo PMAC2 is performing commutation for Motor xx Ixx01 bit 0 1 providing either 2 phase current commands sine wave output or 3 PWM phase voltage commands direct PWM Ixx83 must specify the address of the ongoing commutation position feedback When commutating over MACRO 1 01 3 the position feedback comes from Register 0 of the MACRO node In this case Ixx83 must contain the address of this MACRO node register The following table contains the default Ixx83 values for Turbo PMAC2 Ultralite boards listing the addresses of the position feedback registers for each MACRO servo node Turbo PMAC2 Ultralite Ixx83 Defaults Ixx83 Value Register Ixx83 Value Register 1183 078420 MACRO IC 0 Node 0 Reg 0 11783
90. 1 20 19 18 17 16 15 14 13 12 11 109 8 7 6 5 4 3 2 1 Value 111 0 0 1 0 1 0 0 0 0 0 0 0 0 0 00 0 0 0 0 0 A NL NS ye Hall Effect Offset 0B Reserved Standard Hall Sense 0 Reversed Hall Sense 1 Hall Effect Type Phase Bit 23 This bit 1s always set to 1 to tell PMAC to turn on Hall Effect Phasing Bit 22 Hall Effect Polarity 0 for standard and 1 for reversed Bits 16 21 HEZ in Hexadecimal format see section 5 above Bits 0 15 Reserved Example For a Geo MACRO drive on Axis 1 using Hall Effects with a HEZ of 60 e and reversed polarity the setting would be 00 9 600360 60 64 10 667 11 0B hex 3600 360 Offset 1181 78420 or 1181 3440 Ixx91 CB0000 Setting Up Turbo Motor Operation 93 Geo MACRO Drive User Manual Hex B 0 0 0 0 Bit 23 22 21 20 19 18 17 16 15 114 13 12 11110 9 8 7 6 5143 2 1 Value 111 0 0 1 0 1 1 0 0 00 0 0 0 0 0 0 0 0 0 0 0 B V ng ANS nm Hall Effect Offset 0B Reserved Reversed Hall Sense 1 Hall Effect Type Phase 1 Ixx81 Hall Effect Setup for Turbo Ultralite with the Geo MACRO Drive Hex 0 7 8
91. 171 1171 360 CLOSE Now put P171 in a watch window and determine one of the transition points Now all transition points should be known and thus be able to determine where the Hall Effect Sensors are located 0 60 120 180 120 60 Hall Sensors at 30 150 and 270 30 90 150 150 90 30 Hall Sensors at 0 120 and 240 Example 1 of Hall Effect Values Turbo PMAC Hall Effect Example with Ixx72 683 Hall Sensors at 30 150 and 270 For the Turbo PMAC the Hall effect method of phasing uses two PMAC I Variables Ixx81 and Ixx91 Ixx81 tells PMAC what address to read for absolute power on phase position information if such information is present Ixx91 tells how the data at the address specified by Ixx81 15 to be interpreted M124 gt X 78000 20 W channel 1 M125 gt X 78000 21 V channel 1 M126 gt X 78000 22 U channel 1 M127 X 78000 20 4 T U V W channel 1 Appendix D 191 Geo MACRO Drive User Manual The HEZ occurs at 60 electrical If the transition of V from 0 to 1 at the HEZ point is in the negative direction like this example then the hall effect sensing would be considered reversed If the transition of V from 0 to 1 at the HEZ is in the positive direction then the hall effect sensing would be considered standard Positive Positive refers to the direction of the electrical cycle The description of Ixx91 in the
92. 2 or AE2 1 MTR 2 Over Current Motor 2 Over current display E7 or AE7 2 MTR 1 Output Short Circuit Motor 1 Short Circuit display or AE3 3 MTR 2 Output Short Circuit Motor 2 Short Circuit display E8 or AE8 4 MTR 1 Over Temperature Motor 1 Over Temperature display E5 or 5 5 MTR 2 Over Temperature Motor 2 Over Temperature display EA or AEA 6 1 IGBT Over Temperature IGBT 1 Over Temperature display E4 or AE4 7 MTR 2 IGBT Over Temperature IGBT 2 Over Temperature display E9 9 8 Encoder 1 Loss Encoder 1 Loss display Eh or check MS node MI100 and MS node MI107 9 Encoder 2 Loss Encoder 2 Loss display EH or AEH check MS node MI100 and MS node 1108 10 16 Reserved for future use 17 Ring Fault Taxi Error Global Fault Ring Break display b 18 Ring Fault Synch Packet Global Fault Node 15 Synch Packet Fault determined by MIIO display 19 Ring Fault Ring Errors Global Fault Exceeded Ring Error in MI9 display d 20 Bus Under Voltage Fault Global Fault display EC or AEC 21 Bus Over Voltage Fault Global Fault display EB or AEB 22 De saturated Shunt Fault Global Fault display ED or AED 23 DC to DC Power Supply Fault Global Fault display EF or AEF Any of the fault bits that are set can be cleared with t
93. 20 23 X00000 Config Master Station Number 0 15 Bits 0 to 15 are individual control bits for the matching node number 0 to 15 If the bit is set to 1 the node is activated if the bit is set to 0 the node is de activated On power up reset these bits are set as defined by the SW1 setting with some motor nodes possibly disabled by MI976 and some I O nodes possibly enabled by MI975 Node 15 should always be activated to support the Type 1 auxiliary communications Bits 16 19 specify the slave number of the packet which will generate the sync pulse on the Geo MACRO Station This is always set to 15 F on the Geo MACRO Station Bits 20 23 specify the master number 0 15 for the Geo MACRO Station At power up reset these bits get the value set by SW2 The number must be specified whether the card is a master station or a slave station Hex 0 0 0 0 0 0 Bit Slave node Enables Sync node Address 0 15 Master Address 0 15 Geo Macro Drive MI Variable Reference 159 Geo MACRO Drive User Manual MS node MI997 Phase Clock Frequency Control Range 0 15 Units PHASE Clock Frequency MaxPhase Frequency MI997 1 Default 0 PHASE Clock Frequency 9 0346 kHz 1 9 0346 kHz with default value of MI992 MI997 in co
94. 24 0 24 Bit 07 22 X 079428 0 24 Bit 08 Input 1 23 X 07942C 0 24 Bit 09 Input 2 26 X 079430 0 24 Bit 10 Input 3 27 X 079434 0 24 Bit 11 Input 4 34 X 078420 0 24 Bit 12 Output 1 35 X 07A424 0 24 Bit 13 Output 2 38 X 07A428 0 24 Bit 14 Output 3 39 X 07A42C 0 24 Bit 15 Output 4 42 X 07A430 0 24 Bit 16 43 X 07A434 0 24 Bit 17 50 X 07B420 0 24 Bit 18 51 X 07B424 0 24 Bit 19 User Flag Motor 2 54 X 07B428 0 24 Bit 20 Halls T Motor 2 55 X 07B42C 0 24 Bit 21 Halls U Motor 2 58 X 07B430 0 24 Bit 22 Halls V Motor 2 59 X 07B434 0 24 Bit 23 Halls W Motor 2 Setting Up Discrete Inputs and Outputs 99 Geo MACRO Drive User Manual Ring Break Output indicator MS node MI13 In case of a ring break error MI13 controls the Geo MACRO output lines and only as a safety feature Choose what the output state would be in a ring break situation High 12 24V or Low GND for each individual output depending on sinking or sourcing setup Default MI13 equals 0 so in case of ring break all outputs are turned off version 1 005 and above T yang 13 Supa Case OF Rig Break Error Qua Eos Outs 3 E Dou BUE PE COM EMT pin10 is wired to GND and pin 9 COM COL is let floating COM COL pin 9 is wired to 12 24V and pin 10 COM EMT is let floating Setting up the Analog Inputs X6 and X7 The MACRO Geo Drive can
95. 2B IC3 5 Axis 28 53 Y 07B42C Y 07B42D Y 07B42E Y 07B42F IC3 6 54 X 07B428 X 07B429 X 07B42A X 07B42B IC3 7 55 X 07B42C X 07B42D X 07B42E X 07B42F IC3 8 Axis 29 56 Y 07B430 Y 07B431 Y 07B432 Y 07B433 IC3 9 Axis 30 57 Y 07B434 Y 07B435 Y 07B436 Y 07B437 1C3 10 58 X 07B430 X 07B431 X 07B432 X 07B433 1C3 11 59 X 07B434 X 07B435 X 07B436 X 07B437 1C3 12 Axis 31 60 Y 07B438 Y 07B439 Y 07B43A Y 07B43B 1C3 13 Axis 32 61 Y 07B43C Y 07B43D Y 07B43E Y 07B43F IC3 14 Master Master 62 X 07B438 X 07B439 X 07B43A X 07B43B 1C3 15 Master Slave 63 X 07B43C X 07B43D X 07B43E X 07B43F 188 Appendix D Geo MACRO Drive User and Reference Manual ADC Register Table Geo Drive Value Sin Cos MSO0 MII0I 1 IC 0 MS1 M1102 12 or 13 78421 8 16 5 X 78422 8 16 s MS4 MI101 2 IC 0 MS5 M1102 12 or 13 78429 8 16 5 X 7842A 8 16 s MS8 MI101 f 3 IC 0 MS9 M1102 12 or 13 X 7843 1 8 16 s X 78432 8 16 s MS12 MI101 4 IC 0 MS13 MI102 12 or 13 78439 8 16 5 X 7843A 8 16 s MS16 MI101 5 IC 1 MS17 MI102 12 or 13 79421 8 16 5 X 79422 8 16 s MS20 MI101 6 IC 1 MS21 MII02 12 or 13 X 79429 8 16 s X 7942A 8 16 s MS24 MI101 f 7 IC 1 MS25 MI102 12 or 13 79431 8 16 5 X 79432 8 16 s MS28
96. 3 M227 gt X 003441 23 Channel 2 T flag M228 gt X 078424 20 4 M228 gt X S003441 20 4 Channel 2 TUVW as a 4 bit value M271 gt X 0134 0 24 S M271 gt X 0134 0 24 S Channel 2 Phase Position Register Note Either addressing can be used with Geo MACRO drive Make these definitions and add these variables to the Watch window delete other variables that no longer need to be monitored With the motor killed move the motor slowly by hand to verify that the inputs that should change do change To map the hall effect sensors use the current loop six step test or a variant of it to force the motor to known positions in the commutation cycle and observe the states of the hall effect signals Calculating the Hall Effect Zero Point HEZ The first step in finding the Hall Effect Zero point is to create a chart of the Hall Sensor Values at different points in the Electrical Cycle Use the Current Loop 6 step method to do this Perform the Current Loop 6 step method as described below and record the U M126 V M125 and W M124 values at each step in the procedure Current Loop Six Step Procedure Commutation Phase Angle at 120 Ixx72 683 Hall Sensors at 30 150 and 270 P179 1179 P129 1129 store previous offsets before test 100 Open loop command of zero magnitude Six Step Method U Mx26 V Mx25 W Mx24 1179 3000 1129 1500 30 elec 1179 1500 1129 1500 30 elec 1179
97. 34 S310N3I XI44NS JHL 30 TR ALS 83s 1597 3Hl ONY HLONST S310N3 IST 51499 XI44NS BHL JO 511910 1 14 3Hl SMOTO4 Sv T3l3NdH31NI 339 SUN 1599 131412348 3SI e3H1U SS3 Nf S310N 03151 OT W31I 03119915 Q3LYNIHAJLNA AIO dWIXI TIVLSNI 19 71 19 21 9 11 Nuo NO Ld 1333 0 00 N IIJIS3S3 XXXX EF XXX HLON31 NOTLY Ng L GY OHW AN nix 4152530 RED 175 Appendix A Geo MACRO Drive User Manual Regenerative Resistor GAR78 48 Model Description 1 5 4 5A 3 9A 5 10A 10 20A 15 30A 20 40A 30 60A 300W 78 OHM regenerative resistor with Thermostat GARS protection Includes 18 inch wire cable single or dual axis 300W 48 OHM regenerative resistor with Thermostat GARAS protection Includes 18 inch y wire cable single or dual axis 300W 48 OHM regenerative resistor with Thermostat Mente protection Includes 18 inch y wire cable 1 E th 1 1 Specifications N Continuous Wattage 300 Watts 1 Hi Pot 2500VAC 1 Second Thermostat Normally Closed 418VAC 1 Open at 227 11 degrees C 008 0GAR48 is 48 ohms 008 0GAR78 is 78 Ohms Leads Resistor 18 inch High Temp 14 AWG Min White Thermostat 18 Inch High Temp 16 AWG Min Black Vendor Reference Numbers 008 06 48 SPR822 1 008 0GAR78 SPR822 2 IRV Series
98. 4 2 0 Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Value 0 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 E um M Source Address 78420 Or Ixx81 Hall Effect Setup for Turbo Ultralite with the Geo MACRO Drive Hex 0 0 3 4 4 0 Bit 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Value 1 1 1 4 Source Address 03440 The Ixx81 setting contains the location of the Hall Effect Data and is channel dependent The above setting is Channel 1 on a Turbo PMAC 2 Ultralite and the address would be 3440 or 78420 same Ixx91 Hall Effect Setup for Turbo Hex B 0 0 0 0 Bit 23 22 21120 19 18 17 16 15 14 13 121111109 87 615 4 32 10 Value 1 1 0 0 1 0 1 1 00 00 00 0 0 00 00 0 00 0 EP l d M9 Hall Effect Offset 0B Reserved Standard Hall Sense 0 Reversed Hall Sense 1 Hall Effect Type Phase 1 Bit 23 This bit 1s always set to 1 to tell PMAC to turn on Hall Effect Phasing Bit 22 Hall Effect Polarity 0 for standard and 1 for reversed Bits 16 21 HEZ in Hexadecimal format see section 5 above Bits 0 15 Reserved Example For a Geo MACRO drive on Axis using Hall Effects with a HEZ of 60 e and reversed polarity the setting would be 60 95360 60 Offset 64 64
99. 425 X 079426 X 079427 4 Y 079428 Y 079429 Y 07942A Y 07942B 5 Y 07942C Y 07942D Y 07942E Y 07942F 6 X 079428 X 079429 X 07942A X 07942B 7 X 07942C X 07942D X 07942E X 07942F Y 079430 Y 079431 Y 079432 Y 079433 9 Y 079434 Y 079435 Y 079436 Y 079437 10 X 079430 X 079431 X 079432 X 079433 11 079434 079435 079436 079437 12 Y 079438 Y 079439 Y 07943A Y 07943B 13 Y 07943C Y 07943D Y 07943E Y 07943F 14 X 079438 X 079439 X 07943A X 07943B 15 X 07943C X 07943D X 07943E X 07943F 48 Software Setup Geo MACRO Drive User and Reference Manual Register Addresses for MACRO 2 with 122 07A400 default Turbo PMAC2 Addresses MACRO IC 2 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 07A420 Y 07A421 Y 07A422 Y 07A423 1 Y 07A424 Y 07A425 Y 07A426 Y 07A427 2 X 07A420 X 07A421 X 07A422 X 07A423 3 X 07A424 X 07A425 X 07A426 X 07A427 4 Y 07A428 Y 07A429 Y 07A42A Y 07A42B 5 Y 07A42C Y 07A42D Y 07A42E Y 07A42F 6 X 07A428 X 07A429 X 07A42A X 07A42B 7 X 07A42C X 07A42D X 07A42E X 07A42F 8 Y 07A430 Y 07A431 Y 07A432 Y 07A433 9 Y 07A434 Y 07A435 Y 07A436 Y 07A437 10 X 07A430 X 07A431 X 07A432 X 07A433 11 07 434 07 435 07 436 07 437 12 Y 07A438 Y 07A439 Y 07A43A Y 07A
100. 43B 13 Y 07A43C Y 07A43D Y 07A43E Y 07A43F 14 X 07A438 X 07A439 X 07A43A X 07A43B 15 X 07A43C X 07A43D X 07A43E X 07A43F Register Addresses for MACRO IC 3 with I23 07B400 default Turbo PMAC2 Addresses MACRO IC 3 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 07B420 Y 07B421 Y 07B422 Y 07B423 1 Y 07B424 Y 07B425 Y 07B426 Y 07B427 2 X 07B420 X 07B421 X 07B422 X 07B423 3 X 07B424 X 07B425 X 07B426 X 07B427 4 Y 07B428 Y 07B429 Y 07B42A Y 07B42B 5 Y 07B42C Y 07B42D Y 07B42E Y 07B42F 6 X 07B428 X 07B429 X 07B42A X 07B42B 7 X 07B42C X 07B42D X 07B42E X 07B42F Y 07B430 Y 07B431 Y 07B432 Y 07B433 9 Y 07B434 Y 07B435 Y 07B436 Y 07B437 10 X 07B430 X 07B431 X 07B432 X 07B433 11 07 434 07 435 07 436 07 437 12 07 438 Y 07B439 Y 07B43A Y 07B43B 13 07 43 Y 07B43D Y 07B43E Y 07B43F 14 X 07B438 X 07B439 X 07B43A X 07B43B 15 X 07B43C X 07B43D X 07B43E X 07B43F Software Setup 49 Geo MACRO Drive User Manual Note With the MACRO station only nodes that map into Turbo PMAC2 Y registers 0 1 4 5 8 9 12 and 13 can be used for servo control These nodes are unshaded in the above table The nodes that map into X registers 2 3 6 7 10 11 and 14 can be used for I O control Node 15 is reserved for Type 1 auxiliary communications Node 14 is often reserved for broadcast communications 50 Software Set
101. 5 18005 18000 53506 18006 603503 3507 Read Y X word parallel no filtering 2 line entry 3508 Uses 19 bits 013 parallel data shifted by 5 bits 01D 18007 501301 Ne Ne Ne Ne Ne Ne Ne MS0 MI101 0 Geol chl quadrature MS1 MI102 5 Geol ch2 resolver MS4 MI101 0 Geo2 chl quadrature Ixx97 Motor xx Position Capture and Trigger Mode Range 0 3 Units none Default 0 Ixx97 controls the triggering function and the position capture function for triggered moves on Motor xx These triggered moves include homing search moves on line jog until trigger moves and motion program RAPID mode move until trigger Ixx97 is a 2 bit value bit 0 controls the how the capture of the trigger position is done the post trigger move is relative to the trigger position and bit 1 specifies what the trigger condition is Hardware Capture If Ixx97 is set to 0 or 2 bit 0 0 Turbo PMAC will use the hardware captured position in the Servo IC as the trigger position This is the flag capture register associated with the flag set used for the motor as specified for Ixx25 In order for this to work properly the position loop Turbo PMAC2 Related I Variable Reference 131 Geo MACRO Drive User Manual feedback for Motor xx as specified by Ixx03 and the conversion table must be received through the encoder counter of the same hardware interface channel as used for the flag set e g if flag set 2 is used encoder 2 must be use
102. 9 Ixx97 Motor xx Position Capture and Trigger Mode sees eene 131 GEO MACRO DRIVE MI VARIABLE REFERENCE ee eeeeen eee teen ne ntn stans tn snnt tn saneta enses totas enean 133 EDI M 133 MSfnode MIO Geo MACRO drive Firmware Version Read Only eee 133 MS node MII Geo MACRO drive Firmware Date Read Only see 133 MSf node MI2 and Reserved for future 133 MS node MI4_ Geo MACRO drive Status Word Read Only sese 134 MSfnode MIS Ring Error Counter essere ener nennen rentre entrent 134 MSfnode MI6 Status Word Control sse esee entente rene ener eerte nnne 135 MSf node MI7 Geo MACRO Error Counter essere ener entrent nre 135 MS node MIS Geo MACRO Ring Check Period sse 135 MS node MI9 Geo MACRO Ring Error Shutdown Count sess 135 5 Geo MACRO Sync Packet Shutdown Count eee 136 MSf node MI11 Station Order Number seen nre rre enne 136 MSfnode MII2 Card Identification Read reete enne 137 MSfnode MII3 Ring Break Output indicator essen eene 137 MSfnode MII00 Motor Activation Control word sse eere 138 MSfnodej MII01 102 Primary Feedback Selection senes 138 MSfnode MII03 Sin Encoder Resolv
103. 94 C181 TP5 HEADER 10 Lb 24 0k 1 22 pf TP R309 C201 TP8 24 0k 1 22pf TP C202 R104 22pf 3 01k 0 1 24 0k 1 R95 E U46D 1 ch3 12 AD824AR 3 01k 0 1 R105 S014 X8 and X9 Secondary Encoders 3 and 4 RP16 19 220S IP6 1 2 ENCODER 3 4 SOCKET J10 9 CHA3 4 1 2ECHA _ 4 12 _ 00 12 E d CHB3 A4 1 2ECHB 1 2ECHB E F CHB3 4A 12 4 1 2ECHB E o o CHC3 4 1 2ECHC 5p CHC3 A 1I2ECHC 1 2 6 D 1 2ECHC 7 K 1 2EC_ENA lt 1 2EC_ENA 9 10 HEADER 10 Appendix B 183 Geo MACRO Drive User Manual APPENDIX C Communication to the Geo MACRO via the USB Port The USB port on the MACRO is actually a Serial to USB converter The appropriate driver must be installed Download the driver from the Delta Tau website under downloads Software Set up the HyperTerminal so that the Flow control is set to None If Flow control is set to Hardware Windows will lock up The step by step procedure to communicate to the Geo MACRO via the HyperTerminal is as follows Power on the PC with the Geo Macro powered off 2 With the Geo Macro still powered off plug in the USB cable to both the Geo Macro and the PC 3 Power ON the Amplifier 4 Launch a HyperTerminal session with the settings below Baud Rate 38400 Data Bits 8 Parity None Stop Bits 1 Flow control None Baud38400 HyperTerminal Port Settings
104. A436 MACRO IC 2 Node 9 Reg 2 12382 07A43A MACRO IC 2 Node 12 Reg 2 12482 07A43E MACRO IC 2 Node 13 Reg 2 12582 07B422 MACRO IC 3 Node 0 Reg 2 12682 07B426 MACRO IC 3 Node 1 Reg 2 12782 07B42A MACRO IC 3 Node 4 Reg 2 12882 07B42E MACRO IC 3 Node 5 Reg 2 12982 07B432 MACRO IC 3 Node 8 Reg 2 13082 07B436 MACRO IC 3 Node 9 Reg 2 13182 07B43A MACRO IC 3 Node 12 Reg 2 13282 07B43E MACRO IC 3 Node 13 Reg 2 Ixx83 node address base node address 0 commutation position feedback address 1183 078420 MACRO IC 0 Node 0 Reg 0 1283 078424 MACRO IC 0 Node 1 Reg 0 1383 078428 MACRO IC 0 Node 4 Reg 0 1483 07842C MACRO IC 0 Node 5 Reg 0 1583 078430 MACRO IC 0 Node 8 Reg 0 1683 078434 MACRO IC 0 Node 9 Reg 0 1783 078438 MACRO IC 0 Node 12 Reg 0 1883 07843C MACRO IC 0 Node 13 Reg 0 1983 079420 MACRO IC 1 Node 0 Reg 0 11083 079424 MACRO IC 1 Node 1 Reg 0 11183 079428 MACRO IC 1 Node 4 Reg 0 11283 07942C MACRO IC 1 Node 5 Reg 0 11383 079430 MACRO IC 1 Node 8 Reg 0 11483 079434 MACRO IC 1 Node 9 Reg 0 11583 079438 MACRO IC 1 Node 12 Reg 0 11683 07943C MACRO IC 1 Node 13 Reg 0 11783 07A420 MACRO IC 2 Node 0 Reg 0 11883 07A424 MACRO IC 2 Node 1 Reg 0 11983 07A428 MACRO IC 2 Node 4 Reg 0 12083 07A42C MACRO IC 2 Node 5 Reg 0 12183 07A430 MACRO IC 2 Node 8 Reg 0 12283 07A434 MACRO IC 2 Node 9 Reg 0 12383 07A438 MACRO IC 2 Node 12 Reg 0 12483 07A43C MACRO IC 2 Node 13 Reg 0 12583 07B420 M
105. ACRO IC 3 Node 0 Reg 0 12683 07B424 MACRO IC 3 Node 1 Reg 0 12783 07B428 MACRO IC 3 Node 4 Reg 0 12883 07B42C MACRO IC 3 Node 5 Reg 0 12983 07B430 MACRO IC 3 Node 8 Reg 0 13083 07B434 MACRO IC 3 Node 9 Reg 0 13183 07B438 MACRO IC 3 Node 12 Reg 0 13283 07B43C MACRO IC 3 Node 13 Reg 0 Ixx84 fff000 mask word Special settings are needed to use the direct PWM algorithms for DC brush motors The basic idea is to trick the commutation algorithm into thinking that the commutation angle is always stuck at 0 degrees so current into the A phase is always quadrature torque producing current These instructions assume The brush motor s rotor field comes from permanent magnets or a wound field excited by a separate means the field is not controlled by one of the phases of this channel 80 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual e two leads of the brush motor s armature are connected to amplifier phases half bridges that are driven by the A and C phase PWM commands from Turbo PMAC The amplifier may have an unused B phase half bridge but this does not need to be present The following settings are the same as for permanent magnet brushless servo motors with an absolute phase reference e Ixx01 3 commutation over the MACRO ring e Ixx02 should contain the address of the PWM register for the output channel used or the MACRO Node register 0 these are the default
106. ACRO Peripheral Device Slave and at the Turbo Ultralite UMAC Master 100 Setting Up Discrete Inputs and Outputs Geo MACRO Drive User and Reference Manual The following table lists the locations of the ADCs if using other node locations User Node ADCO X6 X 078421 8 16 S X 078425 8 16 S X 078429 8 16 S X 07842D 8 16 S X 078431 8 16 S X 078435 8 16 S X 079421 8 16 S X 079425 8 16 S X 079429 8 16 S X 07942D 8 16 S X 079431 8 16 S X 079435 8 16 S X 07A421 8 16 S X 07A425 8 16 S X 07A429 8 16 S X 07A42D 8 16 S X 07A431 8 16 S X 07A435 8 16 S X 07B421 8 16 S X 07B425 8 16 S X 07B429 8 16 S X 07B42D 8 16 S X 07B431 8 16 S X 07B435 8 16 S N N ADC1 X7 X 078422 8 16 S X 078426 8 16 S X 07842A 8 16 S X 07842E 8 16 S X 078432 8 16 S X 078436 8 16 S X 079422 8 16 S X 079426 8 16 S X 07942A 8 16 S X 07942E 8 16 S X 079432 8 16 S X 079436 8 16 S X 07A422 8 16 S X 07A426 8 16 S X 07A42A 8 16 S X 07A42E 8 16 S X 07A432 8 16 S X 07A436 8 16 S X 07B422 8 16 S X 07B426 8 16 S X 07B42A 8 16 S X 07B42E 8 16 S X 07B432 8 16 S X 07B436 8 16 S Setting Up Discrete Inputs and Outputs 101 Geo MACRO Drive User Manual Limit and Flag Circuit Wiring The Geo PMAC allows the use of sinking or sourcing position limits and flags to the controller The opto isolator IC used is a PS2705 4NEC ND quad phototransistor output type Thi
107. EO MACRO DRIVES eeeeeeee seen ene en enne tn nennen sensns etn sn ne tosta suns to sensn ses tn sen tn 43 Introductio 43 Establishing MACRO Communications with Turbo PMAC nre enne 43 MACRO Ring Frequency Control Variables eese ethernet nennen nennen entere nnne 43 17 Phase Cycle Extension sese 43 16840 MACRO IC 0 Master Configuration essent nre tren etren rennen nnne nnne 44 16890 16940 16990 MACRO IC 1 2 3 Master Configuration eese eee 44 16841 16891 16941 16991 MACRO IC 0 1 2 3 Node Activation Control eee 44 170 I72 174 176 MACRO IC 0 1 2 3 Node Auxiliary Function Enable eee 45 171 I73 175 177 MACRO IC 0 1 2 3 Node Protocol Type Control see een 46 178 MACRO Master Slave Auxiliary Communications Timeout eee eene 46 179 MACRO Master Master Auxiliary Communications Timeout 46 180 181 182 MACRO Ring Check Period and Limits esses eee 46 MACRO Node Addresses iioi ele re ORDRE HERE LIMES SEO REPERI ER 47 Using the Turbo PMAC Setup 51 Using the PEWIN32PRO 2 MACRO Ring ASCII Feature eese eene ennt nre 58 PEWIN32PRO Suite 2 MACRO Status window eese eene entente trennen trente enne 62 Ring Order Communications Method 63 MACRO ASCH Commu
108. EQUI Output Position Compare 1 0V to 5V 5 EQU2 Output Position Compare 2 0V to 5V Connectors 109 Geo MACRO Drive User Manual 6 GND Common Part Type FKMC 0 5 6 ST 2 5 p n 18 81 36 7 PMAC GND Position Compare Port Driver IC As with the other PMAC controllers the Geo drive has high speed position compare outputs allowing the firing of an output based on position This circuit will fire within 100 nsec of reaching the desired position The position compare output port on the Geo MACRO drive has driver IC at component U1A and U1B This IC gives a fast CMOS driver Max Voltage and Current Output Type DS75452N 8 5V 10 mA Totem Pole CMOS J1 AC Input Connector Pinout Pin Symbol Function Description Notes 1 L3 Input Line Phase 3 40VAC to 2 L2 Input Line Phase 2 480VAC 3 L1 Input Line Phase 1 On Gxx201xx and Gxx301xx there is a fourth pin for Ground connection Connector is located at the bottom side of the unit J2 Motor 1 Output Connector Pinout Pin Symbol Function Description Notes 1 U Output Axis Phasel 2 V Output Axis 1 Phase2 3 W Output Axis 1 Phase3 On Gxx201xx and Gxx301xx there is a fourth pin for Ground connection Connector is located at the top side of the unit J3 Motor 2 Output Connector Pinout Optional Pin Symbol Funct
109. Flag Register Set 49 I1181 003454 MACRO Flag Register Set 20 12781 003474 MACRO Flag Register Set 52 I1281 003455 MACRO Flag Register Set 21 12881 003475 MACRO Flag Register Set 53 11381 003458 MACRO Flag Register Set 24 12981 003478 MACRO Flag Register Set 56 11481 003459 MACRO Flag Register Set 25 13081 003479 MACRO Flag Register Set 57 I1581 00345C MACRO Flag Register Set 28 13181 00347C MACRO Flag Register Set 60 I1681 00345D MACRO Flag Register Set 29 13281 00347D MACRO Flag Register Set 61 Because phase position needs only to be known within a single revolution any geared down secondary absolute sensors are not relevant for this purpose They may still be used for power on position information for the servo loop with Ixx10 Ixx99 and Ixx98 In general the zero position of the absolute sensor will not be the same as the zero position of the commutation cycle Parameter Ixx75 is used to hold the offset between these two reference positions Ixx95 Motor xx Power On Servo Position Format Range 000000 SFFFFFF Units none Default 000000 Ixx95 specifies how the absolute power on servo position data if any for Motor xx is interpreted Ixx10 specifies the address of the register containing this position data Ixx95 controls how that data 1s read This permits the use of a wide
110. Geo MACRO Drive N 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 818 998 2095 Fax 818 998 7807 www deltatau com Copyright Information 2010 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 products accessories and amplifiers 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 causing el
111. I102 6 for sinusoidal encoder If needed the direction decode can also be reversed with MS lt node gt MI910 equal to 3 CW or 7 CCW The commutation uses the hardware counter There are 200 hardware counts per millimeter 5 microns per count so 12 192 hardware counts per commutation cycle Ixx70 should be set to 1 and Ixx71 should be set to 12 192 The servo uses the interpolated results of the conversion table With 128 software counts per line and 50 lines per millimeter there are 6400 software counts per millimeter or 162 560 software counts per inch The measurement resolution at 4096 states per line is 204 800 states per mm 5 nanometers state Setting Up Primary Feedback 71 Geo MACRO Drive User Manual Setting up Endat The Geo Drive can be ordered to accept Heidenhain Corporations proprietary Endat 2 1 absolute feedback Requires firmware version 1 009 or higher on the Geo MACRO New variables 1 MII11 and MI112 are the two new I variables that will be used on the Geo MACRO to setup the Endat power on position and phasing These variables read the absolute position into MI920 for the respective node The MI920 returns a 48 bit value The MI111 and MI112 are set as follows Bits 0 4 First Shift Left to move the MSB of the data being read to the 47 bit Bits 8 12 Second Shift Right to scale the data properly with the ongoing position Bit 13 0 for 1 error bit 1 for 2 error bits Bit 14 Complement the d
112. I997 and MI992 determines the frequency of the SERVO clock on the Geo MACRO Station Specifically MI998 controls how many times the SERVO clock frequency is divided down from the PHASE clock whose frequency is set by MI992 and MI997 The SERVO clock frequency is equal to the PHASE clock frequency divided by MI998 1 MI998 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for MI998 is MI998 PHASE Clock Freq SERVO Clock Freq 1 The ratio of PHASE Clock Freq to SERVO Clock Freq must be an integer On the 16 Axis MACRO Station MI998 should always be set to 0 so the servo clock frequency is equal to the phase clock frequency 160 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual ABSOLUTE POWER ON ONLINE COMMANDS Function Read motor absolute positions Scope Coordinate system specific Syntax The command causes PMAC to perform a read of the absolute positions for all motors in the addressed coordinate system that require an absolute position read Ixx10 gt 0 as defined by Ixx10 and Ixx95 for the motor This command performs the same actions in reading the absolute position data that are normally performed during the board s power up reset cycle if Ixx80 bit 2 is set to the default of 0 The action of this command is equivalent to that of a motor specific command to each motor in the coordinate system Refer to the
113. IC the input flags for bits 20 21 and 22 representing W V and U are CHWn CHVn and CHUn respectively In a typical application these inputs are used from the same flag register addressed by Ixx25 for the main flags In this mode bit 22 of Ixx91 allows for reversal of the sense of the hall effect sensors If W bit 20 of the register HMFLn or CHWn leads V bit 21 LIMn or CHVn and V leads U bit 22 LIMn or CHUn as the commutation cycle counts up then bit 22 of Ixx91 should be set to 0 If U leads V and V leads W as the commutation cycle counts up then bit 22 of Ixx91 should be set to 1 In this mode bits 16 to 21 of Ixx91 together form an offset value from 0 to 63 representing the difference between PMAC s commutation cycle zero and the hall effect sensor zero position which is defined as the transition of the V signal when U is low This offset has units of 1 64 of a commutation cycle or 5 625 e Typically one of the transitions will be at PMAC s commutation zero point so the desired offset values will be 0 60 120 180 240 and 300 approximated by values of 0 11 0B 21 15 32 20 43 2B and 53 35 This operation can handle hall effect sensors separated by 120 The following table gives the Ixx91 settings for bits 16 to 23 for all of the common cases of hall effect settings as they relate to the PMAC commutation cycle Ixx91 Values for UVW Hall States 120 e Spacing
114. INT 3429 512 6 ADC 611 44 kHz 993 3429 512 6 357 N2 INT 357 64 5 DAC CLK 1 2288 MHz MI993 357 64 5 37 N3 INT 37 8 4 PFM_CLK 2 4576 MHz 37 8 4 5 SCLK 1 2288 MHz MS node MI994 PWM Deadtime Range 0 255 Units PWM Deadtime 16 PWM MHz MI994 0 135 psec MI994 PFM Pulse Width 1 PFM CLK MHz MI994 PFM CLK period usec MI994 Default 15 PWM Deadtime 0 135 psec 15 2 03 usec Pulse Width 1 9 8304 MHz 15 1 526 usec with default MI993 MI994 controls the deadtime period between top and bottom on times in the Geo MACRO Station s automatic PWM generation for machine interface handwheel channels 19 and 2 In conjunction with MI993 it also controls the pulse width for PMAC2 s automatic pulse frequency modulation generation for these machine interface channels The PWM deadtime which is the delay between the top signal turning off and the bottom signal turning on and vice versa is specified in units of 16 PWM CLK cycles This means that the deadtime can be specified in increments of 0 135 usec The equation for MI994 as a function of PWM deadtime is MI994 Deadtime usec 0 135 usec The PFM pulse width is specified in PFM_CLK cycles as defined by MI993 The equation for MI994 as a function of PFM pulse width and PFM CLK frequency is MI994 PFM CLK Freq MHz PFM pulse width usec In PFM pulse generation the min
115. K o pats 11 lt SSI E E M DAT H lt encoder DATA 20 m U ENCPWR SV 12 24 Shield GND 13 25 O m Note We assume the SSI Encoder power requirements are for 5V else use of an external power supply for the SSI a OF 5V encoder is required Tie together the Geo Drive GND and _ amp L GND the power supply for noise immunity Connections 33 Geo MACRO Drive User Manual Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two sinusoidal or quasi sinusoidal encoders and provides encoder position data to the motion processor This interpolator creates 4 096 steps per sine wave cycle User needs to order the option Be sure to use shielded twisted pair cabling for sinusoidal encoder wiring Double insulated is the best The sinusoidal signals are very small and must be kept as noise free as possible Avoid cable routing near noisy motor or driver wiring Refer to the appendix for tips on encoder wiring It is possible to reduce noise in the encoder lines of a motor based system by the use of inductors that are placed between the motor and the amplifier Improper grounding techniques may also contribute to noisy encoder signals Note Voltage mode encoders are becoming the more popular choice for machine designs due to their lower impedance outputs Lower impedance outputs represent better noise immunity and therefore more reliable encoder inte
116. Level VDC Turn On Voltage VDC Turn Off Voltage VDC Delta Tau Recommended Load Resistor 300 W Max Contro Input Voltage VDC Logic Input Current A Power Inrush Current A Current Resolution bits Feedback Full scale Signed Reading 7 32 Delta Tau Recommended PWM Frequency KHz rated current Bus Protection Shunt Regulator Ratings Transistor Control Minimum Dead Time us Charge Pump Time of PWM period Note All values at ambient temperature of 0 45 C 113F unless otherwise stated 12 Specifications Geo MACRO Drive User and Reference Manual Environmental Specifications Description Unit Specifications Operating Temperature 0 to 45 C Above 45 C derate the continuous peak output current by 2 5 per C above 45 C Maximum Ambient is 55 C Rated Storage Temperature 25 to 70 Humidity 10 to 90 non condensing Shock Call Factory Vibration Call Factory Operating Altitude To 3300 feet 1000meters Derate the continuous and peak output Meters current by 1 1 for each 330 feet 100meters above the 3300feet Air Flow Clearances in mm 3 76 2mm above and below unit for air flow Recommended Fusing and Wire Gauge Model Recommended Fuse FRN LPN Recommended Wire Gauge GxL012xx 15 14 A
117. MACRO Drive User and Reference Manual CABKITIC Includes Molex mating connectors pre crimped for single axis drives up to 5 amp continuous rated Gxx051xx 3 ft AC Input Cable 3 ft 24VDC Power Cable 10 ft shielded Motor Cables CONKIT2A Mating Connector Kit for dual axis drives up to 15 amp continuous rating GxH102xx Gxx152xx Includes Molex Connectors kits for two motors AC input connection and 24V power connection Requires Molex Crimp Tools for proper installation CABKIT2B Includes Molex mating connectors pre crimped for dual axis drives double width up to 15 amp continuous rated GxH102xx Gxx152xx e 3ft AC Input Cable e 24VDC Power Cable e 10 ft shielded Motor Cables CONKIT2C Mating Connector Kit for single axis drives up to 15 amp continuous rating Gxx101xx Gxx151xx Includes Molex Connectors kits for one motor AC input connection and 24V power connection Requires Molex Crimp tools for proper installation CABKIT2D Includes Molex mating connectors pre crimped for single axis drives up to 15 amp continuous rated Gxx101xx Gxx151xx e 3 ft AC Input Cable e 3 ft 24VDC Power Cable 10 ft shielded Motor Cables CONKIT4A Mating Connector Kit for single axis drives up to 30 amp continuous rating Gxx201xx Gxx301xx Includes Molex Connectors kits for one motor 4pin AC input connection 4 pin and 24V power connection Requires Molex Crimp Tools for proper installa
118. MACRO Drive User and Reference Manual SETTING UP SECONDARY ENCODERS Geo Drives have also secondary encoder inputs that can be used for dual feedback The input signals need to be digital quadrature encoders Single Axis drives have one secondary encoder and dual axis drives have two secondary encoders Secondary encoders so as to be enabled require a motor node So the user needs to burn a motor channel node so he can read the encoder feedback The motors need to be activated Ixx00 equal to one and activate the MACRO motor nodes 16841 16891 16941 16991 and set MS lt node gt 1996 enabled Note The Secondary Encoders of a Geo MACRO drive can not be assigned to nodes before the primary nodes of that drive For example if you have for your primary encoders node 4 channel 1 and node 5 channel 2 then the secondary encoders can be in any free motor node after that 8 9 12 13 MACRO ICO 16 17 20 21 24 25 28 29 MACRO 32 33 36 3 40 41 44 45 MACRO IC2 48 49 52 53 56 57 60 61 MACRO IC3 and cannot be assigned as node 1 or 2 or any occupied by another motor node For the Secondary encoders at the Geo MACRO drives the MI variables are a little different than the primary encoder channels By setting MI910 equal to 0 default the encoder decode is x4 cts or it can be set equal to 1 for an encoder decode x1 cts The user can only reverse the direction by setting the MS lt node gt MI911 equal to 0 for Clockw
119. O Drive expects the Motor 2 Over temperature input to be wired into pin 23 of the X2 If the over temperature for motor 2 is triggered then the seven segment display will show the fault code EA or AEA if in ASCII mode If bit 3 is set to 0 Motor 2 over temperature function is disabled This MI variable is used at power up reset only so to change its value and have the change take effect the user will change the value issue an MSSAVEn command and reset the Geo MACRO drive MS n power cycle For example if we have a single axis Geo MACRO drive and we do not want to waste a motor node and we want to have the Motor 1 over temperature input enabled then MS node MI100 5 Note MS node MI100 was added in Geo MACRO firmware versions 1 006 and above MS node MI101 102 Primary Feedback Selection MI101 determines what feedback device is used for primary feedback for Axis 1 on the Geo MACRO drive It defines what feedback register is copied into Feedback Register 0 for the main servo node for the axis MI102 performs the same function for Axis 2 if present and activated The following table shows the possible values for MI101 and MI102 and the feedback devices they select for feedback Encoder 1 Encoder 2 Value Decode Function MS node MI101 MS node MI102 0 Quadrature Encoder Normal Shifting 1 T 5 bits MS node MI101 MS node MI102 1 Quadratu
120. Ow Os Os Os O4 Q2 Qs Connector Os Oz On Os Os Os Pin Digital Sinusoidal Resolver Use for Incremental Encoder Sinusoidal SSI Encoder Symbol Encoder Resolver Encoder Symbol Symbol 1 ChA2 Sin2 N A Axis 2 Encoder A Encoder Sine Not used 2 ChB2 Cos2 N A Axis 2 Encoder B Encoder Cosine Not used 3 Index2 Index2 N A Axis 2 Encoder Index Encoder Index Not used 4 N A N A ResSin2 Axis 2 Not used Not used Resolver 5 N A N A ResCos2 Axis 2 Not used Not used Resolver Cosine 6 Axis 2 SSI Clock Power On Position Sine for Endat output CLK AltSin2 CLK N A CLK Not used 7 Axis2 SSI Data Power On Position Cosine for Endat input DATH AltCos2 DAT Dara amp Not used P 8 ChU2 ChU2 ChU2 Axis 2 U Commutation 9 ChW2 ChW2 ChW2 Axis 2 W Commutation 10 BVREF2 Axis 2 Buffered 2 5 Volt Reference 11 ResOut2 Axis 2 Not used Not used Resolver Excitation Output 12 Encoder Encoder Power2 N A Relay Controlled Power Relay Controlled Power Not used Power2 Default is Power ON 5V 13 GND Common 14 ChA2 Sin2 N A Axis 2 Encoder A Encoder Sine Not used 15 ChB2 Cos2 N A Axis 2 Encoder B Encoder Cosine Not used 16 Index2 Index2 N A Axis 2 Encoder Index Encoder Index Not used 17 N A N A ResSin2 Axis 2 Not used Not used Resolver
121. P OUT 2 EMT Output Output 2 5 GP OUT 3 COL Output Output 3 6 GP OUT 3 EMT Output Output 3 7 GP OUT 4 COL Output Output 4 8 GP OUT 4 EMT Output Output 4 9 COM COL Input Common Collector 10 COM EMT Input Common Emitter 11 GP IN 1 Input Input 1 12 GP IN 2 Input Input 2 13 GP IN 3 Input Input 3 14 GP IN 4 Input Input 4 15 I O RTN Input Return for all Inputs 16 FLG RTN Input Return for all Flags 17 PLIMI Input Positive limit 1 18 MLIMI Input Negative limit 1 19 HOMEI Input Home flag 1 20 USERI Input User Flag 1 21 PLIM2 Input Positive Limit 2 22 MLIM2 Input Negative Limit 2 23 HOME2 Input Home flag 2 24 USER2 Input User flag 2 The Geo MACRO Drive limit and flag circuits also give the flexibility to wire in standard 12V to 24V limits and flags or wire in 5V level limits and flags on a channel basis The default is set for the standard 12V to 24V inputs but if the resistor pack is added to the circuit the card can read 5V inputs If RP7 limits 1 and RP8 limits 2 are installed in the unit the voltage level of the flags can be lowered to 5V e RP7and RP8 for 5V IKohm Sip 8 pin four independent Resistors e 7 RP8 for 12 24V Empty bank For Sinking Outputs connect the COM EMIT pin10 line to Common GND Analog Ground and the outputs to the individual collector Output lines e g GP OUT 1 COL For Sourcing Outputs connect the COM COL pin9 line to 12 24V and the outputs to the ind
122. RATION sccsssscsssssssscssessssscssesesssesecssessssscssssscessesesesessesssssessesssesessessneees 79 Turbo PMAC Basic Setup for Brushless Servo or Induction Motor sse 79 Turbo PMAC Basic Setup for DC Brush Motors sese eene ener 80 Instructions for Direct PWM Control of Brush Motors eene nennen eene nee 85 PWM ADC Phase el eat Pen teet Eee edet 85 Synchronous Motor Stepper 85 Current Loop Polarity CNOCK ccccccccsccesesscesesseesetseeeecuseescusesseesecceeecaaeeesecasensceseeseeseceeaecseeesaeeseeaeeeeeesneeeeeeaeenes 85 TrOUDIOSIDOLITIBS esa ea 86 Testing PWM and Current Feedback Operation eese rennen nennen ener rre 86 V DINEM DER 86 Prepara MER E 87 Position Feedback and Polarity Test 87 Setting Up Hall Commutation Sensors eene 88 t tu A 88 Using Hall Effect Sensors for Phase eene 8 amp 9 Determining the Commutation Phase Angle 8 amp 9 Finding the Hall Effect Transition 89 Calculating the Hall Effect Zero Point 90 Determining the Polarity of the Hall Effects Standa
123. RO Drive User Manual installation practices must be followed The use of inductor chokes in the output of the drive will help keep these leakage currents below breaker threshold levels Transformer and Filter Sizing Incoming power design considerations for use with Geo Drives require some over rating In general it is recommended that all 3 phase systems using transformers and incoming filter chokes be allotted a 25 over size to keep the impedances of these inserted devices from affecting stated system performance In general it is recommended that all single phase systems up to 1kW be designed for a 50 overload All single phase systems over 1kW should be designed for a 200 overload capacity Noise Problems When problems do occur often it points to electrical noise as the source of the problem When this occurs turn to controlling high frequency current paths If following the grounding instructions does not work insert chokes in the motor phases These chokes can be as simple as several wraps of the individual motor leads through a ferrite ring core such as Micrometals T400 26D This adds high frequency impedance to the outgoing motor cable thereby making it harder for high frequency noise to leave the control cabinet area Care should be taken to be certain that the core s temperature is in a reasonable range after installing such devices Operating Temperature It is important that the ambient operating temperature of the Geo Driv
124. RO Drive User and Reference Manual SETTING UP PRIMARY FEEDBACK Device Selection Control Geo Drives with the appropriate options can handle Quadrature Encoder Input Shift No Shift Resolver Feedback Sinusoidal Encoder Input SSI Absolute Encoders ENDAT Interface future release and Hiperface Interface future release The main encoder input channels for the Geo PMAC Drive supports a variety of encoder feedback types 5V supply to power the encoder is provided from each encoder connector Encoder 1 Encoder 2 Value Decode Function MS node MI101 MS node MI102 0 Quadrature Encoder Normal Shifting 1 T 5 bits MS node MI101 MS node MI102 1 Quadrature Encoder No shifting MS node MI101 MS node MI102 2 SSI encoder CW MS node MI101 MS node MI102 3 SSI encoder CCW MS node MI101 MS node MI102 4 Resolver CW MS node MI101 MS node MI102 5 Resolver CCW MS node MI101 MS node MI102 6 Sinusoidal Encoder x4096 MS node MI101 MS node MI102 12 Write the arctangent value of the Sin and Cos to the MACRO IO node Resolver CCW 8 MS node MI101 MS node MI102 13 Write the arctangent value of the Sin and Cos to the MACRO IO node Resolver CW 8 MS node MI101 MS node MI102 14 Write the Sin and Cos values to the MACRO IO node Sin enc For troubleshooting Setting up Digital Quadrature Encoders Digital quadrature encod
125. RO Station is a slave on the ring in all normal operation so configuration bits 4 and 5 are set to 0 It should synchronize itself to the sync node so configuration bit 7 should be set to 1 In most applications it will only accept packets from its own master so bits 8 to 15 are all set to 0 All other bits are status bits that are normally 0 This makes the usual setting of MI995 equal to 0080 MS node MI996 MACRO Node Activate Control Range 000000 to FFFFFF 0 to 8 388 607 Units none Default 0 MI996 controls which of the MACRO nodes on the Geo MACRO Station are activated It also controls the master station number and the node number of the packet that creates a synchronization signal On a power up or reset of the Geo MACRO Station MI996 for MACRO IC 0 is set automatically by Station firmware as a function of SW1 and SW2 switch settings plus the saved values of MI975 and MI976 Bit Value Type Function 0 Node 0 Activate 1 Node 1 Activate 2 Node 2 Activate 3 Node 3 Activate 4 Node 4 Activate 5 Node 5 Activate 6 Node 6 Activate 7 Node T Activate 8 Node 8 Activate 9 Node 9 Activate 10 Node 10 Activate 11 2048 800 Config Node 11 Activate 158 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual 12 4096 1000 Config Node 12 Activate 13 Node 13 Activate 14 Node 14 Activate 15 Node 15 Activate 16 19 Packet Sync Node Slave Address 0 15
126. Sine 18 N A N A ResCos2 Axis 2 Not used Not used Resolver Cosine 19 CLK AltSin2 CLK N A Axis 2 SSI Clock Power On Position Sine for Endat output CLK Not used 20 Axis 2 SSI Data Power On Position Cosine for Endat input DAT AltCos2 DAT N A DATA Not used 21 2 2 ChV2 Axis 2 V Commutation 22 ChT2 ChT2 ChT2 Axis 2 T Commutation 23 2 In Therm Mot Motor 2 Thermal Input Switch 24 5V Axis 2 5V Supply 25 GND Common The Analog Feedback Option 1 or 4 is required for these functions The Serial Encoder Feedback Option 2 or 5 is required for these functions 106 Connectors Geo MACRO Drive User and Reference Manual X3 General Purpose I O Discrete I O is available on the Geo Drive All I O is electrically isolated from the drive Outputs can be configured for sink or source applications All I O is 24V nominal operation Outputs are rated 0 5A maximum current Outputs are robust against ESD and overload All Flag inputs are very fast acting 8 regressed T 7027072727777 705277 General Purpose I O 24 pin Terminal Blocks The connector is two 12 pin screw Phoenix terminals TCICICICICICICICICICIC Pin Symbol Function Description 1 GP OUT 1 COL Output Output 1 2 GP OUT 1 EMT Output Output 1 3 GP OUT 2 COL Output Output 2 4 G
127. Status A new window will open showing the Status at the Geo MACRO Station which is the same with MS lt node gt MI4 MACRO Status Device 1 PMAC 1 62 Software Setup Geo MACRO Drive User and Reference Manual Ring Order Communications Method The Ring Order Method has been developed to allow MACRO Devices to be set up with software Since the Geo MACRO drive has no hardware switches SW1 and SW2 to activate nodes and assign it to a master the ring order method is necessary The Turbo Setup program can do this automatically for you thi section tells you how to do it manually Factory default state for I Variables to the Turbo Ultralite and that firmware version 1 939 or above are necessary In addition the Geo MACRO drive should have version 1 004 and above firmware 1 3 4 5 To initiate the Ring Order Method start with the new hardware and then enable the MACRO ASCII Communication Mode by typing MACSTA255 in the terminal window At this point the Software Interface will seek the first device that has not been setup i e MI11 0 Once communicating with the device activate the nodes with MI996 and set up any critical MI variables that need to be set for the application Upon completion of these MI variable settings assign a Station Number to the device with the STN n command where n can be set from 1 to 254 As soon a station number is assigned to the device the system will look for the next dev
128. WG GxL032xx 20 12 AWG GxL051xx 20 12 AWG GxL052xx 20 12 AWG GxL101xx 20 12 AWG GxL102xx 20 12 AWG GxL151xx 25 10 AWG GxL152xx 25 10 AWG GxL201xx 25 10 AWG GxL301xx 30 8 AWG GxH012xx 15 14 AWG GxH032xx 20 12 AWG GxH051xx 20 12 AWG GxH052xx 20 12 AWG GxH101xx 20 12 AWG GxH102xx 20 12 AWG GxH151xx 25 10 AWG GxH152xx 25 10 AWG GxH201xx 25 10 AWG GxH301xx 30 8 AWG See local and national code requirements Wire Sizes Geo Drive electronics create a DC bus by rectifying the incoming AC electricity The current flow into the drive is not sinusoidal but rather a series of narrow high peak pulses Keep the incoming impedance small so that these current pulses are not hindered Conductor size transformer size and fuse size recommendations may seem larger than normally expected All ground conductors should be minimum using wires constructed of many strands of small gauge wire This provides the lowest impedance to high frequency noises Specifications 13 Geo MACRO Drive User Manual 14 Specifications Geo MACRO Drive User and Reference Manual RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the Geo Drive is received do the following immediately 1 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
129. WM Drives The direct PWM interface versions accept the actual power transistor on off signals from the PMAC2 controller while providing digital phase current feedback and drive status to the controller for closed loop operation Interface to the direct PWM amplifier is through a standard 36 pin Mini D style cable The drive performs no control functions but has protection features Drive installation maintenance and replacement are simplified because there is less wiring position feedback and I O are not connected to the drive and there are no variables to set or programs to install in the drive e Fully centralized control means that all gains and settings are made in the PMAC no software setup of drive is required e position feedback or axis flags required at the drive MACRO Defined MACRO defined is a digital interface for connection of multi axis motion controllers amplifiers and other I O devices on a fiber optic or twisted pair copper RJ45 connector ring MACRO operates in a ring topology Data is transmitted serially Each station on the ring has an in port for receiving data and an out port for transmitting data Nodes residing at a station can be amplifier axes T O banks or communication interfaces to other devices A station can have one or several nodes allowing for multi axis amplifiers with a single in and single out port Data packets groups of 96 bits of serial data from the motion controller or master node are a
130. Y registers in the MACRO ICs to X registers in RAM where they can quickly be accessed by servo tasks without requiring other processing This task is accomplished by conversion method 2 parallel read of a Y register no filtering Typically the data from the Geo MACRO drive has already been shifted the standard 5 bits so the standard shifting in the ECT can be disabled by setting bit 19 of the first setup word first I variable of the entry to 1 This makes the method word 280000 Node Register 0 address The second and last line I variable of the entry should be set to 018000 The 018 hexadecimal specifies that all 24 bits of the source register be used the 000 specifies that the bits used start at bit 0 The following table shows an ECT in which the first eight entries are conversions of the first eight MACRO servo nodes Note have the combination of the bit 19 shift disable bit and the 7 in the second digit of the register address e g 078420 for Node 0 Register 0 make the second hex digit of setup word of each entry equal to F The I variables that use the results of the conversions e g Ixx03 and Ixx04 for position and velocity loop feedback will be set to the address of the last line of the entry For example if Motor 1 used the processed data for Node 0 Register 0 from the above table for position loop feedback 1103 would be set to 3502 It is also possible to set these variables b
131. a gain of 5V peak to peak is needed then the user needs to set MI940 1 With MI940 2 the output gain is 7 5V and the maximum gain would be 10V peak to peak when MI940 3 Finally the resolver excitation phase time offset MS lt node gt MI941 needs to be set The optimum setting f MI941 depends on the L R time constant of the resolver circuit So MI941 should be set interactively to maximize the magnitudes of the feedback ADC values Turbo PMAC setup handles these calculations the section below shows how someone can set it up manually Setting up the Phase Shift MI941 Manually Set up the MS lt node gt MI101 or MS lt node gt MI102 equal to 12 C or 13 D depending if it was 4 or 5 respectively basically add 8 to the value of MI101 or MI102 This decode value puts ADC values of the Sine and Cosine into the ADC registers of the corresponding IO node register For example if using a resolver for motor 1 on Node 0 MSO MI101 MS0 MI101 213 This would enable the ADCs of the first resolver to come back on X 78421 and X 78422 Check Appendix D ADC Registers Table Now setup two M variables to point to these registers M905 gt X 78421 8 16 s and M906 gt X 78422 8 16 s were used in the example The values of these registers will toggle between a and value sign does not matter only the absolute value is important As the motor shaft is rotated observe these values if either of them is saturated to 32767 the
132. active nodes on the ring To implement this 16800 would be set to one half of the default value and 16801 to the default value of 0 Software Setup 43 Geo MACRO Drive User Manual Note When making this change change the Turbo PMAC2 s 16800 variable first then the MACRO Station s MI992 Changing the MACRO Station s MI992 alone followed by an MSSAVE lt node gt command and an MS lt node gt could cause the Station s watchdog timer to trip 16840 MACRO IC 0 Master Configuration Any MACRO IC on a Turbo PMAC2 talking to a MACRO Station must be configured as a master on the ring For purposes of the MACRO protocol each MACRO IC is a separate logical master with its own master number even though there may be multiple MACRO ICs on a single physical Turbo PMAC2 Each ring must have one and only one ring controller synchronizing master This should be the MACRO IC 0 one and only one of the Turbo PMAC2 boards on the ring On a Turbo PMAC2 set 16840 to 30 to make the card s MACRO IC 0 the ring controller This sets bits 4 and 5 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring setting bit 5 to 1 makes the IC the ring controller starting each ring cycle by itself On a Turbo PMAC2 whose MACRO IC 0 will be a master but not ring controller 16840 should be set to 90 This sets bits 4 and 7 of the variable to 1 Setting bit 4 to 1 makes the IC a master on the ring setting bit 7 to 1 will cause
133. al Global amp 2 Axis Board I Variables MI Variables numbered in the MI990s control hardware aspects of the DSPGATE2 ASIC This IC controls operation of the Geo MACRO Ring on all Geo MACRO Stations This IC also controls the frequency of the clock signals for the 2 axis piggyback board machine interface channels 1 amp 2 MS node MI992 MaxPhase Frequency Control Range 0 32767 Units MaxPhase Frequency 117 964 8 kHz 2 MI992 3 PWM Frequency 117 964 8 kHz 4 1992 6 Default 6527 MaxPhase Frequency 117 964 8 13057 9 0346 kHz PWM Frequency 117 964 8 26114 4 5173 kHz MI992 controls the maximum phase clock frequency for the Geo MACRO Station and the PWM frequency for supplementary handwheel interface channels and 2 It does this by setting the limits of the PWM up down counter which increments and decrements at PWMCLK frequency of 117 964 8 kHz 117 9648 MHz The actual phase clock frequency is divided down from the maximum phase clock according to the setting of MI997 The phase clock frequency must be the same as the ring update frequency as set by the ring controller usually a Turbo PMAC2 Ifthe ring controller is a PMAC2 Ultralite MI992 and MI997 on the 16 Axis MACRO Station should be set to the same values as MI992 and MI997 on the PMAC2 Ultralite To set MI992 for a desired maximum phase clock frequency the following formula can be used MI992 117 964 8 kHz 2 MaxPhase kHz
134. allows two heat sinks to be easily attached together to provide two high power axes in a double width configuration This double package size is 6 5 W x 11 Hx 8 0 D 165 mm W x 280 mm H x 203 mm D It provides a highly efficient package size containing two axes of up to about 10kW each thus driving nearly 24kW of power but using a single interface card This results in a highly cost effective package There is also one more package type only for the low power 1 5A 4 5A single width Geo drive model Gxx012xx This package substitutes the heatsink and the fan with a smaller plate which has the same mounting pattern as the regular single width drive making the units depth 2 2inches 56mm less than the single width drive 5 8 D 148mm D e Low Profile GMx012xx only 3 3 wide 84 mm no heatsink no fan Maximum Power Handling 1200 watts Package Dimensions 3 3 W x 11 H x 5 8 D 84 mm W x 280 mm H x 148 mm D Weight 4 3 lbs 1 95kgs e Single Width GMx051xx GMx101xx GMx151xx GMH032xx GMx052xx 102 3 3 wide 84 mm with heatsink and fan Maximum Power Handling 12000 watts GML032xx Single Width with heatsink no Fan Weight 5 41bs 2 45kgs Package Dimensions 3 3 W x 11 H x 8 0 D 84 mm W x 280 mm H x 203 mm D Weight 5 5 lbs 2 50kgs e Double Width GMx201xx GMx301xx GMH102xx and GMx152xx 6 5 wide 164mm with heatsink and fan Maximum Power Handling 24 000 watts Package Dimensions 6 5 W x 11
135. 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 After removing the power source from the equipment wait at least 10 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges e g capacitors contacts screw connections To be safe measure the electrical contact points with a meter before touching the equipment The following text formats are used in this manual to indicate a potential for personal injury or equipment damage Read the safety notices in this manual before attempting installation operation or maintenance to avoid serious bodily injury damage to the equipment or operational difficulty WARNING A Warning identifies hazards that could result in personal injury or death It precedes the discussion of interest Caution A Caution identifies hazards that could result in equipment damage It precedes the discussion of interest Note A Note identifies information critical to the user s understanding or use of the equipment It follows the discussion of interest REVISION HISTORY
136. and can be safely ignored especially because ignoring losses leads to a conservative design However if the losses are significant and the system should not be over designed calculate these losses In metric SI units the mechanical energy lost due to Coulomb dry friction in a constant deceleration to stop of a rotary system can be expressed as 1 where Erm or is the lost energy in joules J T is the resistive torque due to Coulomb friction in newton meters N m is the starting angular velocity of the inertia in radians per second 1 s ta is the deceleration time in seconds s If the frictional torque is expressed in the common English unit of pound feet lb ft the comparable expression is Erm 0 678T In metric SI units the mechanical energy lost due to Coulomb dry friction in a constant deceleration to stop of a linear system can be expressed as 1 where Erm d Ermis the lost energy in joules J Tris the resistive force due to Coulomb friction in newtons N vis the starting linear velocity in meters second m s ta 15 the deceleration time in seconds s If the frictional force is expressed in the English unit of pounds Ib and the velocity in feet per second ft sec the comparable expression is Erm 0 678F pvtq The electrical resistive losses in a 3 phase motor in a constant deceleration to stop can be calculated as V3 2 where Erg 79 ims 28 Connections
137. annel on the station associated a Geo MACRO Node The matching of hardware interface channels to Geo MACRO Nodes is determined by the setting of the Station Number via the MACRO ring method These variables are accessed using the MS node station auxiliary read and write commands The number immediately after the MS specifies the node number and therefore the channel number mapped to that node by the MACRO ring method MS node MI910 Primary Encoder Timer n Decode Control Range 0 15 Units None Default 7 MI910 controls how the input signal for the encoder mapped to the specified node is decoded into counts As such this defines the sign and magnitude of a count The following settings may be used to decode an input signal e Pulse and direction CW x1 quadrature decode CW x2 quadrature decode CW x4 quadrature decode CW Pulse and direction CCW 1 quadrature decode CCW x2 quadrature decode CCW x4 quadrature decode CCW Internal pulse and direction 9 Not used 10 Not used 11 x6 hall format decode CW 12 MLDT pulse timer control internal pulse resets timer external pulse latches timer 13 Not used 14 Not used 15 x6 hall format decode CCW 90 OY A de toda In any of the quadrature decode modes PMAC is expecting two input waveforms on CHAn and CHBn each with approximately 5096 duty cycle and approximately one quarter of a cycle out of phase with each other Times one x1 decode provides one cou
138. are takes care of the rest Feedback Devices Many motors incorporate a position feedback device Devices are incremental encoders resolvers and sine encoder systems The macro version of the Geo drive accepts feedback In its standard form it is set up to accept incremental encoder feedback With the appropriate feedback option it is possible to use either resolver or sinusoidal encoder feedback Historically the choice of a feedback device has been guided largely by cost and robustness Today feedbacks are relatively constant for the cost and picked by features such as size and feedback data More feedback data or resolution provides the opportunity to have higher gains in a servo system Geo MACRO drives have standard secondary quadrature encoder feedback One secondary encoder X8 for one axis drive and two secondary encoders X8 and X9 for dual axis drives 603542 rev 10A and above Earlier versions of the Geo MACRO drive cannot use the secondary encoders Compatible Motors The Geo drive product line is capable of interfacing to a wide variety of motors The Geo drive can control almost any type of three phase brushless motor including DC brushless rotary AC brushless rotary induction and brushless linear motors Permanent magnet DC brush motors can also be controlled using two of the amplifiers three phases Motor selection for an application is a science in itself and cannot be covered in this manual However some basic considera
139. ata if the direction sense is reversed This is set to 1 or 0 based on the direction sense of the ongoing position encoder Bit 15 Set to 0 for unsigned data Set to 1 for Signed data Examples For a 25 bit Endat with 512 lines on the sinusoidal encoder Unsigned setup 111 5417 23 bits Shift Left 20 bits Shift Right complemented unsigned 1 error bit Signed setup MI111 D417 23 bits Shift Left 20 bits Shift Right complemented signed 1 error bit 2 Ix10 and Ix95 will be setup for MACRO absolute position parallel read E g for motor 1 on node 0 1110 100 and 1195 740000 3 Ix81 and Ix91 will be setup for MACRO absolute parallel power on phasing E g for motor 1 on node 0 1181 100 and 1195 740000 4 To set the value for Ix75 Set Ix69 0 Next do a xO0 then set Ix79 2000 Safe current value Do a x set Ix75 Mx71 Now set Mx71 0 and Ix79 original offset value Set xk and Ix69 back to the original value Setting up Resolvers The Geo MACRO Drive has up to two channels of resolver inputs The inputs may be used as feedback or master reference signals for the PMAC servo loops The basic configuration of the drive contains one 12 bit resolution x4096 tracking resolver to digital R to D converter with an optional second resolver when a dual axis driver is ordered The Geo drive creates the AC excitation signal ResOut for up to two resolvers accepts the modulated sine and cosine signals back from these re
140. ave station on the ring in sequence and communicate with it without knowing in advance how the ring is configured or whether there are any conflicts in the regular addressing scheme This is very useful for the initial setup and debugging of the ring configuration Normally station order numbers of devices on the ring are assigned in numerical order with the station downstream of the ring controller getting station order number 1 This does not have to be the case however Unordered stations have the station order number 0 When the ring controller executes a 136 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual MACROSTASCII255 command the first unordered station in the ring will respond MI11 can also be set with the ASCII command STN constant The value of MI11 can also be queried with the ASCII command STN MS node MI12 Card Identification Read Only Range 0 FFFFFF Units none Default 93596 603542 This returns the card part number The same as the CID ASCII command MS node MI13 Ring Break Output indicator Range 0 SF Units none Default 0 In case of a ring break error MI13 controls the Geo MACRO output lines and only as a safety feature Choose what the output state would be in a ring break situation High 12 24V or Low GND for each individual output depending on sinking or sourcing setup Default MI13 equals 0 so in case of ring break all outputs are
141. be mounted with a traditional 4 hole panel mount two U shape notches on the bottom and two pear shaped holes on top This keeps the heat sink and fan single width and double width drives inside the mounting enclosure On the low profile units low power the heat sink and fan are replaced with a flat plate and the mounting enclosure itself is used as a heat sink This reduces the depth of the Geo amplifier by about 2 2 inches 56 mm to a slim 5 8 inch D 150 mm D Mounting is also identical to the single and double width drives through the 4 hole panel mount If multiple Geo drives are used they can be mounted side by side leaving at least to of a 0 4 inch clearance between drives This means a 3 7 inch center to center distance 94 mm with the single width and low profile Geo drives Double width Geo amplifiers can be mounted side by side at 6 9 inch center to center distance 175 mm It is extremely important that the airflow is not obstructed by the placement of conduit tracks or other devices in the enclosure 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 Make sure that all metal chips are cleaned up before the drive is mounted so there is no risk of getting metal chips inside the drive The drive is mounted to the back panel with four M4 screws an
142. bles utility in PEWIN32Pro Tell it to Download Suggested M Variable Definitions and click on the Use Suggested M Variable Definitions checkbox This is highly recommended You may wish to replace M Var definitions for flag variables with those of the MACRO Flag address definitions 3 Set MACRO Ivariables e 170 177 all motor node bits go high if used i e 33 for nodes 0 1 4 5 180 5 sring check period 181 2 max ring errors ring check period 182 2 minimum sync packets in ring check period 16840 30 set MACRO IC 0 as synchronizing ring master 16890 16940 16990 90 set MACRO ICs 1 2 3 as ring masters if present 16841 f8000 xyza where xyza are the high bits for each node used 16891 1f8000 xyza if used 16941 2f8000 xyza if used e 16991 3f8000 xyza if used 4 Issue a SAVE command and a command from the terminal window PEWIN32Pro 5 Setup Geo MACRO address MI996 either by MACSTA command recommended or by USB This will be equal to bF0000 xyza where xyza are high bits for each node used and b is the MACRO IC Master number At the same time set the station number MI11 on each drive 6 Issue a mssav15mssav31mssav47mssav63 command from the terminal window in PEWIN32Pro or a SAVE command from Hyperterminal if using USB communications Now issue a ms 15ms 3 1ms 47ms 63 to reset You should be able to now query the drives from PEWINPro To confirm that simply i
143. case if PMAC does not get a response to a Node 15 auxiliary communications command within 178 servo cycles it will stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 178 must be set greater than 0 if any auxiliary communications is desired with a MACRO Station This reserves Node 15 for the Type 1 Auxiliary Communications A value of 32 is suggested If 178 is set greater than 0 bit 15 of 170 172 174 and 176 must be set to 0 so Node 15 is not used for flag transfers also 179 MACRO Master Master Auxiliary Communications Timeout If I79 is set greater than 0 the MACRO Type 1 Master Master Auxiliary Communications protocol using Node 14 is enabled Turbo PMAC implements this communications protocol using the MACROMASTER MM MACROMSTREAD MMR and MACROMSTWRITE MMW commands Only the Turbo PMAC that is the ring controller can execute these commands other Turbo PMACS that are masters on the ring can respond to these commands from the ring controller If this function is enabled 179 sets the timeout value in PMAC servo cycles In this case if the Turbo PMAC does not get a response to a Node 14 master master auxiliary communications command within 179 servo cycles it will stop waiting and register a MACRO auxiliary communications error setting Bit 5 of global status register X 000006 179 must be set greater than 0 if any auxiliary communications is desired wit
144. cations MACRO ASCII Communication Mode allows direct access to the MACRO Device This mode of communication allows the Master controller to set up all MACRO devices in the ring one at a time using the Ring Order Method One other benefit to this method of communications is that it allows direct communication to the MACRO device without having to issue MS commands as in the traditional PEWIN Terminal window At a minimum the following I variables must be set to the Turbo PMAC to enable MACRO ASCII mode communications 16840 4030 to enable MACRO ICO as sync master and node 14 for auxiliary communications I6841 0FCxxx to enable node 15 and 14 If activating nodes 0 1 4 5 set 16841 0FC033 179 232 Timeout value for Node 14 Auxiliary communications If using more than one MACRO IC set up 16890 16891 16940 16941 16990 and 16991 appropriately Once the communication variables are modified save them to the memory of the controller with the SAVE command and then reset the controller with either a command or power cycle the controller Note The PMAC controller can communicate to the MACRO Device in MACRO ASCII communication mode after the unit has been restarted with the changes saved to its memory How to Enable and Disable MACRO ASCII Communication Mode To start the MACRO ASCII Mode issue the MACSTAn n stands for the assigned station number for the device command to the device in the ring Note For MACRO ASCII comm
145. cc 3E1 for 3U Turbo Stack systems and Acc 14E for UMAC Turbo systems boards In this case the last hex digit of Ixx91 must be set to a non zero value to specify the byte wide bus of these boards The following tables show Ixx10 values for these boards MACRO Absolute Position Read If Ixx95 contains a value from 720000 to 740000 or from F20000 to F40000 the value specified in Ixx10 is a MACRO node number and Turbo PMAC will obtain the absolute power on position through the MACRO ring Ixx95 specifies what type of position data is used and whether it is treated as a signed or unsigned value The MACRO node number is specified in the last two hex digits of Ixx10 The second to last digit specifies the MACRO IC number 0 to 3 1 2 and 3 exist only on Ultralite versions of the Turbo PMAC2 or a UMAC Turbo with Acc 5E Note that the MACRO IC number on the Turbo PMAC does not necessarily match the ring master number for that IC although it often will The last digit specifies the MACRO node number 0 to 15 0 to F hex in that IC This function is supported only in nodes 0 1 4 5 8 9 12 C and 13 D 120 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual The following table shows the required values of Ixx10 for all of the MACRO nodes that can be used Note that MACRO IC 0 Node 0 uses an Ixx10 value of 000100 because Ixx10 0 disables the absolute position read function Ixx10 for
146. cc 8D Opt 7 R D Converter Multiplexer Port Signed 880000 B00000 Parallel Data Y Register Turbo PMAC Memory I O Signed B10000 ACC 28 A D Converter Turbo PMAC Memory I O Signed B20000 ACC 49 Sanyo Abs Encoder Turbo PMAC Memory I O Signed C80000 F00000 Parallel Data X Register Turbo PMAC Memory I O Signed F10000 ACC 8D Opt 9 Yaskawa Abs Enc Multiplexer Port Signed F20000 MACRO Station Yaskawa Abs Enc MACRO Node Number Signed F30000 MACRO Station R D Converter MACRO Node Number Signed F40000 MACRO Station Parallel Read MACRO Node Number Signed The following section provides details for Geo Macro Drive Parallel Data Read If Ixx95 contains a value from 080000 to 300000 from 480000 to 700000 from 880000 to B00000 or from C80000 to F00000 Motor xx will do a parallel data read of the Turbo PMAC memory or I O register at the address specified by Ixx10 It expects to find the least significant bit of the feedback in Bit 0 of this register In this mode bits 16 to 21 specify the number of bits to be read If the last hex digit of Ixx95 is 0 consecutive bits will be read from the address specified by Ixx81 with the least significant bit read from bit 0 If the number of bits is greater than 24 the high bits are read from the register at the next higher numbered address This format is used for registers and I O devices with 24 bit interfaces If the last hex digit of Ixx95 is 4 5 or 6 data will be r
147. coder mapped into the specified node It ca take the following settings 0 Clock Wise CW 1 Counter Clock Wise CCW The clockwise CW and counterclockwise CCW options simply control which direction counts up If you get the wrong direction sense simply change to the other option e g from 1 to 0 or vice versa Note If you change the direction sense of an encoder with a properly working servo without also changing the direction sense of the output you can get destabilizing positive feedback to your servo and a dangerous runaway condition 146 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual MS node MI912 Secondary Encoder Index Capture Control Range 0 15 Units none Default 0 This parameter determines for the index flag which polarity triggers a position capture of the counter for the secondary encoder mapped to the specified node Ifa flag input home or index is used MI915 for the node determines which flag Proper setup of this variable is essential for a successful home search which depends on the position capture function The following settings may be used 0 Capture on Index CHCn rising edge 1 Capture on Index CHCn falling edge The trigger is armed when the position capture register is read After this as soon as the Geo MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is edge trigger
148. coders Example 1 A 4 pole rotary brushless motor has a sinusoidal encoder with 2000 lines It directly drives a screw with a 5 mm pitch The encoder is used for both commutation and servo feedback The user first needs to set MS lt node gt MI101 6 and or MS lt node gt MI102 6 for sinusoidal encoder If needed the direction decode can also be reversed with MS lt node gt MI910 equal to 3 CW or 7 CCW 70 Setting Up Primary Feedback Geo MACRO Drive User and Reference Manual The commutation uses the hardware counter There are 8000 hardware counts per revolution and two commutation cycles per revolution of the 4 pole motor Therefore Ixx70 will be set to 2 and Ixx71 will be set to 8000 Ixx83 will contain the address of the hardware counter s phase capture register For the servo the interpolated results of the conversion table are used There are 128 software counts per line or 256 000 software counts per revolution With each revolution corresponding to 5 mm on the screw there are 51 200 software counts per millimeter The measurement resolution at 4096 states per line is 1 8 192 000 of a revolution or 1 1 638 400 of a millimeter 0 6 nanometers state Example 2 A linear brushless motor has a commutation cycle of 60 96 mm 2 4 inches It has a linear scale with a 20 micron line pitch The scale is used for both commutation and servo feedback The user first needs to set MS lt node gt MI101 6 and or MS lt node gt M
149. conductor to the central earth ground location On some models a fourth pin is provided on the 3 phase AC input connector J1 and on the motor output connectors to provide a ground connection Earth Grounding Paths High frequency noises from the PWM controlled power stage will find a path back to the drive It is best that the path for the high frequency noises be controlled by careful installation practices The major failure in problematic installations is the failure to recognize that wire conductors have impedances at high frequencies What reads 0 ohms on a handheld meter may be hundreds of ohms at 30MHz Consider the following during installation planning 1 Star point all ground connections Each device wired to earth ground should have its own conductor brought directly back to the central earth ground plate 2 Useunpainted back panels This allows a wide area of contact for all metallic surfaces reducing high frequency impedances 3 Conductors made up of many strands of fine conducts outperform solid or conductors with few strands at high frequencies Connections 23 Geo MACRO Drive User Manual 4 Motor cable shields should be bonded to the back panel using 360 degree clamps at the point they enter or exit the panel 5 Motor shields are best grounded at both ends of the cable Again connectors using 360 degree shield clamps are superior to connector designs transporting the shield through a single pin Always use m
150. container and remove all packing materials Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment Be aware that some connector kits and other equipment pieces may be quite small and can be discarded accidentally if care is not used when unpacking the equipment The container and packing materials can 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 control for external physical damage that may have been sustained during shipment and report any damage immediately to the commercial carrier that delivered the controller Electronic components in this amplifier are design hardened to reduce static sensitivity However use proper procedures when handling the equipment If the Geo Drive 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 stated in this manual Use of Equipment The following guidelines describe the restrictions for proper use of the Geo Drive The components built into electrical equipment or machines can be used only as integral components of such equipment The Geo Drives are to be used only on grounded three phase industrial mains supply networks TN system TT system with grounded neutral point The Geo Drives must not be operated on power supply netwo
151. cription Notes 1 FLTI Output Amplifier fault Low is fault 2 AENAI Output Amp enable 3 NC Not connected 4 GND Common Common Analog ground for A D 5 ANALOGO Input Command level 10v 6 AMP FLT1 Output Amplifier fault High is true 7 PMAC GND Common PMAC common For AMP fault 8 N C Not connected 9 ANALOGO Input Command level 10v X7 Analog IN 2 Optional 3 4 5 16 Bit A D Converter X7 Analog In O DB 9 Female Connector 60000 Pin Symbol Function Description Notes 1 AMP FLT2 Output Amplifier fault Low is fault 2 AENA2 Output Amp enable 3 NC Not Connected 4 GND Common Common Analog Ground for A D 5 ANALOGI Input Command level 10v 6 AMP FLT2 Output Amplifier fault High is True 7 PMAC GND Common PMAC Common For AMP Fault 108 Connectors Geo MACRO Drive User and Reference Manual 8 N C 9 ANALOGI Input Not Connected Command level 10v X8 S Encoder 1 The Secondary Encoder channel 1 allows an external encoder to be fed back on the controller A 5V supply is available for the encoder power at pin 4 The three differential signal channels are brought into the remaining pins as indicated Standard for drives that use control board 603542 rev 10A and above X8 S Enc 1 DB 9 Female Connector Pin Symbol Function Notes 1 C
152. current through the motor leads Typically bad setup information check Ix69 or overshoots in the Ee over Cunt Bugle current loop or voltage commands from the controller through the power stage The output of the drive has been shorted together or to ground Do not z4 Output Short Circuit Axis reset drive until condition has been cleared Do not reset drive for at least z 1 60 seconds Check wiring if the motor cable is disconnected and the fault insists sent the drive for RMA IGBT temperature is above a factory pre set range approximately 85 C EM IGBT Over Temp Axis 1 Drawing excessive current through the amplifier blocked airflow through the amplifier or operation in an ambient temperature above 45 C Troubleshooting 113 Geo MACRO Drive User Manual ES Motor Over Temp Axis 1 Warning Normally closed input on the front of the Geo drive amplifier connector X1 Motor over Temp is detected in open circuit With firmware 1 006 this function is not enabled default to enable it user needs to set MS node MI100 To disable this function for older firmware drives ground pin 13 25 to pin 23 temp input EB Current Fault Axis 2 An internal timer has noticed that Axis 1 1s taking more RMS current than the drive was designed to produce Reduce loading ET Over Current Fault Axis 2 Over current sensors have detected an excess of current through
153. cycle or pole pair of the motor These sensors then can provide absolute if low resolution information about where the motor is in its commutation cycle and eliminate the need to do a power on phasing search operation uU Channel Channel w Channel Note In the case of magnetic hall sensors the feedback signals often come back to the controller in the same cable as the motor power leads In this case the possibility 88 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual of a short to motor power must be considered safety considerations and industrial design codes may make it impermissible to connect the signals directly to the Turbo PMAC TTL inputs without isolation If used for servo position and velocity feedback the three hall sensors are connected to the A B and C encoder inputs so that the signal edges can be counted As with quadrature encoders these inputs can be single ended or differential They are not optically isolated inputs if isolation is desired from the sensor this must be done externally There may be applications in which the signals are connected both to U V and W inputs for power on commutation position and to A B and C inputs for servo feedback Using Hall Effect Sensors for Phase Reference There are usually four things to be considered about the alignment of the Hall Effect Sensors in order to properly set up Hall Effect phas
154. d before If the motor over temperature protection is not required In Therm Mot1 2 should be connected to GND pin 13 or 25 Otherwise the drive status display will show a warning error code 5 for motor 1 over temperature or an M for motor 2 over temperature If both pins are not shorted to GND display will show 5 the first error gets triggered Wiring the Regen Shunt Resistor J5 The Geo Drive family offers compatible regen resistors as optional equipment The regen resistor is used as a shunt regulator to dump excess power during demanding deceleration profiles The GAR48 and 78 resistors are designed to dump the excess bus energy very quickly The regen circuit is also known as a shunt regulator Its purpose is to dump power fed back into the drive from a motor acting as a generator Excessive energy can be dumped via an external load resistor The Geo product series is designed for operation with external shunt resistors of 48 Q for the 10 and 15 amp versions or 78 for the 1 5 3 and 5 amp versions These are available directly from Delta Tau as GAR48 GAR78 respectively These resistors are provided with pre terminated cables that plug into connector J5 Each resistor is the lowest ohm rating for its compatible drive and is limited for use to 200 watts RMS There are times the regen design might be analyzed to determine if an external Regen resistor is required or what its ratings can be The following data is provided fo
155. d for position loop feedback The advantage of the hardware position capture is that it is immediate and accurate to the exact count at any speed Software Capture If Ixx97 is set to 1 or 3 bit 0 1 Turbo PMAC will use a software captured position for the trigger position In this case Turbo PMAC uses the register whose address is specified by Ixx03 usually a register in the encoder conversion table for the trigger position The advantage of software capture is that it can be used with any type of feedback or when the position encoder channel is not the same as the flag channel 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 Input Trigger If Ixx97 is set to 0 or 1 bit 1 0 Turbo PMAC will use the input capture trigger flag in the Servo IC flag register addressed by Ixx25 as the trigger for the move This input trigger is created by an edge of the index input and a flag input for the channel as specified by I6mn2 and I6mn3 for the selected Channel n of Servo IC m or if a MACRO flag register is selected by Ixx25 with bit 18 of Ixx25 set to 1 the input trigger condition is set by MI variables on the MACRO station Error Trigger If Ixx97 is set to 2 or 3 bit 1 1 Turbo PMAC will use the warning following error status bit in the motor status word as the trigger for the move When this bit changes from 0 to 1 because the magnitude
156. d internal tooth lock washers It is important that the teeth break through any anodization on the drive 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 Caution Units 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 Note For more detail drawings SolidWorks eDrawings DXF visit our website under the product that you are looking for Mounting 17 Geo MACRO Drive User Manual Low Profile Gxx012xx Width Height Depth Weight Mounting dimensions 3 301 84mm 11 00in 220mm 5 79in 147 1mm 4 3165 1 95kgs MACRO Version No Heatsink No Fan gl 2 70 5 79 R x 1 ee 3 30 18 Mounting Geo MACRO Drive User and Reference Manual Single Width Gxx051xx Gxx101xx Gxx151xx Gxx032xx Gxx052xx and GxL102xx Width Height Depth Weight Mounting dimensions 3 30in 84mm 11 00in 280mm 8 00in 203mm 5 5lbs 2 5kgs MACRO Version Internal Heatsink Mtg single wide with Fan 2 Axis Low and Medium Power Mounting
157. d motion sequence For this reason it is often managed from a PLC program if it needs to be updated more than once per programmed move The position compare function works with the raw encoder position which is referenced to the power up reset position because the counter is forced to zero at that time In general this is different from the motor zero position home or the axis programming zero position and it will be different every time the Turbo PMAC is powered up or reset To monitor the status of the actual position compare output point an M Variable definition to bit 9 of the flag copy register Ixx25 Using this method the IO copy register does not need to be set up to verify the operation of the compare outputs These data bits are updated every ring cycle Turbo Ultralite M152 gt X 003440 9 M252 gt X 003441 9 M352 gt X 003444 9 M452 gt X 003445 9 M552 gt X 003448 9 M652 gt X 003449 9 M752 gt X 00344C 9 M852 gt X 00344D 9 The Position Compare Outputs EQU Outputs are set up using the following MACRO Node registers MS node MI912 Encoder n Capture Control MS node MI923 Compare Auto Increment Value MS node MI925 Compare A Position Value MS node MI926 Compare B Position Value MS node MI928 Compare State Write Enable MS node MI929 Compare Output Initial State For Geo MACRO drives only MS node MI920 was set to point to the raw ENC 24 bit counter position regist
158. ddressed to a specific amplifier or slave node If the data packet is not for an amplifier it is passed on unchanged If it is for the node it copies the contents of the data packet typically commands places feedback data into a packet and transmits the data packet MACRO s Advantages are e Single plug connections between controls and amplifiers A single fiber optic strand can provide a controller with position feedback flag status limits home flag amplifier status and machine input status This same strand can communicate to the amplifier and other devices on the MACRO network Amplifier enable and amplifier command signals machine outputs commands to D A converters all can be implemented with a single plug connection e Noise Immunity Fiber optic cable transmits light not electricity Unlike electricity light is immune to electromagnetic noise capacitive coupling ground loops and other wiring problems e Speed MACRO s operation is 125 Mbits second This is at least 25 times faster than other digital motion control interfaces 2 Introduction Geo MACRO Drive User and Reference Manual e One ring multiple masters In a ring network several motion controllers masters can be on one ring Each controller controls several axes up to 32 ea e Simplicity Transmission within the MACRO ring requires no software intervention The information sent to all nodes is written to a memory location and the MACRO hardw
159. devices that are ready to be used without any software setup Delta Tau uses the Burr Brown ADS8343 for this circuit The analog signals for analog input 1 are wired in to pins 5 ADC1 and 9 ADC1 of X6 and for analog input 2 into pins 5 ADC2 and 9 ADC2 of X7 Bipolar Analog Input Function Pin GND 4 ANALOG 5 ANALOG 9 Unipolar Analog Input Function Pin GND 4 ANALOG 5 ANALOG 9 5VDC to 5VDC Source X6 X7 5 ANALOG ANALOG GND ANALOG ANALOG 10VDC to 10VDC Source 42 Connections Geo MACRO Drive User and Reference Manual SOFTWARE SETUP FOR GEO MACRO DRIVES Introduction Turbo PMAC2 controllers can command axes and I O over the MACRO ring Most commonly this is done with an Ultralite board level Turbo PMAC2 controller that is installed as an expansion card in the host computer communicating to MACRO Stations MACRO based drives and or MACRO peripheral devices over the MACRO ring However it is also possible for a UMAC Turbo with the ACC 5E MACRO interface to command devices over the MACRO ring It is advisable to the user to use the Turbo Setup program to set up his Geo MACRO application MACRO communications feedback setup commutation and motor setup or to use the MACRO Ring ASCII setup tool which comes with the
160. dress The least significant bit count is expected at bit O of the address The bit width 8 to 48 bits the format signed or unsigned and the register type X or Y are determined by Ixx95 The common sources for this type of read are Acc 14 parallel I O expansion boards and the MLDT timer registers The following tables show the settings of Ixx10 for these devices Ixx10 for PMAC2 Style MLDT Timer Registers Ixx95 180000 Servo Chan 1 Chan 2 Chan 3 Chan 4 Notes IC 0 078000 078008 078010 078018 First IC on board PMAC2 3U stack 1 078100 078108 078010 078018 Second IC on board PMAC2 3U stack 2 078200 078208 078210 078218 First Acc 24E2x first IC on first Acc 24P V2 3 078300 078308 078310 078318 Second Acc 24E2x second IC on first Acc 24P V2 4 079200 079208 079210 079218 Third Acc 24E2x first IC on second Acc 24P V2 5 079300 079308 079310 079318 Fourth Acc 24E2x second IC on second Acc 24P V2 6 07A200 07A208 07A210 07A218 Fifth Acc 24E2x first IC on third Acc 24P V2 7 07A300 07A308 07A310 07A318 Sixth Acc 24E2x second IC on third Acc 24P V2 8 07B200 07B208 07B210 07B218 Seventh Acc 24E2x first IC on fourth Acc 24P V2 9 07B300 07B308 07B310 07B318 Eight Acc 24E2x second IC on fourth Acc 24P V2 It can also be used for registers in the 3U format A
161. e amplifier or motor system RMS or Peak Continuous Current Limit The lower of the amplifier or motor system Usually RMS protection time Time at instantaneous limit Two seconds Magnetization Current Ixx77 value for induction motors Only for induction motors Servo Update Frequency Default 1s 2258 Hz If specification given in RMS multiply with x1 41 to obtain peak current for calculations Example Calculations for Direct PWM commutated motor MAX ADC 32 5A Instantaneous Current Limit 10A Peak Continuous Current Limit 5 RMS protection time 2 seconds Magnetization Current Ixx77 0 Servo Update 2 258 kHz Ins tan tan eous Limit Peak Ixx69 x32767xCos 30 MAX ADC if calculated x69 gt 32767 then Ixx69 should be set equal to 32767 Continuous Limit 1 57 xIxx 69 Instan tan eous Limit Jus 57 1 58 pom ServoUpdateRate Hz x PermittedTime sec onds 32768 Based on the above data and equations the following results Ixx69 8731 Ixx57 4366 Ixx58 240 For details about protection refer to the safety sections of the User Manual Details about the variable setup can be found in the Software Reference manual 96 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual Calculating Minimum PWM Frequency The minimum PWM frequency requirement for a system is based on the time constant of the motor Calculate the minimum PWM
162. e any changes and then Setup each of his MACRO stations So select at the Stations Detected window the Ring Controller The Application automatically gives the user a Description of his Motion Controller Card The window below the description are the online commands that the Application send t the controller Detect MACRO ed Setup Ring cate Stations Detected User can select which MACRO IC he would like to setup Ring Check Ring Controlle Ring Controller Y MACRO IC 0 Mode Detailed Description Mode MACRO IC 0 Card ID 603182 ps MACRO KHz 5527 Turbo Ultralite ider 0 SID 0000000000000000 haseDivider 0 MACRO C 3 TYPE TURBOU X4 16802 Servo Divider 3 Firmware 1 841T4 Servo Divider 3 Firmware Date 07 14 2005 1680 Clk Source 0 Station 85 0 0 l Global Status 000011800608 Flag Xfr Ena Addressing Ring Errors RY 343B 2 Addressing 170 33 16840 4070 m 33 soFCOO3 Last Set of Commands 6841 soFCo03 X vo Global N Set the I variables for the systems SD Sn 32 frequencies And mainly set 16841 VER 32 Then issue a Save Changes 170 amp DATE 185 Start MACRO ASCII 5 171 will automatically be set 229 El 2 according to the 16841 value All the I variables on this screen are
163. e be kept within specifications The Geo Drive is installed in an enclosure such as a NEMA cabinet The internal temperature of the cabinet must be kept under the Geo Drive Ambient Temperature specifications It is sometimes desirable to roughly calculate the heat generated by the devices in the cabinet to determine if some type of ventilation or air conditioning is required For these calculations the Geo Drive s internal heat losses must be known Budget 100W per axis for 1 5A drives 150W per axis for 3A drives 200W per axis for 5A drives 375W per axis for 10A drives 500W per axis for 15A drives 650W per axis for 20A drives From 0 C to 45 C ambient no derating required Above 45 C derate the continuous and peak output current by 2 596 per C above 45 C Maximum ambient is 55 C Single Phase Operation Due to the nature of power transfer physics it is not recommended that any system design attempt to consume more than 2kW from any single phase mains supply Even this level requires careful considerations The simple bridge rectifier front end of the Geo Drive as with all other drives of this type require high peak currents Attempting to transfer power from a single phase system getting one charging pulse each 8 3 milliseconds causes excessively high peak currents that can be limited by power mains impedances The Geo Drive output voltage sags the input rectifiers are stressed and these current pulses cause power quality problems in other eq
164. e set properly for protection that will shut down the axis quickly if there is saturation due to improper feedback polarity Troubleshooting If not getting the current readings that are expected probe the motor phase currents on the motor cables with a snap on hall effect current sensor If the current is not seen when commanding voltages check for phase to phase continuity and proper resistance when the motor is disconnected Testing PWM and Current Feedback Operation WARNING On many motor and drive systems potentially deadly voltage and current levels are present Do not attempt to work directly with these high voltage and current levels unless fully trained on all necessary safety procedures Low level signals on Turbo PMAC and interface boards can be accessed much more safely Usually in setting up a direct PWM interface there is no need to execute all of the steps listed in these sections or the Turbo Setup program will do them automatically However the first time this type of interface is setup or there are problems these steps will be of assistance For safety reasons all of these tests should be done with the motor disconnected from any loads All settings made as a result of these tests are independent of load properties so will still be valid when the load is connected Before testing any of Turbo PMAC s software features for digital current loop and direct PWM interface it is important to know whether the
165. ead in byte wide pieces with the least significant byte at the address specified in Ixx81 the next byte at one address higher and so on up to a possible 6 consecutive addresses This format is intended for getting parallel data from the Acc 3E 3U format stack I O board or the Acc 14E 3U format pack UMAC I O board which have byte wide interfaces For this format the last hex digit of Ixx95 determines which byte of the 24 bit word is used according to the following table Ixx95 Last Digit Byte Bits 4 Low 0 7 5 Middle 8 15 6 High 16 23 In this mode bits 16 to 21 of Ixx95 specify the number of bits to be read starting with bit 0 at the specified address In this mode they can take a value from 08 to 30 8 to 48 If the number of bits is greater than 24 the high bits are read from the register at the next higher numbered address 130 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual In this mode bit 22 of Ixx95 specifies whether a Y register is to be read or an X register A value of 0 in this bit specifies a Y register a value of 1 specifies an X register Almost all common sources of absolute position information are located in Y registers so this digit is usually 0 In this mode bit 23 of Ixx95 specifies whether the position is interpreted as an unsigned or a signed value If the bit is set to 0 it is interpreted as an unsigned value if the bit i
166. ecause it allows the 48 bits of information to be processed using one 24 bit word and minimizes the number of nodes needed for the IO data transfers for each MACRO device The only drawback to this technique is that the user will have to keep track of the status of the outputs see example Example If node 2 is activated at both the Master and MACRO Device make the following definitions to read and write to the inputs and outputs M3000 gt X 78420 0 24 Actual Input Output Word M980 gt Y S10F0 0 24 Input Image Wordl free user memory space M982 gt Y S10F1 0 24 Output Image Wordl free user memory space 3012 gt 578420 8 4 four inputs M3013 gt X 78420 12 4 four outputs Open Clear M980 M3000 Input Image Word equals Actual Input Word Process Inputs and Build image output word M982 User code M3000 M982 Set Actual Output Word equal to Output Image Wordl Close If using another node access them at the following locations User Node IO Word Address Bit Function 2 X 078420 0 24 Bit 00 Halls W Motor 1 3 X 078424 0 24 Bit 01 Halls V Motor 1 6 X 078428 0 24 Bit 02 Halls U Motor 1 7 X 07842C 0 24 Bit 03 Halls Motor 1 10 X 078430 0 24 Bit 04 User Flag Motor 1 11 X 078434 0 24 Bit 05 18 X 079420 0 24 Bit 06 19 X 0794
167. econd When English mechanical units are used there are additional conversion factors must be included to get the energy result to come out in joules For example if the rotary moment of inertia J is expressed in 1b ft sec the following equation should be used Ek 0 678Jo2 If the rotary moment of inertia J is expressed in Ib in sec the following equation should be used Ek 0 0565J02 In standard metric SI units the kinetic energy of a linearly moving mass is Connections 27 Geo MACRO Drive User Manual 1 where Ex is the kinetic energy in joules J m is the mass in kilograms kg v is the linear velocity of the mass in meters second m s Here also to get energy in Joules from English mechanical units additional conversion factors are required To calculate the kinetic energy of a mass having a weight of W pounds the following equation can be used Ex 0 678 2 0 0211Wv2 g where Ex is the kinetic energy in joules J W is the weight of the moving mass in pounds 1b g is the acceleration of gravity 32 2 ft sec v is the linear velocity of the mass in feet per second ft sec Energy Lost in Transformation Some energy will be lost in the transformation from mechanical kinetic energy to electrical energy The losses will be both mechanical due to friction and electrical due to resistance In most cases these losses will comprise a small percentage of the transformed energy
168. ectively on the Acc 8D Opt 7 R D Converter board A CLOSED ON switch represents a 0 value an OPEN OFF switch represents a 1 value Bit 0 and bits 9 through 23 of Ixx10 are always set to 0 in this mode bit 8 is only set to 1 if all other bits are 0 The following table shows the common Multiplexer Port addresses that can be used Note that address 0 uses an Ixx10 value of 000100 because Ixx10 0 disables the absolute position read function Turbo PMAC2 Related I Variable Reference 119 Geo MACRO Drive User Manual Ixx10 for Acc 8D Option 7 Resolver Digital Converter Ixx95 000000 070000 800000 870000 Addresses are Multiplexer Port Addresses Board Ixx10 Board Ixx10 Board Ixx10 Board Ixx10 Mux Mux Mux Mux Addr Addr Addr Addr 0 000100 64 000040 128 000080 192 0000 0 8 000008 72 000048 136 000088 200 0000C8 16 000010 80 000050 144 000090 208 0000D0 24 000018 88 000058 152 000098 216 0000D8 32 000020 96 000060 160 0000A0 224 0000E0 40 000028 104 000068 168 0000A8 232 0000E8 48 000030 112 000070 176 0000B0 240 0000F0 56 000038 120 000078 184 0000B8 248 0000 8 Parallel Word Read If Ixx95 is set to a value from 080000 to 300000 from 480000 to 700000 from 880000 to B00000 or from C80000 to F00000 the address specified in Ixx10 is a Turbo PMAC memory I O address and Turbo PMAC will read the parallel word at that ad
169. ectrical shorts When our products are used in an industrial environment install them into an industrial electrical cabinet or industrial PC 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 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 IEC 364 resp 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 up by touching
170. ed above For a Turbo PMAC2 driving a MACRO ring MACRO IC 0 should generate the phase clock signal This means that I19 should be set to 6807 which it will be by default on virtually any Turbo PMAC2 capable of driving a MACRO ring and that 16800 and 16801 set the phase clock frequency I7 Phase Cycle Extension On the Turbo PMAC2 board it is possible to skip hardware phase clock cycles between executions of the phase update software A Turbo PMAC2 board will execute the phase update software commutation and or current loop closure every 17 1 hardware phase clock cycles The default value for 17 is 0 so normally Turbo PMAC2 executes the phase update software every hardware phase clock cycle If the Turbo PMAC2 board is closing the current loop for direct PWM control over the MACRO ring it is desirable to have two hardware ring update cycles which occur at the hardware phase clock frequency per software phase update This eliminates one ring cycle of delay in the current loop which permits slightly higher gains and performance To do this I7 would be set to 1 so the phase update software would execute every second hardware phase clock cycle and ring update cycle Normally it is desirable to close the current loop at an update rate of about 9 kHz the default rate If two ring updates were desired per current loop update the ring update frequency would need to be set to 18 kHz This is possible if there are no more than 40 total
171. egister Set 61 Ixx82 Current Loop Feedback Address If the Turbo PMAC2 is being operated in direct PWM mode Ixx82 must specify the address of the Phase B current feedback register If it is not being operated in direct PWM mode Ixx82 must be set to 0 When in direct PWM mode over MACRO the Phase B current feedback value appears in the MACRO servo node s Register 2 so Ixx82 must contain the address of this register The following table shows the typical values of Ixx82 in this mode listing the address of Register 2 for each servo MACRO node Turbo PMAC2 Ultralite Ixx82 Typical Settings Ixx82 Value Register Ixx82 Value Register I182 078422 MACRO IC 0 Node 0 Reg 2 I1782 07A422 MACRO IC 2 Node 0 Reg 2 D82 078426 MACRO IC 0 Node 1 Reg 2 I1882 07A426 MACRO IC 2 Node 1 Reg 2 I382 07842A MACRO IC 0 Node 4 Reg 2 11982 07A42A MACRO IC 2 Node 4 Reg 2 1482 07842E MACRO IC 0 Node 5 Reg 2 12082 07A42E MACRO IC 2 Node 5 Reg 2 I582 078432 MACRO IC 0 Node 8 Reg 2 12182 07A432 MACRO IC 2 Node 8 Reg 2 I682 078436 MACRO IC 0 Node 9 Reg 2 I2282 07 436 MACRO IC 2 Node 9 Reg 2 I782 07843A MACRO IC 0 Node 12 Reg 2 12382 07A43A MACRO IC 2 Node 12 Reg 2 I882 07843E MACRO IC 0 Node 13 Reg 2 I2482 07A43E MACRO IC 2 Node 13 Reg 2 1982 079422 MACRO IC 1 Node 0 Reg 2 I2582 07B422 MACRO IC 3 Node 0 Reg 2 I1
172. elect Detect MACRO Ring Detects all MACRO IC s that are connected to the Ring MACRO RING ASCII De Detect MACRO Ang Setup Ring Reinit MACRO rg Ring Check a Stations Detected Setup Ring Controller Ring Controller e Ring Controller i ipti MACRO IC 0 v Mode e MACRO Station n ard ID 16800 6927 urbo airan iib insi Setup Ring Controller SID 0000000000000000 0 TURBOU X4 16801 Phase Divider Firmware 1 94174 ETE SI b It will re initialize the MACRO EE ER t controller Turbo PMAC and all ete ay 1680 Phase Servo Clk Source Global Status 000011800608 clocks and nodes will be reset It gives Ping 2 Pego are Addressing the option of a re initialize and a reset 170 933 16840 4070 Reinit MACRO Ring 171 33 18841 0FCO03 The program will reinitialize the MACRO stations on the ring m Save Changes We 32 79 Ring Check Stat MACRO 801 180 A small troubleshooting tool for the MACRO ring communications Backup Ring Restore Ring j 182 The first thing the user needs to do when he starts the program is to make sure that everything is 58 Software Setup Geo MACRO Drive User and Reference Manual connected and powered up Then if it is the first time he tries to setup his system its advisable to click on the Setup Ring Controller and Click Yes on the
173. elta Tau Turbo PMAC2 VME 602413 MACRO Master 64 Software Setup Geo MACRO Drive User and Reference Manual Delta Tau Turbo PMAC2 Ultralite 603182 MACRO Master Delta Tau UMAC Turbo 603382 MACRO Master Delta Tau UMAC MACRO 8 602804 MACRO Slave Delta Tau UMAC MACRO 16 603719 MACRO Slave Delta Tau Geo MACRO Drive 603542 MACRO Slave Delta Tau ACC 65M 603740 MACRO Slave Delta Tau ACC 68M 603747 MACRO Slave 3 SID Serial ID Range 64 bit unsigned 0 Serial ID not available 4 Station to reset to default parameter with no station number and ready for Ring location identification Note Do not use 5 SAVE Save station number and initialization parameters Reset Station to saved station number and initialization parameters 7 STN n lt n 0 254 gt Assigns the MACRO station number Normally this would be its order in the Ring A STN 0 resets the station number and is reserved for the Ring Controller Master 8 Commands with STN 0 is a broadcast to all stations in the ring 9 Commands with STN 255 is a request for communication with the first station in the ring with its STN 0 10 Commands with STN 1 254 is a request for communication with the station in the ring with STN 1 254 11 STN The addressed MACRO Station responds with its station number n Software Setup 65 Geo MACRO Drive User Manual 66 Software Setup Geo MAC
174. en Output 3 Regen Output Connector is located at the top side of the unit DT Connector part number 014 HOOF03 049 and pins part number 014 042815 001 Molex Crimper tool p n 638 11 1500 26 Connections Geo MACRO Drive User and Reference Manual Shunt Regulation When the motor is used to slow the moving load this is called regenerative deceleration Under this operation the motor is acting as a generator consuming energy from the load while passing the energy into the DC Bus storage capacitors Left unchecked the DC Bus voltage can raise high enough to damage the drive For this reason there are protection mechanisms built into the Geo Drive product such as shunt regulation and over voltage protection The shunt regulator monitors the DC Bus voltage If this voltage rises above a present threshold Regen Turn On Voltage the Geo Drive will turn on a power device intended to place the externally mounted regen resistor across the bus to dump the excessive energy The power device keeps the regen resistor connected across the bus until the bus voltage is sensed to be below the Regen Turn Off voltage at which time the power device removes the resistor connection Minimum Resistance Value The regen resistor selection requires that the resistance value of the selected resistor will not allow more current to flow through the Geo Drive s power device than specified Maximum Resistance Value The maximum resist
175. en Bond Encoders Drive 4 EMI Filter UMAC MACRO Controller Turbo Ultralite 30 Connections Geo MACRO Drive User and Reference Manual Input Power Filtering Caution To avoid electric shock do not touch filters for at least 10 seconds after removing the power supply The Geo Drive electronic system components require EMI filtering in the input power leads to meet the conducted emission requirements for the industrial environment This filtering blocks conducted type emissions from exiting onto the power lines and provides a barrier for power line EMI Adequately size the system The type of filter must be based on the voltage and current rating of the system and whether the incoming line is single or three phase One input line filter may be used for multi axis control applications These filters should be mounted as close to the incoming power as possible so noise is not capacitively coupled into other signal leads and cables Implement the EMI filter according to the following guidelines e Mount the filter as close as possible to the incoming cabinet power e When mounting the filter to the panel remove any paint or material covering Use an unpainted metallic back panel e Filters are provided with a ground connection All ground connections should be tied to ground e Filters can produce high leakage currents they must be grounded before connecting the supply
176. en observed that there is an inconsistency in the shielding styles that are used by different encoder manufacturers Be sure to check pre wired encoders to ensure that the shield wires are not connected at the encoder s side Shield wires should be connected only on one side of the cable If the encoder has shield wires that are connected to the case ground of the encoder ensure that the encoder and motor cases are sufficiently grounded Do not connect the shield at the interpolator end If the encoder has pre wired double shielded cable that has only the outer shield connected at the encoder then connect only the inner shield wires to the interpolator Be sure not to mix the shield interconnections Appendix A 177 Geo MACRO Drive User Manual One possible cable type for encoders is Belden 8164 or ALPHA 6318 This is a 4 pair individually shielded cable that has an overall shield This double shielded cable has a relatively low capacitance and is a 100Q impedance cable Cables for single ended encoders should be shielded for the best noise immunity Single ended encoder types cannot take advantage of the differential noise immunity that comes with twisted pair cables Note If noise is a problem in the application careful attention must be given to the method of grounding that is used in the system Amplifier and motor grounding can play a significant role in how noise is generated in a machine Noise may be reduced in
177. equire an absolute position read can be commanded at once with the coordinate system specific command See Also I variables Ixx03 Ixx10 Ixx24 Ixx25 Ixx80 Ixx81 On line commands HOMEZ 162 Absolute Power On Online Commands Geo MACRO Drive User and Reference Manual Absolute Power On Online Commands 163 Geo MACRO Drive User Manual 164 Useful Notes Geo MACRO Drive User and Reference Manual Appendix A 165 Geo MACRO Drive User Manual APPENDIX A Fiber Optic Cable Ordering Information CABFBR 1 20 cm terminated glass optical fiber cable 3A3 A042P2 OPT CABFBR 2 1 5m 5ft terminated glass optical fiber cable 3A3 0042P2 OPT CABFBR 3 5m 15ft terminated glass optical fiber cable 3B3 0042P2 OPT CABFBR 4 8m 28ft terminated glass optical fiber cable 3C3 0042P2 OPT CABFBR 5 Custom length terminated glass optical fiber cable per meter 3D3 0042P2 OPT Mating Connector and Cable Kits Geo Drives do not come with any connectors for the AC input 24VDC input Regen Resistor Output or Motor Outputs The user should purchase the appropriate Mating Connector and Cable Kits from Delta Tau Data Systems Inc or they can obtain the connectors and pins from other sources Cable sets can be purchased directly from Delta Tau to make the wiring of the system easier Available cable kits CABKITxx are listed below For those manufacturing their own cable s
178. er 1 bias sse eene 139 MSfnode MI104 Sin Encoder Resolver 2 bias sse eene rennes 139 MSfnode MII05 Cosine Encoder Resolver 1 bias esee eene 139 MS nodej MII06 Cosine Encoder Resolver 2 bias essere 139 MSfnode MII07 Motor 1 Encoder Loss Mask essent nre nenne 140 MSf node MI108 Motor 2 Encoder Loss 8 140 Primary Channel Node Specific Gate Array MI variables esses 142 MS node M1I910 Primary Encoder Timer n Decode Control eee 142 MS node MI911 Primary Enc Position Compare n Channel 1 143 MSfnode MI912 Primary Encoder n Capture Control eese eren 143 MS node MI913 Primary Encoder Capture n Flag Select Control sse 144 MS node M1914 Primary Encoder n Gated Index Select seen 144 MS node MI915 Primary Encoder Index Gate State Demux Control eee 145 MS node MI910 Secondary Encoder Decode Control eee eene 146 MS node MI911 Secondary Encoder counter Direction sees 146 MS node MI912 Secondary Encoder Index Capture Control eee 147 MS node M1I913 Secondary Encoder Home Flag Capture Control eee 147 MS node MI914 Secondary Encoder Filter Control seen 147 MS node M1I915 Secondary Encoder Capture Flag Select Control
179. er a value of 1 yielding Ixx91 values from 480000 to 580000 specifies an X register For the Acc 8D Option 9 Yaskawa Absolute Encoder Converter Turbo PMAC s 24 bit encoder phase position register an X register is read so Ixx91 is set to 580000 180000 400000 For the Acc 49 Sanyo Absolute Encoder Converter the encoder provides a 13 bit value within one motor revolution and the data is read from a Y register so Ixx91 is set to 0D0000 Example 1 If Ixx81 078D01 and Ixx91 140000 Turbo PMAC would read 20 bits bits 0 19 from Y 078D01 Example 2 If Ixx81 078C00 and Ixx91 100004 Turbo PMAC would read 16 bits with the low eight bits from the low byte of Y 078C00 and the high eight bits from the low byte of Y 078C01 Example 3 If Ixx81 079E03 and Ixx91 120005 Turbo PMAC would read 18 bits with the low eight bits from the middle byte of Y 079E03 and the next eight bits from the middle byte of Y 079E04 and the high two bits from the first two bits of the middle byte of Y 079E05 MACRO R D Read If Ixx91 contains a value of 730000 Motor xx will read the absolute phase position from an Acc 8D Option 7 Resolver to Digital Converter through a MACRO Station or compatible device In this mode Ixx81 specifies the MACRO node number MACRO Station setup variable MI11x for the matching node must be set to read the R D converter MACRO Parallel Read If Ixx91 contains a value of 740000 Motor xx will read the absolute
180. er sensor counts version 1 005 and above Setting up for a Single Pulse Output If only a single compare pulse is desired not using the auto increment feature the following steps should be taken Write the encoder value at the front edge into the Compare A register Write the encoder value at the back edge into the Compare B register Set the Auto Increment register to zero Set the initial state with the direct write feature Write a value to the initial state bit Write a to the direct write enable bit this is self clearing to 0 Start the move that will cause the compare function SUON Sx Ne Example For axis using node 0 with the axis sitting still at about encoder position 100 and a 1 value of position compare desired between encoder positions 1000 and 1010 the following code could be used MSO MI925 1000 Set front end compare in A Setting Up Discrete Inputs and Outputs 103 Geo MACRO Drive User Manual MSO MI926 1010 Set back end compare in B MSO MI923 0 No auto increment MSO MI929 0 Prepare initial value of 0 MSO MI928 1 Enable direct write resets immediately to zero Command to start the move Setting up for Multiple Pulse Outputs By using the auto increment feature it is possible to create multiple compare pulses with a single software setup operation When the auto increment register is a non zero value its value is added to or subtracted from one compare re
181. er Set 44 12425 00346D MACRO Flag Register Set 45 12525 003470 MACRO Flag Register Set 48 12625 003471 MACRO Flag Register Set 49 12725 003474 MACRO Flag Register Set 52 12825 003475 MACRO Flag Register Set 53 12925 003478 MACRO Flag Register Set 56 13025 003479 MACRO Flag Register Set 57 13125 00347C MACRO Flag Register Set 60 13225 00347D MACRO Flag Register Set 61 Setting Up Turbo Motor Operation 79 Geo MACRO Drive User Manual Turbo PMAC Basic Setup for DC Brush Motors Ixx66 16384 Geo MACRO PWM scale factor Ixx82 node address base node address 2 ADC B commutation current feedback 1182 078422 MACRO IC 0 Node 0 Reg 2 1282 078426 MACRO IC 0 Node 1 Reg 2 1382 07842A MACRO IC 0 Node 4 Reg 2 1482 07842E MACRO IC 0 Node 5 Reg 2 1582 078432 MACRO IC 0 Node 8 Reg 2 1682 078436 MACRO IC 0 Node 9 Reg 2 1782 07843A MACRO IC 0 Node 12 Reg 2 1882 07843E MACRO IC 0 Node 13 Reg 2 1982 079422 MACRO IC 1 Node 0 Reg 2 11082 079426 MACRO IC 1 Node 1 Reg 2 11182 07942A MACRO IC 1 Node 4 Reg 2 11282 07942E MACRO IC 1 Node 5 Reg 2 11382 079432 MACRO IC 1 Node 8 Reg 2 11482 079436 MACRO IC 1 Node 9 Reg 2 11582 07943A MACRO IC 1 Node 12 Reg 2 11682 07943E MACRO IC 1 Node 13 Reg 2 11782 07A422 MACRO IC 2 Node 0 Reg 2 11882 07A426 MACRO IC 2 Node 1 Reg 2 11982 07A42A MACRO IC 2 Node 4 Reg 2 12082 07A42E MACRO IC 2 Node 5 Reg 2 12182 07A432 MACRO IC 2 Node 8 Reg 2 12282 07
182. er single or three phase it 1s important that the AC input wires be twisted together to eliminate noise radiation as much as possible Additionally some applications may have further agency noise reduction requirements that require that these lines be fed from an input filtering network The AC connections from the fuse block to the Geo drive are made via a cable that is either purchased as an option from Delta Tau CABKITxx or made with the appropriate connector kit CONKITxx Appendix A J1 AC Input Connector Pinout Pin Symbol Function Description Notes 1 L3 Input Line Input Phase 3 2 L2 Input Line Input Phase 2 3 Ll Input Line Input Phase 1 not used for single Phase Input On Gxx201xx and Gxx301xx there is a fourth pin for Ground connection If DC bus is used use L3 for DC and L2 for DC return Connector is located at the bottom side of the unit Wiring Earth Ground Panel wiring requires that a central earth ground location be installed at one part of the panel This electrical ground connection allows for each device within the enclosure to have a separate wire brought back to the central wire location Usually the ground connection is a copper plate directly bonded to the back panel or a copper strip with multiple screw locations The Geo drive is brought to the earth ground via a wire connected to the M4 stud 5mm thread on the top of the location through a heavy gauge multi strand
183. ers are the most common position sensors used with Geo Drives Interface circuitry for these encoders comes standard on board level Turbo PMAC controllers UMAC axis interface boards Geo drives and QMAC control boxes User needs to set up his MS lt node gt MI101 equal to 0 for channel 1 of his Geo MACRO drive for normal quadrature encoder with 5 bit shifting 1 T If the user doesn t want to use the 1 T shifting then he needs to set MS lt node gt MI101 equal to 1 For the second channel use MS lt node gt 102 and the same with channel 1 So as to change the direction of the encoder feedback the user can either swap the cable leads or an easier way would be to set MS lt node gt MI910 equal to 3 clockwise or equal to 7 for counterclockwise MI910 can be set to more values for different options please look at the Software Reference Appendix Setting up SSI Encoders The Geo Drive will take the data from the SSI encoder and process it as a binary parallel word 12 or 24 bits This data can then be processed in the PMAC encoder conversion table for position and velocity feedback With proper setup the information can also be used to commutate brushless and AC induction motors Caution Geo Drive was designed to work with either Gray Code or Binary Style SSI Encoders The Geo Drive takes the gray binary code information and converts it into a parallel binary word for absolute and ongoing position data User needs to set up
184. etal shells 6 Running motor armature cables with any other cable in a tray or conduit should be avoided These cables can radiate high frequency noise and couple into other circuits Wiring 24 V Logic Control J4 An external 24VDC power supply is required to power the logic portion of the Geo drive This power can remain on regardless of the main AC input power allowing the signal electronics to be active while the main motor power control is inactive The 24V is wired into connector J4 The polarity of this connection is extremely important Carefully follow the instructions in the wiring diagram This connection can be made using 16 AWG wire directly from a protected power supply In situations where the power supply is shared with other devices it may be desirable to insert a filter in this connection The power supply providing this 24V must be capable of providing an instantaneous current of at least 1 5A to be able to start the DC to DC converter in the Geo drive In the case where multiple drives are driven from the same 24V supply it is recommended that each drive be wired back to the power supply terminals independently It is also recommended that the power supply be sized to handle the instantaneous inrush current required to start up the DC to DC converter in the Geo drive J4 24VDC Input Logic Supply Connector Pin Symbol Function Description Notes 1 24VDC RET Common Control power return 2 24VDC Inp
185. ets the table below provides Connector Kits to use with each drive Connector Kits CONKITxx include the MOLEX connectors and pins for the AC input 24VDC power supply and the motor outputs Note Due to the variety and wide availability of D type connectors and back shells for the encoders CABKITs and CONKITS do not provide these parts For correct installation of the connector kit to the Cables proper crimping tools are required Check the Molex website to find the correct tool for the appropriate pin Cable kits have terminated cables on the drive end and flying leads on the other Mating Connector and Cable Kits Connector Kit Description CONKITIA Mating Connector Kit for dual axis drives up to 5 amp continuous rating Gxx012xx Gxx032xx Gxx052xx GxL102xx Includes Molex Connectors kits for two motors AC input connection and 24V power connection Requires Molex Crimp tools for proper installation CABKITIB Includes Molex mating connectors pre crimped for dual axis drives up to 5 amp continuous rated Gxx012xx Gxx032xx Gxx052xx GxL102 3 ft AC Input Cable 3 ft 24VDC Power Cable 10 ft shielded Motor Cables CONKITIC Mating Connector Kit for single axis drives up to 5 amp continuous rating Gxx051xx Includes Molex Connectors kits for two motors AC input connection and 24V power connection Requires Molex Crimp tools for proper installation 166 Appendix A Geo
186. f 2 2N from 1 to 128 times N 0 to 7 This means that the possible frequency settings for each of these clocks are Frequency Divide by Divider N in 1 2N 39 3216 MHz 1 0 19 6608 MHz 2 1 9 8304 MHz 4 2 4 9152 MHz 8 3 2 4576 MHz 16 4 1 2288 MHz 32 5 611 44 kHz 64 6 305 72 kHz 128 7 Very few Geo MACRO Station users will be required to change the setting of MI993 from the default value The encoder sample clock signal SCLK controls how often 2 axis board s digital hardware looks at the encoder inputs PMAC2 can take at most one count per SCLK cycle so SCLK frequency is the absolute maximum encoder count frequency SCLK also controls the signal propagation through the digital delay filters for the encoders and flags the lower the SCLK frequency the greater the noise pulse that can be filtered out The SCLK frequency should optimally be set to the lowest value that can accept encoder counts at the maximum possible rate The pulse frequency modulation clock PFM CLK controls the PFM circuitry on the 2 axis board that can create pulse and direction outputs The maximum pulse frequency possible is 1 4 of the frequency The CLK frequency should optimally be set to the lowest value that can generate pulses at the maximum frequency required The ADC_CLK controls the serial data frequency from A D converters either for digital current loop closure or from the A D con
187. fications Delta Tau recommends a Fair Rite P N 263665702 or equivalent ferrite core Common mode currents occur from noise spikes created by the PWM switching frequency of the Geo Drive The use of a ferrite or iron powder core toroid places common mode impedance in the line between the motor and the Geo Drive The use of a common mode choke on the motor leads may increase signal integrity of encoder outputs and associated I O signals I O Filtering I O filtering may be desired depending on system installation application and integration with other equipment It may be necessary to place ferrite cores on I O lines to avoid unwanted signals entering and disturbing the Geo Connections 31 Geo MACRO Drive User Manual Connecting Main Feedback Sensors X1 amp X2 X1 is for motor 1 and X2 for motor 2 Digital Quadrature Encoders Quadrature encoders provide two digital signals that are a function of the position of the encoder each nominally with 50 duty cycle and nominally one quarter 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 the decoding electronics to discern the direction of travel which would not be possible with a single signal A Channel B Channel Typically these signals are at 5V TTL CMOS levels whether single ended or differential The input circuits are powered by the main 5V supply for the co
188. g Is the drive properly wired to Turbo PMAC either directly or through an interface board Is the motor properly connected to the drive Is the drive properly powered both the power stage and the input stage Is the interface board properly powered Is the amplifier enabled M114 1 on Turbo PMAC and indicator ON at the drive Is the amplifier in fault condition If so why If only an ADC response is received on one phase the phase outputs and inputs may not be matched properly For example the Phase B ADC may be reading current from the phase commanded by the Phase C PWM output Confirm this by trying other combinations of commands and checking which ADC responds to which phase command If there is not a proper match change the wiring between Turbo PMAC and the drive Changing the wiring between drive and motor will not help here Synchronous Motor Stepper Action With a synchronous motor this command should cause the motor to lock into a position at least weakly like a stepper motor This action may be received temporarily on an induction motor due to temporary eddy currents created in the rotor However an induction motor will not keep a holding torque indefinitely at the new location Current Loop Polarity Check Observe the signs of the ADC register values in M105 and M106 These two values should be of approximately the same magnitude and must be of the opposite sign from each other Again remember Setting Up Turbo Mot
189. g 0 12402 07A43C MACRO IC 2 Node 13 Reg 0 12502 07B420 MACRO IC 3 Node 0 Reg 0 12602 07B424 MACRO IC 3 Node 1 Reg 0 12702 07B428 MACRO IC 3 Node 4 Reg 0 12802 07B42C MACRO IC 3 Node 5 Reg 0 12902 07B430 MACRO IC 3 Node 8 Reg 0 13002 07B434 MACRO IC 3 Node 9 Reg 0 13102 07B438 MACRO IC 3 Node 12 Reg 0 13202 07B43C MACRO IC 3 Node 13 Reg 0 e Ixx03 ECT address for position encoder 35xy e xx04 ECT address for velocity encoder 35xy e xx24 flag mode limit switches e xx25 node space for flags 34xy 1125 003440 MACRO Flag Register Set 0 1225 003441 MACRO Flag Register Set 1 1325 003444 MACRO Flag Register Set 4 1425 003445 MACRO Flag Register Set 5 1525 003448 MACRO Flag Register Set 8 1625 003449 MACRO Flag Register Set 9 1725 00344C MACRO Flag Register Set 12 1825 00344D MACRO Flag Register Set 13 1925 003450 MACRO Flag Register Set 16 11025 003451 MACRO Flag Register Set 17 11125 003454 MACRO Flag Register Set 20 11225 003455 MACRO Flag Register Set 21 11325 003458 MACRO Flag Register Set 24 11425 003459 MACRO Flag Register Set 25 11525 00345C MACRO Flag Register Set 28 11625 00345D MACRO Flag Register Set 29 11725 003460 MACRO Flag Register Set 32 11825 003461 MACRO Flag Register Set 33 11925 003464 MACRO Flag Register Set 36 12025 003465 MACRO Flag Register Set 37 12125 003468 MACRO Flag Register Set 40 12225 003469 MACRO Flag Register Set 41 12325 00346C MACRO Flag Regist
190. gative command value to Phase B with the on line commands M114 1 Enable amplifier M102 16800 50 M104 16800 50 M107 0 A pos B neg C zero This provides a command at 2 of full voltage into the motor this should be well within the continuous current rating of both drive and motor It is a good idea to make the sum of these commands equal to zero so as not to put a net DC voltage on the motor putting all three commands on one line causes the changes to happen virtually instantaneously With power applied to the drive and the amplifier enabled M114 1 current readings should be received in the ADC registers as shown by the M Variables M105 and M106 in the Watch window Since the M Variables are defined as 32 768 for full current range which should correspond approximately to the instantaneous current limit Make sure that the value read does not exceed the continuous current limit usually which is about 1 3 of the instantaneous limit If well below the continuous current limit increase the voltage command to 5 to 10 of maximum For example M102 17000 10 M104 17000 10 M107 0 10 of maximum PWM ADC Phase Match Command values from Turbo PMAC s Phase A PWM outputs should cause a roughly proportionate response of one sign or the other on Turbo PMAC s Phase A ADC input whatever the phase is named in the motor and drive The same is true for Phase B If no response is received on either phase re check the entire setup includin
191. gh all of the way through the conversion The MSB of MI942 should always be set to 0 so that a rising edge is created on the next cycle The default MI942 value of 3FFFFF is suitable for virtually all A D converters MS node MI943 Encoder Power control bit Range 0 3 Units 0 Default 3 MI943 was implemented in the Geo MACRO firmware 1 007 and above It controls the 5V encoder power line pin 12 of the primary encoder feedback connectors X1 and X2 When MI915 is set equal to 1 the Servo IC de multiplexes the index pulse and the three hall style commutation states from the third channel based on the quadrature state as with Yaskawa and Sanyo incremental encoders The Servo IC breaks out the third channel signal into four separate values one for each of the four possible AB quadrature states These encoders need to be power cycled so as to send the Hall sensor signals and that is what MI943 does so the user does not have to power cycle the whole Geo MACRO drive 24VDC If MI943 is set equal to 0 both ENCPWR 1 and 2 would be turned off OV if the value is equal to 1 then ENCPWRZ1 is turned on ENCPWR 2 is off When MI943 is set equal to 2 then ENCPWR 2 15 turned on ENCPWR 1 is off if MI943 is set equal to 3 default then both ENCPWR 1 and 2 are turned on MS node MI944 MI949 Reserved for future use Range 0 Units none Default 0 154 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manu
192. gister s value automatically when the other compare value is matched PMAC keeps track of the direction of incrementing so only positive values should be used in the auto increment register even if the encoder will be counting in the negative direction The setup for multiple pulses is like the setup for a single pulse except that a non zero value must be entered into the auto increment register and the value entered for the back edge must be that of the first back edge minus the auto increment if the move will be positive or that of the first back edge plus the auto increment value if the move will be negative In other words the starting values to the two compare registers must bracket the starting position When either compare value is matched by the encoder counter the other compare value is incremented in the direction of movement Starting Position Bo Ao Bi Al LJ LJ Auto Increment Example Starting with the above example the compare output should be between 1000 Ag and 1010 B1 counts but add an auto increment value of 2000 counts with a starting position of about 100 counts The program code to start the sequence could be MS0 MI925 2000 Auto increment of 2000 encoder counts MS0 MI926 1000 First front edge A0 at 1000 counts MS0 MI923 1010 1000 1010 MS0 MI926 First back edge B1 at 1010 counts MS0 MI929 0 Prepare initial value of 0 MSO MI928 1 Enable direct write resets immediately to zero
193. h a MACRO Station A value of 32 is suggested If a value of 179 greater than 0 has been saved into PMAC s non volatile memory then at subsequent power up resets bit 14 of 170 is set to 0 the node 14 broadcast bit bit 14 of 16840 is set to 1 and activation bit for node 14 bit 14 of 16841 is set to 1 regardless of the value saved for these variables This reserves Node 14 of MACRO IC 0 for the Type 1 Master Master Auxiliary Communications 180 181 182 MACRO Ring Check Period and Limits If I80 is set to a value greater than zero Turbo PMAC will monitor for MACRO ring breaks or repeated MACRO communications errors automatically A non zero value sets the error detection cycle time in Turbo PMAC servo cycles Turbo PMAC checks to see that sync node packets see 16840 and 16841 are received regularly and that there have not been regular communications errors The limits for these checks can be set with variables 181 and 182 If less than 182 sync node packets have been received and detected during this time interval or if I81 or more ring communications errors have 46 Software Setup Geo MACRO Drive User and Reference Manual been detected in this interval Turbo PMAC will assume a major ring problem and all motors will be shut down Turbo PMAC will set the global status bit Ring Error bit 4 of X 000006 as an indication of this error Turbo PMAC looks for receipt of sync node packets and ring communications errors once
194. hal Input Secondary Encoder 1 A 2 Chb1 Input Secondary Encoder 1 B 3 Index 1 Input Secondary Encoder Index C 4 5V Out Encoder Power 5 GND Out Common 6 Chal Input Secondary Encoder 1 A 7 Chb1 Input Secondary Encoder B 8 Index1 Input Secondary Encoder 1 Index C 9 N C Not Connected X9 S Encoder 2 The Secondary Encoder channel 2 allows an external encoder to be fed back on the controller A 5V supply is available for the encoder power at pin 4 The three differential signal channels are brought into the remaining pins as indicated Need to enable the MACRO nodes MS node 1996 and the MACRO IC nodes 16841 16891 16941 16991 Standard for drives that use control board 603542 rev 10A and above X9 S Enc 2 DB 9 female Connector Pin Symbol Function Notes 1 Cha2 Input Secondary Encoder 2 A 2 Chb2 Input Secondary Encoder 2 B 3 Index2 Input Secondary Encoder 2 Index C 4 5V Out Encoder Power 5 GND Out Common 6 Cha2 Input Secondary Encoder 2 A 7 Chb2 Input Secondary Encoder 2 B 8 Index2 Input Secondary Encoder 2 Index C 9 N C Not Connected X13 Discrete I O X13 Discrete I O mmi 6 pin Phoenix Terminal Block Pin Symbol Function Notes 1 24V In Out Interconnected with J4 24VDC 2 24VRTN In Out Interconnected with J4 24VDC 3 5V Output PMAC 5V 4
195. he MSCLRF node clear fault command or the MS node Station reset command 116 Troubleshooting Geo MACRO Drive User and Reference Manual MS node MI6 Status Word Control MS node MI6 MS node MI6 Function Ring Status Word Bus Voltage value Status Word X register via the 3d IO node 16 bit register Bit Value 0 0001 1 0002 2 0004 3 0008 4 0010 5 0020 6 0040 7 0080 8 0100 9 0200 9 0200 10 0400 11 0800 12 1000 13 2000 14 4000 15 8000 MTRI OC MTR2 OC MTRI SC MTR2 SC MTRI OT MTR2 OT IGBTI OT IGBT2 OT MTRI ELOS MTR2 ELOS TAXI ERR SYNC ERR RING ERR UNDER VOLTS OVER VOLTS SHUNT FAULT GD FAULT Description Motor 1 Over current display E2 or AE2 Motor 2 Over current display E7 or AE7 Motor 1 Short Circuit display E3 or AE3 Motor 2 Short Circuit display E8 or AE8 Motor 1 Over Temperature display E5 or AES Motor 2 Over Temperature display or AEA IGBT 1 Over Temperature display E4 or AE4 IGBT 2 Over Temperature display E9 or AE9 Encoder 1 Loss display Eh or AEh Encoder 2 Loss display EH or AEH Ring Break Violation Bad Sync Package Checksum Error bad data Under Voltage Over Voltage Shunt Regulator Fault Gate Drive Fault DC to DC converter fault
196. he equation T JA where T is the torque in Newton meters or pound feet required for the acceleration J is the inertia in kilogram meters squared or pound feet second squared and A is in radians per second per second The required torque can be calculated 1f the desired acceleration rate and the load inertia reflected back to the motor are known The T JA equation requires that the motor s inertia be considered as part of the inertia requiring torque to accelerate Once the torque is determined the motors specification sheet can be reviewed for its torque constant parameter Kt The torque required at the application divided by the Kt of the motor provides the peak current required by the amplifier A little extra room should be given to this parameter to allow for good Introduction 3 Geo MACRO Drive User Manual servo control Most applications have a duty cycle in which the acceleration profile occurs repetitively over time Calculating the average value of this profile gives the continuous rating required by the amplifier Applications also concern themselves with the ability to achieve a speed The requirements can be reviewed by either defining what the input voltage is to the drive or defining what the voltage requirements are at the motor Typically a system is designed at a 230 or 480V input line The motor must be able to achieve the desired speed with this voltage limitation This can be determined by using the voltage co
197. his MS lt node gt MI101 equal to 2 CW or 3 CCW and then set 2 I variables per channel Setting Up Primary Feedback 67 Geo MACRO Drive User Manual The user needs to set the control word lt gt 1930 channel 1 and MS lt node gt MI931 channel 2 depending on the SSI encoder that the system uses the control word specifies the mode that the data are coming back to the PMAC binary or gray code and the length of the word e A 12 bit numeric binary encoder would mean the control word MI930 MI931 need to be set equal to 2 if the encoder is outputting gray code then the control word needs to be set equal to 3 e A 16 bit numeric binary encoder would mean the control word MI930 MI931 need to be set equal to 6 if the encoder is outputting gray code then the control word needs to be set equal to 7 e A 20 bit numeric binary encoder would mean the control word MI930 MI931 need to be set equal to A if the encoder is outputting gray code then the control word needs to be set equal to B e A 24 bit numeric binary encoder would mean the control word MI930 MI931 need to be set equal to E if the encoder is outputting gray code then the control word needs to be set equal to F And the second I variable the user needs to set is the clock output frequency to the SSI encoder interface MS lt node gt MI933 A value of 0 sets the Clock output 153 6 KHz If higher clock frequency required then
198. ice that has not been set up MI11 0 If assigning a MACRO device as Station Number 20 type STN 20 in the terminal window and MI11 will be set to 20 e Ifa Macro I O error is received make sure 16840 16841 and 179 are set correctly Also make sure that the unit has not been already assigned a station number e Ifthe Station has been assigned a Station number already there are two options a Find out the station number n by typing the STN command and enter MACSTA lt n gt where n is the station number to initiate MACRO ASCII communication with the Station b Reset the station number of all the stations by entering MACSTAO and then STN 0 Exit MACRO ASCII communications by typing Control T T Then enter MACSTA255 to access the first Station Now assign it a Station number by entering STN n where n is the Station number Enter T to exit MACRO ASCII Communications Enter MACSTA255 again to access the next station and repeat this process until a MACRO I O error is received stating that there are no further unassigned stations Enter MACSTA lt n gt where n is the Station number Enter 1996 F4004 Binds to Ring Controller 0 and Node2 Enter T Control T terminates MACRO ASCII Communications Enter MSCLRF2 Clears any faults at Node 2 Enter 16841 0FCO04 Enable Node 2 Issue the SAVE and MSSAVE node commands to save the parameters in memory Software Setup 63 Geo MACRO Drive User Manual MACRO ASCII Communi
199. imum off time between pulses is equal to the pulse width This means that the maximum PFM output frequency is Max Freq MHz PFM CLK Freq 2 MI994 Examples A PWM deadtime of approximately 1 microsecond is desired MI994 1 usec 0 135 usec 7 With a 2 4576 MHz PFM CLK frequency a pulse width of 0 4 usec is desired MI994 2 4576 MHz 0 4 usec 1 MS node MI995 MACRO Ring Configuration Status Range 0000 FFFF 0 65 535 Units none Default 0080 Geo Macro Drive MI Variable Reference 157 Geo MACRO Drive User Manual MI995 contains configuration and status bits for MACRO ring operation of the Geo MACRO Station There are 11 configuration bits and 5 status bits as follows Bit Value Type Function Data Overrun Error cleared when read Byte Violation Error cleared when read Packet Parity Error cleared when read Packet Underrun Error cleared when read Master Station Enable Synchronizing Master Station Enable Sync Node Packet Received cleared when read Sync Node Phase Lock Enable Node 8 Master Address Check Disable Node 9 Master Address Check Disable 10 Node 10 Master Address Check Disable 11 Node 11 Master Address Check Disable 12 Node 12 Master Address Check Disable 13 Node 13 Master Address Check Disable 14 Node 14 Master Address Check Disable 15 32768 8000 Config Node 15 Master Address Check Disable Geo MAC
200. in detail explained at the Appendix of this manual 181 m bestens Ping Stop MACRO ASCII ie fs If the user clicks on his Right mouse button on Reset All Stations to Default sends the the Ring Controller Window a new menu command MS 255 and re initializes all window will show up on screen MACRO stations on the ring Reset all Stations to Last Saved sends the online command MS 255 and does lBB Phase Sen Sauces IN Bard p to the last saved by the user values It is gt the same with Power cycle at all the units 121 33 Ring Check Save All Station Variables saves all the StarEMAGRS ASCII MI variables at the MACRO Stations Stop MACRO ASCII Seve J Reset all Stations to Defaut Clear All Stations Faults mainly sends Save All Stations Variables Reset All Stations to Last Saved command CLRF255 Clear All Stations Faults Stan MACE Backup MACRO Ring creates a backup file with all the MACRO I variables from all the MACRO stations on the ring Restore MACRO Ring downloads the backup file with all the MACRO I variables to all the MACRO stations on the ring Station Specific Commands Stop Select PMAC Backup MACRO Ring Restore MACRO Ring After the Ring Controller is set up the user needs to setup his MACRO Stations 60 Software Setup Geo MACRO Drive User and Reference Manual Stations Detected Setup STATION 1
201. in of 1 the nominal AC output has peak voltages of 2 5V The following table lists the possible values of MI940 and the nominal output magnitudes they produce MI940 Excitation Gain 0 2 5 1 5 0V 2 7 5V 3 10 0V Geo Macro Drive MI Variable Reference 153 Geo MACRO Drive User Manual MS anynode MI941 Resolver Excitation Phase Offset Range 0 255 Units 1 256 cycle Default 0 MI941 specifies the phase time offset for the AC excitation created by the Geo MACRO for resolvers The optimum setting of MI941 depends on the L R time constant of the resolver circuit MI941 should be set interactively to maximize the magnitudes of the feedback ADC values The Turbo setup takes care of this MS anynode MI942 ADC Strobe Word Channel 1 amp 2 Range 000000 SFFFFFF Units Serial Data Stream MSB first starting on rising edge of phase clock Default 3FFFFF MI942 controls the ADC strobe signal for machine interface channels on Servo IC m The 24 bit word set by MI942 is shifted out serially on the ADC_STROB lines MSB first one bit per cycle starting on the rising edge of the phase clock The value in the LSB is held until the next phase clock cycle The first 1 creates a rising edge on the ADC_STROB output that is typically used as a start convert signal Some A D converters just need this rising edge for the conversion others need the signal to stay hi
202. ing of Ixx95 The motor s position is set to the value read from the sensor location the Ixx26 home offset value Ixx10 is used only on power on reset when the command is issued for the motor or when the command is issued for the coordinate system containing the motor To get a new value of Ixx10 to take effect either the or command must be issued or the value must be stored to non volatile flash memory with the SAVE command and the board must be reset Note Variable Ixx81 with Ixx91 performs the same power on position read function for the phasing commutation algorithm R D Converter Read If Ixx95 is set to a value from 000000 to 070000 or from 800000 to 870000 the address specified in Ixx10 is a Multiplexer Port address Turbo PMAC will read the absolute position from an Acc 8D Opt 7 Resolver to Digital Converter board at that port address as set by DIP switches on the board Ixx95 specifies which R D converter at that address is read and whether it is treated as a signed or unsigned value If Ixx99 is greater than 0 the next R D converter at that port address is also read as a second geared down resolver with Ixx99 setting the gear ratio If Ixx98 is also greater than 0 the next R D converter past that one at the same port address is read as a third geared down resolver with Ixx98 setting the gear ratio In this mode bits 1 through 7 of Ixx10 match the settings of DIP switches SW1 2 through SW1 8 resp
203. ing within the Geo Drive e Commutation Phase angle based on Ixx72 e Hall Effect Transition Points e Hall Effect Zero position with respect to PMAC s electrical zero e Polarity of the Hall Effects standard or reversed Determining the Commutation Phase Angle The commutation phase angle most likely has been set up already and it can be checked by querying the value of Ixx72 For details on how this is determined see the Turbo User Manual under Commutation Phase angle for either Sinusoidal Commutation or Direct PWM Commutation Turbo 1 72 683 Turbo 1 72 1365 Commutation Phase Angle 120 degrees 240 degrees Finding the Hall Effect Transition Points Usually hall effect sensors map out six zones of 60 elec each In terms of PMAC2 s commutation cycle usually the boundaries will have one of two different combinations If the Hall effect sensors are placed at 30 150 and 270 then the boundaries will be located at 180 120 60 0 60 and 120 Another common placement of Hall Effect Sensors has them located at 0 120 and 240 In this case the boundaries will be located at 30 90 150 150 90 and 30 Typically a motor manufacturer will align the sensors to within a few degrees of this because these are the proper boundary points if all commutation is done from the commutation sensors If mounting the hall effect sensors manually take care to align the bounda
204. installation Fuse and Circuit Breaker Selection In general fusing must be designed to protect the weakest link from fire hazard Each Geo drive is designed to accept more than the recommended fuse ratings External wiring to the drive may be the weakest link as the routing is less controlled than the drive s internal electronics Therefore external circuit protection be it fuses or circuit breakers must be designed to protect the lesser of the drive or external wiring High peak currents and high inrush currents demand the use of slow blow type fuses and hamper the use of circuit breakers with magnetic trip mechanisms Generally fuses are recommended to be larger than what the rms current ratings require Remember that some drives allow three times the continuous rated current on up to two axis of motion Time delay and overload rating of protection devices must consider this operation Use of GFI Breakers Ground Fault Interrupter circuit breakers are designed to break the power circuit in the event that outgoing currents are not accompanied by equal and opposite returning currents These breakers assume that if outgoing currents are not returning then there is a ground path in the load Most circuit breakers of this type account for currents as low as 0 PWM switching in servo drives coupled with parasitic capacitance to ground in motor windings and long cables generate ground leakage current Careful Connections 21 Geo MAC
205. ion Description Notes I U Output Axis 2 Phasel 2 Axis drives only 2 V Output Axis 2 Phase2 2 Axis drives only 3 W Output Axis 2 Phase3 2 Axis drives only J4 24VDC Input Logic Supply Connector Pin Symbol Function Description Notes 1 24VDC RET Common Control power return 2 24VDC Input Control power input 24V 10 2A Connector is located at the bottom side of the unit J5 External Shunt Connector Pinout Pin Symbol Function 1 Output 2 Regen Output Connector is located at the top side of the unit 110 Connectors Geo MACRO Drive User and Reference Manual MACRO Link Connectors The unit can be ordered to use either RJ45 connectors with twisted pair copper wires or a fiber optic connection GMxxxxFx Fiber Optic MACRO Link GMxxxxRx RJ 45 MACRO Link In either case there will be an input and an output connector and both are used to connect to the MACRO link The input connector is tied to the MACRO output connector of the previous device on the link The output connector connects to the input MACRO connector of the next device on the link X5 MACRO I O MACRO Fiber Optic Transceiver Optional Order Geo MACRO drive GMxxxxFx F stands for Fiber Optic Macro Link GND_MAC FIBER Double SC Fiber Optic Socket XCVR OPTO XCVR D20 is a MACRO LED which indicates the Link Activity
206. ion vector e Ixx72 512 90 e if voltage and current numerical polarities are opposite 1536 270 e if they are the same If the amplifier would use 683 120 e for a 3 phase motor use 512 here if it would use 1365 240 e for a 3 phase motor use 1536 here e Ixx96 1 This causes Turbo PMAC to periodically clear the integrator for the non existent direct current loop which could slowly charge up due to noise or numerical errors and eventually interfere with the real quadrature current loop Settings that do not matter e Ixx71 commutation cycle size does not matter because Ixx70 setting of 0 defeats the commutation cycle e Ixx75 Offset in the power on phase reference does not matter because commutation cycle has been defeated Leaving this at the default of 0 is fine e xx83 ongoing commutation position feedback address doesn t matter since the commutation has been defeated Leaving this at the default value is fine Ixx91 power on phase position format does not matter because whatever is read for the power on phase position is reduced to zero 2 Setup all M Var definitions If using PEWIN32Pro and using a node space setup which equates each motor number with the sequential node number 1 e motor 1 is node 0 motor 2 is node 1 motor Setting Up Turbo Motor Operation 81 Geo MACRO Drive User Manual 3 is node 4 motor 4 is node 5 motor 6 is node 8 etc then you can simply use the Configure M Varia
207. ise CW or equal to 1 for CounterClockWise CCW Make sure when you change the direction decode that the output sense direction also follows else runaway can occur For capturing the user needs first to select which input to use Home Flag or Index channel MS lt node gt MI915 If the user wants to capture on the Index channel only then MI915 has to be set equal to CO If the user wants to capture on the Home Flag then MI915 needs to be set equal to 6000 For capturing to both inputs Home Flag and Index Input MI915 needs to be set equal to 40C0 Depending on the input that the user chose MI912 or MI913 need to be set respectively For Capturing at the Index input C channel MS lt node gt MI912 can be set equal to 0 for capturing at the rising edge or equal to 1 for capturing at the falling edge edge trigger not level trigger Default the value is equal to 0 The trigger would be armed as soon as the position capture register is read If the user wants to capture at the Home Flag HMFL then MS lt node gt MI913 has to be set equal to 0 for capturing on the rising edge or equal to 1 for capturing on the falling edge edge trigger not level trigger Using the secondary encoder requires enabling an additional motor not I O node in both the Geo MACRO drive and the Turbo PMAC to transfer the data back to the Turbo PMAC If the user wants to use only one primary encoder and one secondary encoder without burning extra motor nodes
208. isplacement transducers MLDTs such as Temposonics M In this mode the timer is cleared when the circuitry sends out the excitation pulse to the sensor on PULSEn and it is latched into the memory mapped register when the excitation pulse is received on CHAn If MI910 is set to 11 or 15 the channel is set up to accept 3 phase hall effect style inputs on the A B and C inputs decoding 6 states per cycle MS node MI911 Primary Enc Position Compare n Channel Select Range 0 1 Units None Default 0 0 Use channel n encoder counter for position compare function 1 Use first encoder counter on IC encoder 1 for channels 1 to 4 encoder 5 for channels 5 to 8 for position compare function MI911 determines which encoder input that the position compare circuitry for the machine interface channel mapped to the specified node uses When MI911 is set to 0 the channel s position compare register is tied to the channel s own encoder counter and the position compare signal appears only on the EQUn output When MI911 is set to 1 the channel s position compare register is tied to the first encoder counter on the ASIC Encoder 1 for channels 1 4 Encoder 5 for channels 5 8 or Encoder 9 for channels 9 10 and the position compare signal appears both on EQUn and combined into the EQU output for the first channel on the IC EQUI or EQUS executed as a logical OR MI911 for the first channel on an ASIC performs no effective functi
209. ividual emitter output lines e g GP OUT 1 EMT Topologies cannot be mixed i e all sinking or all sourcing outputs If the common emitter is used the common collector should be unconnected Conversely if the common collector is used the common emitter should be unconnected Part Type FKMC 0 5 12 ST 2 5 p n 18 81 420 Connectors Geo MACRO Drive User Manual X4 Safety Relay Optional 1 2 4 0000 Pin Symbol Function 1 RELAY WA Safety Input 24V 2 RELAY WB Safety Input Return 3 RELAY Common 4 RELAY N O Relay Normally Open Part Type MC 1 5 4 ST 3 81 PITCH 3 81MM PN 1850686 If the Safety Relay option is installed there is a dedicated Safety Input 24VDC user supplied When the Safety Input is asserted then the hardware will cut the 20V power to the gate drive which will prevent all output from the power stage the Gate Enable LED will turn off If the user doesn t need to use the Safety Input and the drive has it installed the user has to bypass it by wiring a 24VDC input to WA pin 1 and the return 24VDC to WB pin 2 Note There are no software configurable parameters to enable disable or otherwise manipulate the Safety Input functionality X6 Analog IN 1 Optional 3 4 5 16 Bit A D Converter X6 Analog In DB 9 Female Connector Pin Symbol Function Des
210. l Cycle neret enne nnne nennen eene nnne 190 Manually Stepping through an Electrical Cycle at 30 degree increments sse 190 Example 1 of Hall Effect Values eee enne there eene trennt enne 191 Example 2 Of Hall Effect Values tr ti qpe t 192 USEFUL Wo 193 vi Table of Contents Geo MACRO Drive User and Reference Manual INTRODUCTION The Geo Drive family of bookcase style servo amplifiers provides many new capabilities for users This family of 1 and 2 axis 3 phase amplifiers built around a common core of highly integrated IGBT based power circuitry supports a wide variety of motors power ranges and interfaces The 2 axis configurations share common power input bus and shunt for a very economical implementation Three command interfaces are provided direct PWM MACRO ring and integrated PMAC controller each described in following sections In all three cases fully digital direct PWM control is used Direct PWM control eliminates D to A and A to D conversion delays and noise allowing higher gains for more robust and responsive tuning without sacrificing stability All configurations provide these power stage features Direct operation off AC power mains 100 240 or 300 480 VAC 50 60 Hz or optional DC power input 24 350 or 24 700 VDC
211. l determine the command set that will be used based on the commutation phase angle Below is a list of both command sets in increments of 30 degrees electrical from 0 360 degrees The following is meant as a reference for understanding and there is no need to perform this test to setup the Hall Effects with PMAC Manually Stepping through an Electrical Cycle at 30 degree increments Commutation Phase Angle at 120 gt Ixx72 683 Turbo Direct PWM or Sinusoidal Commutation 179 1179 129 1129 store previous offsets before test 100 Open loop command of zero magnitude I17923000 112920 0 elec 1179 3000 1129 1500 30 elec I17923000 11292 3000 60 elec I17921500 11292 3000 90 elec 1179 0 1129 3000 120 elec 1179 1500 1129 1500 150 elec 1179 3000 112920 180 elec 1179 3000 1129 1500 150 elec 1179 3000 112923000 120 elec 1179 1500 1129 3000 90 elec 1179 0 1129 3000 60 elec 1179 1500 112921500 30 elec I17923000 112920 0 elec I179 P179 1129 129 restore previous offsets after test Commutation Phase Angle at 240 Ixx72 1365 Turbo Direct PWM Commutation 179 1179 129 1129 store previous offsets before test 100 Open loop command of zero magnitude I17923000 1129 0 0 elec 1179 1500 1129 1500 30 elec 1179 0 1129 3000 60 elec 1179 1500 1129 3000 90 elec 1179 3000 1129 3000 120 elec 1179 3000 1129 1500 150 elec 1179 3000 1129 0 180 elec 1179 1500 1129 15
212. lated I Variable Reference 121 Geo MACRO Drive User Manual Ixx24 specifies how the address in Ixx25 is to be used Bit 0 of Ixx24 must be set to 1 to specify PMAC2 style flag arrangements which are used in the MACRO protocol Bit 18 of Ixx24 must be set to 1 to specify that the flags are sent and received across MACRO Bit 23 of Ixx24 which specifies the polarity of the amplifier node fault bit into the Turbo PMAC2 must be set to match the polarity defined in the Station with the appropriate bit of MII8 If the bit n of MI18 and bit 23 of Ixx24 are set to 0 a low true fault logical 0 means fault regardless of the input voltage is specified If the bit n of MII8 and bit 23 or Ixx24 are set to 1 a high true fault logical 1 means fault is specified If no other bits of Ixx24 are set the value of Ixx24 is 040001 or 840001 040001 is the default value for Ixx24 on Turbo PMAC2 Ultralite boards Refer to the detailed description of Ixx24 in the Turbo PMAC Software Reference for descriptions of the other bits When Bit 18 of Ixx24 is set to 1 and bit n of 11000 is set to 1 then the Motor xx flag information is automatically copied between the holding registers at 00344n 00345n 00346n or 00347n and the MACRO interface registers for node n of MACRO IC 0 1 2 or 3 respectively on the Turbo PMAC2 The command flags such as amplifier enable are held in the Y register of 0034xn The feedback flags such as overtravel limi
213. lifier causing undesired spikes of current It can also cause couplings of the PWM noise into the earth grounds causing excessive noise as well Typical motor cable ratings would be 50 pf per foot maximum cable capacitance Another factor in picking motor cables is the actual conductor cross sectional area This refers to the conductors ability to carry the required current to and from the motor When calculating the required cable dimensions consider agency requirements safety requirements maximum temperature that the cable will be exposed to the continuous current flow through the motor and the peak current flow through the motor Typically it is not suggested that any motor cable be less than 14 AWG The motor cable s length must be considered as part of the application Motor cable length affects the system in two ways First additional length results in additional capacitive loading to the drive The drive s capacitive loading should be kept to no more than 1000pf Additionally the length sets up standing waves in the cable which can cause excessive voltage at the motor terminals Typical motor cable length runs of up to 60 meters 200 feet for 230V systems and 15 meters 50 feet for 480V systems are acceptable Exceeding these lengths may put other system requirements in place for either a snubber at the motor end or a series inductor at the drive end The series inductor at the drive end provides capacitance loading isolation from the
214. n information which is specified by Ixx83 but it must have the same resolution and direction sense Ixx81 is set to zero if no special power on phase position reading is desired as is the case for an incremental encoder If Ixx81 is set to zero a power on phasing search routine is required for synchronous fixed field brushless motors permanent magnet and switched reluctance those that have a slip gain Ixx78 of zero Turbo PMAC s automatic phasing search routines based on Ixx73 and Ixx74 can be used or a custom power on PLC routine can be written Note Ixx81 is used for PMAC s commutation algorithms alone to locate position within one electrical cycle of the motor It is not used for any servo loop position information even for power up Ixx10 and Ixx95 are used for that purpose Ixx91 tells how the data at the address specified by Ixx81 is to be interpreted It also determines whether the location specified by Ixx81 is a multiplexer thumbwheel port address an address in Turbo PMAC s own memory and I O space or a MACRO node number Note It is easier to specify this parameter in hexadecimal form prefix If 19 is set to 2 or 3 the value of this variable will be reported back to the host in hexadecimal form Ixx81 for MACRO Absolute Position Reads using Geo MACRO Drive 124 Turbo PMAC2 Related I Variable Reference Geo MACRO Drive User and Reference Manual
215. n to this circuit reporting a loss If bit 1 value of 2 is set to 1 then if the digital quadrature encoder loss detection circuit for the encoder wired into X2 Encoder 2 reports a loss the first motor will be shut down If bit 1 is set to 0 there will be no reaction to this circuit reporting a loss If bit 2 value of 4 is set to 1 then if the analog sinusoidal encoder loss detection circuit for the encoder wired into X1 Encoder 1 reports a loss the first motor will be shut down If bit 2 is set to 0 there will be no reaction to this circuit reporting a loss If bit 3 value of 8 is set to 1 then if the analog sinusoidal encoder loss detection circuit for the encoder wired into X2 Encoder 2 reports a loss the first motor will be shut down If bit 3 is set to 0 there will be no reaction to this circuit reporting a loss As only one type of encoder can be wired into a given connector at most one of the bits for that connector should be set to 1 Encoder loss faults are reported back to the Turbo PMAC over the MACRO ring as amplifier fault conditions The Turbo PMAC motor controlling this Geo MACRO motor must be set to react to amplifier fault conditions bit 20 of Ixx24 must be set to the default of 0 in order for Turbo PMAC to react to these encoder loss conditions Bits 21 and 22 of Ixx24 on the Turbo PMAC will control the effect on other motors of a detected encoder loss on this motor Examples e For
216. nd Ethernet e Turbo PMAC2 Ultralite controllers have two versions the older ISA Bus and the newer PCI bus o The ISA boards can communicate to the PC via Serial Port and ISA Bus manual registration o The PCI boards can communicate to the PC via Serial Port and PCI Bus Plug and Play PMAC Devices Pcomm Versic PMAC 00 USBO Plug and play OK PMAC 01 ISAD Port0x210 Int N A DPRAM N A PMAC 02 PCIO Plug and play PMAC 03 SER2 2 Baudrate 38400 Parity None Insert PMAC 04 ETHO 1 192 6 94 5 05 Remove PMAC 06 NA PMAC 07 N Test Properties About Us Cancel If there no Devices the list then the user needs to Insert new devices For more information and details about the Communication of the devices please read the appropriate manual e PEWIN232 PRO http www deltatau com fmenu PEWIN32 20PRO PDF e PEWIN32 PRO Suite 2 http www deltatau com fmenu PEWIN 2032 20PRO 202 20SOFTWARE PDF After you select the communications scheme double click on the Test button and if everything is set correct then a pop up window will show saying that the PMAC was successfully founded Press ok and the Turbo Setup Application starts 52 Software Setup Geo MACRO Drive User and Reference Manual The first setup screen is to set some information about your PMAC controller and the ACCessories that are used Currently there are only two options tha
217. ng by software select Ring Order Method and the Setup program will guide you through the processes Select Station Binding Method C Switch Setting Method Ring Order Method Use this option if you are using Geo MACRO Drives Geo MACRO drives are using the Ring Order Method After clicking the Next button the program will use some time for its calculations The setup program will come back with any MACRO stations that were found with the Ring order Stationl 996 7003 MI996 controls which of the MACRO nodes on the Geo MACRO Station are activated It also controls the master station number and the node number of the packet that creates a synchronization signal Bits 0 to 15 are individual control bits for the matching node number 0 to 15 If the bit is set to 1 the node is activated if the bit is set to 0 the node is de activated Node 15 should always be activated to support the Type 1 auxiliary communications Bits 16 19 specify the slave number of the packet which will generate the sync pulse on the Geo MACRO Station This is always set to 15 F on the Geo MACRO Station Software Setup 55 Geo MACRO Drive User Manual Bits 20 23 specify the master number 0 15 for the Geo MACRO Station At power up reset these bits get the value set by SW2 The number must be specified whether the card is a master station or a slave station Hex 0 0 0 0 0 0
218. nications m 64 How to Enable and Disable MACRO ASCII Communication Mode sese een 64 SETTING UP PRIMARY FEEDBACK eere ressent eese tn etn tn aen snnt ta sone tust s ense tots ense ee sone ta sens tasso net 67 Device Sel ction Comirol ics IP ORB ease ested eas see Ge eae ie REN 67 Setting up Digital Quadrature Encoders cesse 67 Setting up SSL Encodets 3 inne edocs EH HERE THERE HR HERE ERE E Ee n ERE Ld ede re Ee Reed 67 Setting up Sinusoidal Encoders 5 der p e iH EHE HE REI EE EHE REIHE Re 69 Principle of PMAC Interpolation Operation esee eee 69 Setting up D 72 Setting up R solVers iini n HERE HERE GEEHRTE TERRE PH EHE ER He ERR ERREUR IA e EET EEG 72 Setting up the Phase Shift MI941 Manually eese enne rennen 73 Setting up the Resolver for Power On Absolute Position eese 73 Scaling the arme egi c 74 SETTING UP SECONDARY ENCODERS aeree esee eene sentes etn neta sesta sesso seta sone ta sensns 75 SETTING UP THE TURBO PMAC CONVERSION TABLE eren ener tnn tnn neto sns tn sensn seen tuse 77 ii Table of Contents Geo MACRO Drive User and Reference Manual SETTING UP TURBO MOTOR OPE
219. njunction with MI992 determines the frequency of the PHASE clock on a Geo MACRO Station Each cycle of the PHASE clock a set of MACRO ring information is expected and any data transfers between MACRO nodes and interface circuitry are performed The PHASE clock cycle on the Geo MACRO Station should match that of the PMAC commanding it as closely as possible Specifically MI997 controls how many times the PHASE clock frequency is divided down from the maximum phase clock whose frequency is set by MI992 The PHASE clock frequency is equal to the maximum phase clock frequency divided by MI997 1 MI997 has a range of 0 to 15 so the frequency division can be by a factor of 1 to 16 The equation for MI997 is MI997 MaxPhase Freq PHASE Clock Freq 1 The ratio of MaxPhase Freq to PHASE Clock Freq must be an integer Example With a 20 kHz MaxPhase Clock frequency established by MI992 and a desired 6 67 kHz PHASE clock frequency the ratio between MaxPhase and PHASE is 3 MI997 20 6 67 1 3 1 2 MS node MI998 Servo Clock Frequency Control Range 0 15 Units Servo Clock Frequency PHASE Clock Frequency 1998 1 Default 0 PHASE Clock Frequency 9 0346 kHz 0 1 9 0346 kHz with default values of MI992 and MI997 Note There is currently no software use of the SERVO clock on the Geo MACRO Station However it is needed to capture certain encoder values in the DSPGATEx Servo ICs MI998 in conjunction with M
220. nly PWM Phase C command value write only Phase A ADC input value read only PRP PPP PB The ADC values are declared as 16 bit variables even though typically 12 bit ADCs are used this puts the scaling of the variable in the same units as Ixx69 Ixx57 Ixx29 and Ixx79 It is useful to monitor these values in the Watch window of the Executive program Therefore add the variable names to the Watch window which causes the program to repeatedly query Turbo PMAC for the values and display them Then the hardware can be exercised with on line commands issued through the Terminal window To prepare Turbo PMAC for these tests 1 Set 1100 to 0 to deactivate the motor 2 Set 1101 to 0 to disable commutation This allows for manual use of these registers 3 Make sure that 16800 16804 16816 and 16817 are set up properly to provide the PWM signals desired 4 Ifthe Amplifier Enable bit is 1 set it to zero with the command M114 0 5 Set Ixx00 and Ixx01 for all other motors to zero Position Feedback and Polarity Test If the PWM command values observed in the Watch window are not zero set them to zero with the command M102 0 M104 0 M107 0 The motor can be turned or pushed freely by hand now As the motor is turned monitor the M101 value in the Watch window Look for the following It should change as the motor is moved It should count up in one direction and count down in the other direction It should
221. not level triggered MS node MI913 Secondary Encoder Home Flag Capture Control Range 0 15 Units none Default 0 This parameter determines for the Home flag which polarity triggers a position capture of the counter for the secondary encoder mapped to the specified node Ifa flag input index or Home flag is used MI915 for the node determines which flag Proper setup of this variable is essential for a successful home search which depends on the position capture function The following settings may be used 0 Capture on HOME flag rising edge 1 Capture on HOME flag falling edge The trigger is armed when the position capture register is read After this as soon as the Geo MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is edge trigger not level triggered MS node MI914 Secondary Encoder Filter Control Range 0 256 Units 40Mhz Clock Cycles Default 0 MI914 controls the rate at which the input signals of the secondary encoder for the specified node are sampled The inputs are sampled every MI914 1 clock cycles where each clock cycle is 25nanoseconds Higher values of MI914 can filter out longer noise spikes but permit lower count rates as only one quadrature edge per sample period can be accepted Geo Macro Drive MI Variable Reference 147 Geo MACRO Drive User Manual MS node MI915 Secondary Encoder Capture Flag Select Control Range 0 3 Units 00C
222. nse of the Geo Drive to an error depends on the error s severity There are two levels of severity 1 Warnings simply called errors and not considered faults and do not disable operation 2 Fatal errors fatal faults that disable almost all drive functions including communications Note The Geo Drive automatically disables at the occurrence of a fault The drive will produce a 2 character scrolling display whenever a fault on any axis exists when in ASCII mode it will produce a 3 character scrolling display starting with an followed with the normal code The scrolling display begins with an followed by the specific fault code There is a blank pause between the first code and the fault code of the scrolling display to distinguish between the beginning and the end of the scrolling codes The table below lists the fault codes Note If in ASCII mode and an error occurs then the display will first show an H for ASCID followed by the fault code see table below Added to firmware 1 006 and above D1 Geo MACRO Drive Status Display Codes The 7 segment display on the current model 16 numeric codes plus two decimal points provides the following codes Display Description Notes Cause Fault code An internal timer has noticed that Axis 1 1s taking more RMS current than 4 k Axi E LE Cue eal UST the drive was designed to produce Reduce loading Over current sensors have detected an excess of
223. nstant of the motor Kb usually specified in volts per thousand rpm The application speed is divided by 1000 and multiplied by the motor s Kb This is the required voltage to drive the motor to the desired velocity Headroom of 20 is suggested to allow for good servo control Peak Torque The peak torque rating of a motor is the maximum achievable output torque It requires that the amplifier driving it be able to output enough current to achieve this Many drive systems offer a 3 1 peak to continuous rating on the motor while the amplifier has a 2 1 rating To achieve the peak torque the drive must be sized to be able to deliver the current to the motor The required current is often stated on the datasheet as the peak current through the motor In some sense it can also be determined by dividing the peak amplifier s output rating by the motor s torque constant Kt Continuous Torque The continuous torque rating of the motor is defined by a thermal limit If more torque is consumed from the motor than this on average the motor overheats Again the continuous torque output of the motor is subject to the drive amplifier s ability to deliver that current The current is determined by the manufacturer s datasheets stating the continuous RMS current rating of the motor and can also be determined by using the motor s Kt parameter usually specified in torque output per amp of input current Motor Poles Usually the number of poles in the m
224. nt per cycle x2 provides two counts per cycle and x4 provides four counts per cycle The vast majority of users select x4 decode to get maximum resolution The clockwise CW and counterclockwise CCW options simply control which direction counts up If you get the wrong direction sense simply change to the other option e g from 7 to 3 or vice versa Note If you change the direction sense of an encoder with a properly working servo without also changing the direction sense of the output you can get destabilizing positive feedback to your servo and a dangerous runaway condition In the pulse and direction decode mode PMAC is expecting the pulse train on CHAn and the direction 142 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual sign signal on CHBn Ifthe signal is unidirectional the CHBn line can be allowed to pull up to a high state or it can be hardwired to a high or low state If MI910 is set to 8 the decoder inputs the pulse and direction signal generated by Channel n s pulse frequency modulator PFM output circuitry This permits the GEO MACRO Station to create a phantom closed loop when driving an open loop stepper system No jumpers or cables are needed to do this the connection is entirely within the ASIC The counter polarity automatically matches the PFM output polarity If MI910 is set to 12 the timer circuitry is set up to read magneto strictive linear d
225. ntroller but they can accept up to 12V between the signals of each differential pair and 12V between a signal and the GND voltage reference Differential encoder signals can enhance noise immunity by providing common mode noise rejection Modern design standards virtually mandate their use for industrial systems especially in the presence of PWM power amplifiers which generate a great deal of electromagnetic interference Hardware Setup The Geo Drive accepts inputs from two digital encoders and provides encoder position data to the motion processor X1 is T one encoder 1 and X2 is encoder 2 The differential format bos provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery Quadrature Encoder Or Geo Drives encoder interface circuitry employs differential line receivers The wiring diagram on the right shows an example of how to connect the Geo drive to a quadrature Oe Ox Ox 3 encoder 8 Function Pin a ChA 1 ChA 14 bi amp ChB 2 elu ChB 15 GND ChC 3 ChC 16 32 Connections Geo MACRO Drive User and Reference Manual Digital Hall Commutation Sensors Many motor manufactures now give the consumer the option of placing both Hall effect sensors and quadrature encoders on the end shaft of brushless motors This will allow the contr
226. nual panel Power input wiring does not require shielding screening if the power is fed to the enclosure via metal conduit If metal conduit is not used in the system shielded cable is required on the power input wires along with proper bonding techniques Filtering CE Filtering Apply proper bonding and grounding techniques described earlier in this section when incorporating EMC noise filtering components to meet this standard Noise currents often occur in two ways The first is conducted emissions passed through ground loops The quality of the system grounding scheme inversely determines the noise amplitudes in the lines These conducted emissions are of a common mode nature from line to neutral ground The second is radiated high frequency emissions that usually are capacitively coupled from line to line and are differential in nature When mounting the filters make sure the enclosure has an unpainted metallic surface This allows more surface area to be in contact with the filter housing and provides a lower impedance path between the housing and the back plane The back panel should have a high frequency ground strap connection to the enclosure frame and earth ground Bond EARTH Ground Bar 6228 Enclosure and Door Unpainted Backplane Motors 1 12 L3 MAINS Connection Contactor Disconnect p 360 Scre
227. o 18000n or from 48000n to 58000n Motor xx will do a parallel data read of the Turbo PMAC memory or I O register at the address specified by Ixx81 In this mode bits 16 to 21 specify the number of bits to be read If the last hex digit of Ixx91 is 0 consecutive bits will be read from the address specified by Ixx81 with the least significant bit read from bit 0 This format is used for registers and I O devices with 24 bit interfaces Ixx91 Value Range 000000 070000 Ixx81 Address Type Multiplexer Port Turbo PMAC Memory I O Turbo PMAC Memory I O MACRO Node Number If the last hex digit of Ixx91 is 4 5 or 6 data will be read in byte wide pieces with the least significant byte at the address specified in Ixx81 the next byte at one address higher and the next byte 1f used at one more address higher This format is intended for getting parallel data from the Acc 3E 3U format stack I O board or the Acc 14E 3U format pack UMAC I O board which have byte wide interfaces For this format the last hex digit of Ixx91 determines which byte of the 24 bit word is used according to the following table Ixx91 Last Digit Byte Bits 4 Low 0 7 5 Middle 8 15 6 High 16 23 In this mode bit 22 of Ixx91 specifies whether a Y register is to be read an X register A value of 0 in this bit yielding Ixx91 values from 080000 to 180000 specifies a Y regist
228. ocated at the top side of the unit 24 Connections Geo MACRO Drive User and Reference Manual Wiring the Motor Thermostats Some motor manufacturers provide the motors with integrated thermostat overload detection capability Typically it is in one or two forms a contact switch that is normally closed or a PTC These sensors can be wired into the Geo drive s front panel at connector X1 and X2 Motor thermostat output is wired to pin 23 of X1 Wiring the Motor Thermostats In Therm Motl and referenced to the GND Kies Ke pin13 or 25 In addition if dual axis drive is bs ordered Motor 2 thermostat output is wired to pin Cee 23 of X2 In_Therm_Mot2 and referenced to the a GND pin 13 or 25 MES e Function Pin In Therm Mtr 23 O s GND 1325 O 5 21 DE a 23 44 QH In Therm Mot O ma sx GND MS node MI100 has special functions for Geo MACRO drives firmware 1 006 and above to enable the motor over temperature function of the drive default this function is disabled firmware 1 006 and above If someone wants to enable the motor 1 over temperature input to his Geo then he needs to set MS node MI100 4 For motor 2 over temperature input to be enabled MS node MI100 8 and if the user wants both motor over temperature inputs enable then MS node MI100 C For earlier drives firmware 1 005 an
229. oder conversion method 0 If MI919 is set to 1 the hardware 1 T functionality is enabled if present on the IC and the software 1 T cannot be used The hardware 1 T functionality is present only on Revision D and newer of the PMAC2 style DSPGATEI IC released at the beginning of the year 2002 Setting MI919 to 1 an older revision IC Geo Macro Drive MI Variable Reference 149 Geo MACRO Drive User Manual does nothing software 1 T functions can still be used However it is strongly recommended that MI919 be left at 0 in this case to prevent possible problems when copying a configuration to newer hardware When the hardware 1 T functionality is enabled the IC computes a new fractional count position estimate based on timers every SCLK encoder sample clock cycle This permits the fractional count data to be used for hardware capture and compare functions enhancing their resolution The sub count position capture data can be used automatically in Turbo PMAC triggered move functions if bit 12 of Ixx24 is set to 1 This is particularly useful when the IC is used with a high resolution analog encoder interpolator option However it replaces the timer registers at the first two Y addresses for the channel with fractional count position data so the traditional software 1 T method of the conversion table cannot work if this is enabled If the hardware 1 T functionality is enabled and to be able to use 1 T interpolation in the
230. oftware diagnostic operations The user can use a serial port terminal window such as Microsoft HyperTerminal to communicate with the MACRO Device Set the serial port communication settings as follows Baud Rate 38400 Data Bits 8 Parity None Stop Bits 1 Flow Control None If Pewin32 Pro software is installed then the USB device should be recognized by the operating system If Windows does not recognize the device contact the factory for assistance 112 Connectors Geo MACRO Drive User and Reference Manual TROUBLESHOOTING The Geo MACRO utilizes a scrolling single digit 7 segment display When control power is applied to the drive the 7 segment display will have a blinking Period rate of 50 of the duty cycle indicating that the software and hardware are running normally This blinking period is running all of the time except if the PMAC CPU has faulted then it stays on When any of the drive s output sections is enabled the display will include a 0 When all axes are not enabled and there is no Fault the display will be blank with the blinking Period Error Codes In most cases the Geo Drive communicates error to the Status Display D1 The same message can be monitored via the MACRO Ring Status Word and MS node MI4 Not all errors reflect a message back to the host In these cases the no message errors communicate only to the Status Display The respo
231. oller to estimate the rotor magnetic field orientation and adjusts the command among the motor phases properly without rotating the motor at power up If this is not done properly the motor or amplifier could be damaged Note These digital hall effect position sensors should not be confused with analog hall effect current sensors used in many amplifiers to provide current feedback data for the current loop Hardware Setup X1 X2 The Geo Drive accepts digital hall sensor inputs EN is for motor 1 and X2 for motor 2 The wiring diagram on the right shows an example of how to connect Geo drive to Digital Hall sensors M Function Pin gt U 8 a 21 W 9 Oma AA 3 Sw 5V 12 24 5 i GND 13 25 E O r4 Hall Sensors EC u OF FRE sist S SSI Encoders Geo Drive was designed to work with either Gray Code or Binary Style SSI Encoders The Geo Drive takes the gray binary code information and converts it into a parallel binary word for absolute and ongoing position data Hardware Setup X1 X2 The differential format provides a means of using 7 twisted pair wiring that allows for better noise immunity F when wired into machinery aM 16 The wiring diagram to the right shows an example of PE how to connect the Geo Drive to an SSI encoder 7 d 18 P a CL
232. on so is always 1 It cannot be set to 0 MS node MI912 Primary Encoder n Capture Control Range 0 15 Units none Default 1 This parameter determines which signal or combination of signals and which polarity triggers a position capture of the counter for the encoder mapped to the specified node Ifa flag input home limit or user is used MI913 for the node determines which flag Proper setup of this variable is essential for a successful home search which depends on the position capture function The following settings may be used Geo Macro Drive MI Variable Reference 143 Geo MACRO Drive User Manual Immediate capture Capture on Index CHCn high Capture on Flag high Capture on Index high AND Flag high Immediate capture Capture on Index CHCn low Capture on Flag high Capture on Index low AND Flag high Immediate capture 9 Capture on Index CHCn high 10 Capture on Flag low 11 Capture on Index high AND Flag low 12 Immediate capture 13 Capture on Index CHCn low 14 Capture on Flag low 15 Capture on Index low AND Flag low 9o ca CA de oN eS The trigger is armed when the position capture register is read After this as soon as the GEO MACRO Station sees that the specified input lines are in the specified states the trigger will occur it is level trigger not edge triggered MS node MI913 Primary Encoder Capture n Flag Select Control Range 0 3 Units 0 HMFLn Home Flag n
233. on Node shutdown Fault 16 Home Flag HMFLn Input Value 17 Positive End Limit Flag PILMn Input Value 18 Negative End Limit Flag NILMn Input Value 19 Fast User Status Flag UserStatusl or USERn Input Value if have PMAC Gate Array 20 Fast User Status Flag UserStatus2 or FlgWn Input Value if have PMAC Gate Array 2 Fast User Status Flag UserStatus3 or FlgVn Input Value if have PMAC Gate Array 22 Fast User Status Flag UserStatus4 or FlagUn Input Value if have PMAC Gate Array 23 Fast User Status Flag UserStatus5 or FlagTn Input Value if have PMAC Gate Array Note The items in bold are reserved and defined flag locations DI NABI 186 Appendix D Geo MACRO Drive User and Reference Manual NodeCntrlCmd Sent by Master Located in Turbo at Y 3440 Y 347F Y portion of Flag Address Bit Function 0 Position Capture Triggered Event Enable Flag Not Used 2 Not Used 3 Not Used 4 Not Used 5 Not Used 6 Not Used 7 Not Used 8 Reserved for future ring protocol control 9 Reserved for future ring protocol control 10 Reserved for future ring protocol control 11 Position Capture Triggered Event Enable Flag 12 Node Reset Command 13 This Slave detected
234. on third Acc 24P V2 7 07A300 07A308 07A310 07A318 Sixth Acc 24E2x second IC on third Acc 24P V2 8 07B200 07B208 07B210 07B218 Seventh Acc 24E2x first IC on fourth Acc 24P V2 9 07B300 07B308 07B310 07B318 Eighth Acc 24E2x second IC on fourth Acc 24P V2 If the flag register is obtained through the MACRO ring Ixx81 will contain the address of a MACRO auxiliary image register in RAM The following table shows the typical values of Ixx81 used here Turbo PMAC2 Ultralite Ixx81 Typical Hall Phasing Settings Ixx91 800000 SFF0000 Ixx81 Value Register Ixx81 Value Register I181 003440 MACRO Flag Register Set 0 I1781 003460 MACRO Flag Register Set 32 I281 003441 MACRO Flag Register Set 1 I1881 003461 MACRO Flag Register Set 33 I381 003444 MACRO Flag Register Set 4 I1981 003464 MACRO Flag Register Set 36 1481 003445 MACRO Flag Register Set 5 12081 003465 MACRO Flag Register Set 37 I581 003448 MACRO Flag Register Set 8 I2181 003468 MACRO Flag Register Set 40 I681 003449 MACRO Flag Register Set 9 12281 003469 MACRO Flag Register Set 41 I781 00344C MACRO Flag Register Set 12 12381 00346C MACRO Flag Register Set 44 1881 00344D MACRO Flag Register Set 13 12481 00346D MACRO Flag Register Set 45 1981 003450 MACRO Flag Register Set 16 12581 003470 MACRO Flag Register Set 48 11081 003451 MACRO Flag Register Set 17 12681 003471 MACRO
235. ontinuous Input Current A 1 98 3 96 13 2 19 8 ACnws Rated Input Power Wat Frequency Hz 50 60 Phase Requirements pu Charge Peak Inrush Current A Main Bus Capacitance uf Rated Output Voltage V Rated Cont Output Current per Axis Peak Output Current A for 2 seconds Rated Output Power per Axis Watts Nominal DC Bus Over voltage Trip Level VDC Under voltage Lockout Level VDC Turn On Voltage VDC Shunt Regulator Turn Off Voltage VDC Ratings Delta Tau Recommended Load Resistor 300 W Max Contro Input Voltage VDC Logic Input Current A Power Inrush Current A Current Resolution bits Delta Tau Recommended Maximum Transistor PWM Frequency kHz Control Minimum Dead Time us Charge Pump Time 96 of PWM period Bus Protection Note All values at ambient temperature of 0 45 C 113F unless otherwise stated 10 Specifications Geo MACRO Drive User and Reference Manual 480VAC Input Drives GxH051 GxH101 GxH151 GxH201 GxH301 Nominal Input Voltage VAC 480 Rated Input Voltage VAC 300 525 Rated Continuous Input Current A ACnys Rated Input Power Watts 2744 Frequency Hz 3 3 9 9 Phase Requirements 1 or 3 Charge Peak Inrush Current A Main Bus Capacitance uf Rated Output Voltage V Rated Current Rated Cont Output Current per Axis Peak
236. or Operation 85 Geo MACRO Drive User Manual that these readings may appear noisy Observe the base value underneath the noise If M105 is positive and M106 is negative the sign of the PWM commands matches the sign of the ADC feedback values In this case the Turbo PMAC phase angle parameter I172 must be set to a value greater than 1024 1365 for a 3 phase motor If M105 is negative and M106 is positive the sign of the PWM commands is opposite that of the ADC feedback values In this case 1172 must be set to a value less than 1024 683 for a 3 phase motor Make sure your 1172 value is set properly before attempting to close the digital current loops on Turbo PMAC Otherwise positive feedback will occur creating unstable current loops which could damage the amplifier and or motor If M105 and M106 have the same sign the polarities of the current sense circuitry for the two phases is not properly matched In this case something has been mis wired in the drive or between Turbo PMAC and the drive to give the two phase current readings opposite polarity One of the phases will have to be fixed Do not attempt to close the digital current loops on Turbo PMAC until the polarities of the current sense circuitry for the two phases have been properly matched This will involve a hardware change in the current sense wiring the ADC circuitry or the connection between them As an extra protection against error make sure that Ixx57 and Ixx58 ar
237. or is now at electrical 0 so set Mx71 0 in order to force the phase position to zero If you moved negative through the positions during this test them Ixx72 should be greater than 1024 otherwise it will be less than 1024 If Ixx72 and the direction of motion do not match then you need to switch either the direction of the encoder or the direction of motion of the motor You can switch the encoder direction by changing MI910 You can change the motor direction by swapping any two motor leads Now you should be able to run your motor open loop Issue commands open loop commands xx stands for any value from 00 up to 100 maximum output from the terminal window gradually stepping up from O0 O zero until you either get motion or fault If you do not get motion then you have an issue with your phasing Check the values of all of the I Variables listed above Check them again Try again Finally tune the position loop using the Tuning Pro package and you are ready to start programming 84 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual Instructions for Direct PWM Control of Brush Motors WARNING Make sure before applying any PWM commands to the drive and motor in this fashion that the resulting current levels are within the continuous current rating of both drive and motor First enable the amp then apply a very small positive command value to Phase A and a very small ne
238. or value that will be acceptable in an application is one that will not let the bus voltage reach the drive s stated over voltage specification during the deceleration ramp time The following equations defining energy transfer can be used to determine the maximum resistance value Energy Transfer Equations Regen or shunt regulation analysis requires study of the energy transferred during the deceleration profile The basic philosophy can be described as follows e motor and load have stored kinetic energy while in motion e The drive removes this energy during deceleration by transferring to the DC bus e There are losses during this transfer both mechanical and electrical which can be significant in some systems e The DC bus capacitors can store some energy e The remaining energy if any is transferred to the regen resistor Kinetic Energy The first step is to ascertain the amount of kinetic energy in the moving system both the motor rotor and the load it is driving In metric SI units the kinetic energy of a rotating mass is 1 Ex Jo2 where Ex is the kinetic energy in joules or watt seconds J W s J is the rotary moment of inertia in kilogram meter kg m is the angular velocity of the inertia in radians per second 1 5 If the values are not in these units first convert them For example if the speed is in revolutions per minute rpm multiply this value by 27 60 to convert to radians per s
239. orsepower curve Motor Back EMF The back EMF of the motor is the voltage that it generates as it rotates This voltage subtracts from the bus voltage of the drive and reduces the ability to push current through the motor Typical back EMF 4 Introduction Geo MACRO Drive User and Reference Manual ratings for servomotors are in the area of 8 to 200 volts per thousand rpm The Geo drive product series can drive any range of back EMF motor but the back EMF is highly related to the other parameters of the motor such as the motor inductance and the motor Kt It is the back EMF of the motor that limits the maximum achievable speed and the maximum horsepower capability of the motor Motor Torque Constant Motor torque constant is referred to as Kt and usually it is specified in torque per amp It is this number that is most important for motor sizing When the load that the motor will see and knowing the motor s torque constant is known the drive amplifier requirements can be calculated to effectively size a drive amplifier for a given motor Some motor designs allow Kt to be non linear in which Kt will actually produce less torque per unit of current at higher output speeds It is wise to de rate the systems torque producing capability by 20 to allow headroom for servo control Motor Inertia Motor inertia comes into play with motor sizing because torque to accelerate the inertia of the motor is effectively wasted energy Low inertia motor
240. ossible although unlikely to have other addresses in a UMAC Turbo system In these systems the fourth digit does not have to be 4 it can also take the values 5 6 and 7 Software Setup 47 Geo MACRO Drive User Manual Register Addresses for MACRO IC 0 with 120 078400 default Turbo PMAC2 Addresses MACRO IC 0 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 078420 Y 078421 Y 078422 Y 078423 1 Y 078424 Y 078425 Y 078426 Y 078427 2 X 078420 X 078421 X 078422 X 078423 3 X 078424 X 078425 X 078426 X 078427 4 078428 Y 078429 Y 07842A Y 07842B 5 Y 07842C Y 07842D Y 07842E Y 07842F 6 X 078428 X 078429 X 07842A X 07842B 7 X 07842C X 07842D X 07842E X 07842F 8 Y 078430 Y 078431 Y 078432 Y 078433 9 Y 078434 Y 078435 Y 078436 Y 078437 10 X 078430 X 078431 X 078432 X 078433 X 078434 X 078435 X 078436 X 078437 12 Y 078438 Y 078439 Y 07843A Y 07843B 13 Y 07843C Y 07843D Y 07843E Y 07843F 14 X 078438 X 078439 X 07843A X 07843B 15 X 07843C X 07843D X 07843E X 07843F Register Addresses for MACRO IC 1 with 121 079400 default Turbo PMAC2 Addresses MACRO IC 1 Node Reg 0 Reg 1 Reg 2 Reg 3 0 Y 079420 Y 079421 Y 079422 Y 079423 1 Y 079424 Y 079425 Y 079426 Y 079427 2 X 079420 X 079421 X 079422 X 079423 3 X 079424 X 079
241. other this number may need to be fairly high For very small loads this number may be fairly small 1500 Set Ixx74 for the phase finding time probably around 10 For Halls or absolute encoder this can be 1 For large load it may need to be higher to allow time to settle Issue a save command then a then ms 15ms 31ms 47ms 63 Run the Tuning Pro package and tune the current loop for the motor You should end up with a good step move with minimal dithering at least 200 Hz natural frequency and around 2 ms settling time As a rule of thumb your integral should be about one tenth of your forward path proportional Check that your motor is free to move Probably you will want to point an unused motor at the encoder space for this motor and set Ix00 1 for that motor so that you can monitor movement during this test Set Ix00 0 for the motor being tested Set Ixx29 0 and Ixx79 0 no phase offsets active Set Mx54 1 check enable LED on drive and enable PLC 10 Now set P2 P4 and P7 according to the chart below Record the position of the motor at each step You may need to lower or raise the magnitude of the command value for your system Your motor should move through 1 6 of a commutation cycle for each step and through an entire cycle for the test P2 P4 P7 Electrical Position 0 2000 2000 0 Setting Up Turbo Motor Operation 83 Geo MACRO Drive User Manual 5 The mot
242. otor is not a concern to the actual application However it should be noted that each pole pair of the motor requires an electrical cycle High speed motors with high motor pole counts can require high fundamental drive frequencies that a drive amplifier may or may not be able to output In general drive manufacturers with PWM switching frequencies 16kHz or below would like to see commutation frequencies less than 400 Hz The commutation frequency is directly related to the number of poles in the motor Motor Inductance PWM outputs require significant motor inductance to turn the on off voltage signals into relatively smooth current flow with small ripple Typically motor inductance of servomotors is 1 to 15 mH The Geo drive product series can drive this range easily On lower inductance motors below 1mH problems occur due to PWM switching where large ripple currents flow through the motor causing excessive energy waste and heating If an application requires a motor of less than 1mH external inductors are recommended to increase that inductance Motors with inductance in excess of 15mH can still be driven but are slow to react and typically are out of the range of high performance servomotors Motor Resistance Motor resistance is not really a factor in determining the drive performance but rather comes into play more with the achievable torque or output horsepower from the motor The basic resistance shows up in the manufacturer s motor h
243. per number of counts per revolution very straightforward In order for the gated index capture to work reliably the index pulse must reliably span one but only one high high or low low AB quadrature state of the encoder MI915 allows you to select which of these two possibilities is used MS node MI915 Primary Encoder Index Gate State Demux Control Range 0 3 Units 0 Gate index with high high quadrature state GI amp B amp C 1 Gate index with low low quadrature state GI A amp B amp C 2 or 3 De multiplex hall and index from third channel gating irrelevant Default 0 MI915 is 2 bit variable that controls two functions for the index channel of the encoder When using the gated index feature of a PMAC2 style Servo IC for more accurate position capture MI914 1 bit 0 of MI915 specifies whether the raw index channel signal fed into the Encoder is passed through to the position capture signal only on the high high quadrature state bit 0 0 or only on the low low quadrature state bit 0 1 Bit 1 of MI915 controls whether the Servo IC de multiplexes the index pulse and the three hall style commutation states from the third channel based on the quadrature state as with Yaskawa incremental encoders If bit 1 is set to 0 this de multiplexing function is not performed and the signal on the C channel of the encoder is used as the index only If bit 1 is set to 1 the Servo IC breaks out
244. peration Geo MACRO Drive User and Reference Manual Turbo Software Setup Turbo PMAC2 Ultralite UMAC and QMAC Hall Effect Phasing on Turbo PMACS is setup through Ixx81 and Ixx91 Ixx81 contains address information for the Hall Effect Data and Ixx91 contains the power on phasing mode as well HEZ and polarity information necessary for Hall Effect Phasing Ixx81 Hall Effect Setup for Turbo Ultralite with the Geo MACRO Drive Hex 0 7 8 4 2 0 Bit 23 22 21 2019 18 17 16 15 114 13 12 11109 8 7 6 54 3 2110 Value 0 0 0 0 0111 1 0 0 0 0 1 0 0 00 1 0 0 0 0 0 CM py 6 Source Address 78420 or Ixx81 Hall Effect Setup for Turbo Ultralite with the Geo MACRO Drive Hex 0 0 3 4 4 0 Bit 23 22 21 20119 18 17 16 15 14 13 12 11 1098 7 615 4 3 2 1 0 Value 0 0 0 0 0 0 0 0 1 0 1 1 0 1 0 0 0 1 0 0 0 00 0 Source Address 03440 The Ixx81 setting contains the location of the Hall Effect Data and is channel dependent The above setting is channel one on a Turbo PMAC 2 Ultralite the address would be 3440 or 78420 same Ixx91 Hall Effect Setup for Turbo Hex C B 0 0 0 0 Bit 23 22 2
245. phase position from a parallel data source through a MACRO Station or compatible device In this mode Ixx81 specifies the MACRO node number MACRO Station setup variable MI11x for the matching node must be set to read the parallel data source Turbo PMAC2 Related I Variable Reference 127 Geo MACRO Drive User Manual Hall Sensor Read If Ixx91 contains a value from 800000 to FF0000 bit 23 set to 1 Motor xx will read bits 20 through 22 of the Turbo PMAC memory or I O register at the address specified by Ixx81 It will expect these three bits to be encoded as the U V and W Hall Effect commutation signals with 120 e spacing for the absolute power on phase position Usually in this mode the address specified in Ixx81 is that of a flag register Note Hall style commutation sensors give only an approximate phase position with a 30 e error Generally it is necessary to correct the phase position value at a known position such as the encoder s index pulse either using the SETPHASE command or by writing directly into the phase position register suggested M variable Mxx71 If the flag register is in a PMAC style Servo IC the flag inputs for bits 20 21 and 22 representing W V and U are LIMn LIMn and HMFLn respectively In a typical application Ixx81 specifies that these inputs be used from the spare flag register matching the second DAC channel used for commutation If the flag register is in a PMAC2 style Servo
246. pop up window to do a global re initialization of the Turbo PMAC controller Re initializell Would you like to RESET the controller Yes No If the user wants just to do some change of values troubleshooting or setup some new MACRO Stations then he should just press the No in the above window or not even press on the Setup Ring Controller and press on Detect MACRO Ring button If the user wants to reinitialize every I variable on the Turbo PMAC will be set back to factory default Note If by accident or error the user pressed the Yes button on the reinitialize of the controller and he wants to reverse then he needs issue a reset or a couple of seconds powercycle This will load the last saved I variables before the re initialization Do NOT issue a save after the re initialize if you want to reverse if Save is issued then there is no way to reverse unless the user restores with a backup file If the user chooses to Detect MACRO Ring the program will automatically show how many Stations were detected MACRO RING ASCII Device 1 PMAC TURBOU Setup Ring coste Reinit MACRO im Ring Check il Detect MACRO Ring Stations Detected Setup Ring Controller Ring Controller v 1 MACRO IC 0 ae eee OO IRANN hdaw Dhawan Bran KHa 6527 Software Setup 59 Geo MACRO Drive User Manual The user has to first setup his Ring Controller and sav
247. provide the expected number of counts in one revolution or linear distance increment As the motor is returned repeatedly to a reference position it should report approximately the same position value each time If these things do not happen check the encoder resolver operation its connection to Turbo PMAC and the Turbo PMAC decode variable I7mn0 Double check that the sensor is powered In addition look at the encoder waveforms with an oscilloscope If the direction of motion to be the positive direction is known check this here If the direction is incorrect invert it by changing I7mn0 usually from 7 to 3 or from 3 to 7 If the direction is not known change it later but make another change at that time to maintain the proper commutation polarity match Setting Up Turbo Motor Operation 87 Geo MACRO Drive User Manual usually by exchanging two of the motor phase leads at the drive Note Because 1100 has been set to 0 and 1103 may not yet have been set properly any change of position will not be reflected in the motor position window Setting Up Hall Commutation Sensors Many motor manufactures now give the consumer the option of placing both Hall effect sensors and quadrature encoders on the end shaft of brushless motors This will allow the controller to estimate the rotor magnetic field orientation and adjusts the command among the motor phases properly without rotating the motor at power up If this is not done properl
248. r future use 2 20 bit numeric binary 3 20 bit Gray code 4 Reserved for future use 5 Reserved for future use 6 24 bit numeric binary 7 16 bit Gray code F 24 bit Gray code 152 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual MS anynode MI932 Resolver Excitation Frequency Divider Range 0 3 Units none Default 0 MI932 specifies the frequency of the AC excitation output created by the Geo MACRO for resolvers as a function of the phase clock frequency set by I7m00 and I7m01 The following table lists the possible values of MI932 and the excitation frequencies they produce MI932 Excitation Freq 0 PhaseFreq 1 PhaseFreq 2 2 PhaseFreq 4 3 PhaseFreq 6 MS anynode MI933 SSI Clock Frequency Divider Range 0 3 Units none Default 0 MI933 specifies the frequency of the digital clock output for the SSI encoder interface The following table lists the possible values of MI933 and the clock frequencies they produce MI933 SSI Clock Freq 0 153 6 kHz 307 2 kHz 2 614 4 kHz 3 1 2288 MHz MS anynode MI934 MI939 Reserved for future use Range 0 Units none Default 0 MS anynode MI940 Resolver Excitation Gain Range 0 3 Units Gain 1 Default 0 MI940 specifies the gain of the AC excitation output created by the Geo MACRO for resolvers with the gain equal to MI940 1 With a ga
249. r such purpose Connections 25 Geo MACRO Drive User Manual Caution The black wires are for the thermostat and the white wires are for the regen resistor on the external regen resistor pictured below These resistors can reach temperatures of up to 200 degrees C These resistors must be mounted away from other devices and near the top of the cabinet Additionally precautions must be made to ensure the resistors are enclosed and cannot be touched during operation or anytime they are hot Sufficient warning labels should be placed prominently near these resistors The regen resistors incorporate a thermal overload protection thermostat that opens when the core temperature of the resistor exceeds 225 degrees C This thermostat is available through the two black leads exiting the resistor It is important that these two leads be wired in a safety circuit that stops the system from operating should the thermostat open Lo E p tip ISTE TT TTT DETTE A J5 External Shunt Connector Pinout Pin Symbol Function 1 Output 2 Regent Output Connector is located at the top side of the unit DT Connector part number 014 000F02 HSG and pins part number 014 043375 001 Molex Crimper tool p n 638 11 0400 For the high Current Drives Gxx201xx and Gxx301xx this connector is a 3 pin Large Molex connector 1 Output 2 Reg
250. rd or Reversed seen 92 Software Settings for Hall Effect Phasing esee eee tenete trennen entree nenne 92 Setting IPT Protec MUS ID IM E uu M 96 Calculating Minimum PWM Frequency 97 SETTING UP DISCRETE INPUTS AND OUTPUTS cscsssssssscssssssssessssssssesesssssnesssssessceseesessssssessssnerseseeres 99 puts and Outputs 42 nio on n e petet Dres cere errr rer eee eere 99 Ring Break Output indicator MS node MII3 sessessseseeeeeeeeeeneenen rennen nennen ennemi enne 100 Setting up the Analog Inputs X6 and X7 100 Limit and Flag Circuit Wiring eee esecssesecseeeeeseeecenecaeesecseescenaeecessecasesecaesecenecuesecesacenesaecatesecseearenaeenesaeateas 102 Connecting Limits Flags to the Geo Drive essere eene eene retener entren 102 Setting up Position Compare EQU Outputs esssssssssesesseeeeeeeene neret enne 103 Setting up for a Single Pulse Output nisreen iiaa trennen 103 Setting up for Multiple Pulse Outputs eese eene eren trente nete ennt 104 CONNECTORS Dt 105 Connector nente unb e tied kie eee 105 XI Encoder Input a ere eon 105 XD ENCODE LN 106 X3 General Purpose T O
251. re will be no reaction to this circuit reporting a loss If bit 3 value of 8 is set to 1 then if the analog sinusoidal encoder loss detection circuit for the encoder wired into X2 Encoder 2 reports a loss the second motor will be shut down If bit 3 is set to 0 there will be no reaction to this circuit reporting a loss As only one type of encoder can be wired into a given connector at most one of the bits for that connector should be set to 1 Encoder loss faults are reported back to the Turbo PMAC over the MACRO ring as amplifier fault conditions The Turbo PMAC motor controlling this Geo MACRO motor must be set to react to amplifier fault conditions bit 20 of Ixx24 must be set to the default of 0 in order for Turbo PMAC to react to these encoder loss conditions Bits 21 and 22 of Ixx24 on the Turbo PMAC will control the effect on other motors of a detected encoder loss on this motor Examples e For no encoder loss shutdown MI108 0 e For Motor 2 shutdown on loss of digital quadrature on Encoder 2 MI108 2 e For Motor 2 shutdown on loss of analog sinusoid on Encoder 2 MI108 8 Note MS node MI107 and MI108 were added in Geo MACRO firmware versions 1 006 and above Geo Macro Drive MI Variable Reference 141 Geo MACRO Drive User Manual Primary Channel Node Specific Gate Array Ml variables MI variables MI910 through MI929 on the Geo MACRO Station control the hardware setup of the hardware interface ch
252. re Encoder No shifting MS node MI101 MS node MI102 2 SSI encoder CW MS node MI101 MS node MI102 3 SSI encoder CCW MS node MI101 MS node MI102 4 Resolver CW MS node MI101 MS node MI102 5 Resolver CCW MS node MI101 MS node MI102 6 Sinusoidal Encoder x4096 12 Write the arctangent value of the Sin and Cos to the 5 101 MSinoder MI02 MACRO IO ae Resolver CCW 8 138 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual 13 Write the arctangent value of the Sin and Cos to the MACRO IO node Resolver CW 8 MS node MI101 MS node MI102 14 Write the Sin and Cos values to the MACRO IO node Sin enc For troubleshooting Check in the manual section Setting up Encoders for more details MS node MI103 Sin Encoder Resolver 1 bias Range 32768 32767 Units bits Default 0 This variable sets the value of the bias that is added to the Sine ADC reading for the first channel before arctangent calculations are done to calculate position It is generally set to the negative average of the maximum and minimum ADC readings across the cycle MS node MI104 Sin Encoder Resolver 2 bias Range 32768 32767 Units bits Default 0 This variable sets the value of the bias that is added to the Sine ADC reading for the second channel before arctangent calculations are done to calculate position
253. read an absolute sensor for power on phase position In this case it will use Ixx75 to determine the difference between the absolute sensor s zero position and the phase commutation cycle s zero position unless Hall commutation sensors are used in which case Ixx91 contains the initial offset information which needs to be corrected later Normally this position difference in Ixx75 1s expressed in counts multiplied by Ixx70 However when the absolute position 1s read from the position feedback register as from a Yaskawa absolute encoder through an Acc 8D Option 9 and the MACRO Station then Ixx75 is expressed in units of 1 32 of a count multiplied by Ixx70 Turbo PMAC2 Related I Variable Reference 123 Geo MACRO Drive User Manual Ixx81 Motor xx Power On Phase Position Address and Mode Range 000000 SFFFFFF Units Turbo PMAC or multiplexer port addresses Default 0 WARNING An unreliable phasing reference method can lead to a runaway condition Test the phasing reference method carefully to make sure it works properly under all conceivable conditions Make sure the Ixx11 fatal following error limit is active and as tight as possible so the motor will be killed quickly in the event of a serious phasing search error Ixx81 tells Turbo PMAC what address to read for absolute power on phase position information for Motor xx if such information is present This can be a different address from that of the ongoing phase positio
254. resolver gain is too high MI940 Decrease its value Next position the motor shaft so that one of the ADC values is close to the maximum value that can be monitored The other register will be close to 0 MI941 default value is 0 start increasing its MI941 value by increments of 25 The value of the large ADC should slowly start increasing If it decreases start with MI941 255 and slowly start decreasing it in increments of 25 The ADC value should increase up to a maximum point and then start to decrease again This point to the MI941 value that should be set to get the maximum ADC value possible Finally if the maximum value of the large ADC is less than 16000 increase the gain of the resolver MI940 Setting up the Resolver for Power On Absolute Position It is possible to get absolute position directly to the Geo drive Most commonly this is just the absolute position within one motor revolution or even one commutation cycle to establish the commutation phase reference position without any motion This section summarizes the variable settings for this technique refer to the Appendix B or to the Software Reference Manual for details Setting Up Primary Feedback 73 Geo MACRO Drive User Manual WARNING An unreliable phasing reference method can lead to a runaway condition Test the phasing reference method carefully to make sure it works properly under all conceivable conditions Make sure the Ixx11 fatal
255. rfaces The Geo Drive uses 1 Vp p voltage mode encoders only Hardware Setup The differential format provides a means of using a twisted pair wiring that allows for better noise 11 3 Sint Sin immunity when wired into machinery 1 cost C Cos Sinusoidal encoders operate on the concept that there are two analog signal outputs 90 degrees out of phase 1 Index Sinusoidal Encoder 1VppA Geo Drives can be used only with the voltage mode encoder type and the lines have to be differential The wiring diagram to the right shows an example of how to connect the Geo drive to a sinusoidal encoder N 1VppB Up Power OV Supply Function Pin Sint 1 Sin 14 Cost 2 Cos 15 Index 3 Index 16 34 Connections Geo MACRO Drive User and Reference Manual Hiperface Interface The Geo Drive will read the absolute data from the Hiperface interface only if the appropriate option is ordered Not yet released firmware Hardware Setup The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery e Safe data transmission e Absolute positioning e Only 8 leads The wiring diagram to the right shows an example of how to connect the Geo Drive with Hiperface F
256. riable 0 999 constant represents the numerical value to be written to the Station MI variable or PMAC variable specifies the value to be copied to or from the Station MI variable For most Station MI variables the node specifier can take the number of any active node on the station usually the lowest numbered active node These variables have MS node in the header of their descriptions below However there are several node specific MI variables These variables are in the range MI910 to MI939 For these variables the node specifier must contain the specific node number for the MACRO node they affect These variables have MS node in the header of their descriptions below Global MI Variables MS node MIO Geo MACRO drive Firmware Version Read Only Range 1 000 9 999 Units Revision numbers This variable when queried reports the revision number of the firmware installed in the MACRO drive Example MS0 MIO 1 006 MS node MI Geo MACRO drive Firmware Date Read Only Range 01 01 00 12 31 99 Units MM DD YY This variable when queried reports the date of implementation of the firmware on the Geo MACRO drive The date is reported in the North American style of month day year with two decimal digits for each The PMAC command MSDATE which polls this value turns the year into a 4 digit value before reporting the value to the host computer MS node MI2 and MI3 Reserved for future use Range 0
257. ries at these points The simplest way is to force the motor to the zero degree point with a current offset as described below and adjust the sensor while watching its outputs to get a boundary as close as possible to this point In order to determine where the Hall effect transition points are located there must be a method of reading the status in software from the PMAC Executive Software or equivalent setup software To do this define M variables to the Hall Effects or equivalent inputs Suggested definitions for Channel are Turbo Ultralite Description M124 gt X 078420 0 M124 gt X 003440 20 Channel 1 W flag M125 gt X 078420 1 M125 gt X 003440 21 Channel 1 V flag M126 gt X 078420 2 M126 gt X 003440 22 Channel 1 U flag M127 gt X 078420 3 M127 gt X 003440 23 Channel T flag M128 gt X 078420 0 4 M128 gt X 003440 20 4 Channel 1 TUVW as a 4 bit value M171 gt X 00B4 0 24 S M171 gt X 00B4 0 24 S Channel Phase Position Register Note Either addressing can be used with Geo MACRO drive Setting Up Turbo Motor Operation 89 Geo MACRO Drive User Manual Suggested definitions for Channel 2 are Turbo Ultralite Description M224 gt X 078424 20 M224 gt X 003441 20 Channel 2 W flag M225 gt X 078424 21 M225 gt X 003441 21 Channel 2 V flag M226 gt X 078424 22 M226 gt X 003441 22 Channel 2 U flag M227 gt X 078424 2
258. rks without a ground or with an asymmetrical ground If the Geo Drives are used in residential areas or in business or commercial premises implement additional filter measures The Geo Drives may be operated only in a closed switchgear cabinet taking into account the ambient conditions defined in the environmental specifications Delta Tau guarantees the conformance of the Geo Drives with the standards for industrial areas stated in this manual only if Delta Tau components cables controllers etc are used Receiving and Unpacking 15 Geo MACRO Drive User Manual 16 Receiving and Unpacking Geo MACRO Drive User and Reference Manual MOUNTING The location of the controller 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 the performance of the controller Several other factors should be evaluated carefully when selecting a location for installation e For effective cooling and maintenance the controller should be mounted on a smooth non flammable vertical surface e Atleast 3 inches 76mm top and bottom clearance must be provided for airflow At least 0 4 inches 10mm clearance is required between controls each side e Temperature humidity and vibration specifications should also be considered The Geo Drives can
259. rs in MI8 phase Geo MACRO Ring cycles it will shut down on a Geo MACRO communications fault turning off all outputs The Station can detect one ring communications error per phase cycle even if more than one error has occurred Setting MI9 greater than MI8 means that the Station will never shut down for ring communications error Geo Macro Drive MI Variable Reference 135 Geo MACRO Drive User Manual The Station can detect four types of communications errors byte violation errors packet checksum errors packet overrun errors and packet under run errors If MI9 errors have occurred in the MI8 check period and at least half of these errors are byte violation errors the Station will conclude that there is a ring break immediately upstream of it if there are no ring input communications to the Station there will be continual byte violation errors In this case not only will it set its servo command output values to Zero set its amplifier enable outputs to the disable state and force all of its digital outputs to their shutdown state as defined by MS node MI13 but it will also turn itself into a master so it can report to other devices downstream on the ring If MIO is set to 0 at power on reset the Geo MACRO Station will automatically set it to 4 MS node MI10 Geo MACRO Sync Packet Shutdown Count Range 0 65 535 Units none Default 8 MI10 determines the number of Geo MACRO Ring sync packets
260. s just as for brushless motors e xx29 and Ixx79 phase offset parameters should be set to minimize measurement offsets from the A and B phase current feedback circuits respectively e xx61 Ixx62 and Ixx76 current loop gains are set just as for brushless motors e 73 0 Ixx74 0 These default settings ensure that Turbo PMAC will not try to do a phasing search move for the motor A failed search could keep Turbo PMAC from enabling this motor e Ixx77 0 to command zero direct field current e xx78 0 for zero slip in the commutation calculations Ixx82 should contain the address of ADC B register for the feedback channel used just as for brushless motors when the ADC A register is used for the rotor armature current feedback The B register itself should always contain a zero or near zero value e xx817 0 Any non zero setting here makes Turbo PMAC do a phasing read instead of a search move for the motor This is a dummy read because whatever is read is forced to zero degrees by the settings of Ixx70 and Ixx71 but Turbo PMAC demands that some sort of phase reference be done Ixx81 1 is fine e xx84 is set just as for brushless motors specifying which bits the current ADC feedback uses Usually this is SFFF000 to specify the high 12 bits Special settings for brush motor direct PWM control e Ixx70 0 This causes all values for the commutation cycle to be multiplied by 0 to defeat the rotation of the commutat
261. s 1 it is interpreted as a signed value Combining these components Ixx95 values in this mode can be summarized as 08000n 30000n Parallel Y register read unsigned value 8 to 48 bits 48000n 70000n Parallel X register read unsigned value 8 to 48 bits 88000n B0000n Parallel Y register read signed value 8 to 48 bits C8000n F0000n Parallel X register read signed value 8 to 48 bits Example 1 If Ixx10 078D00 and Ixx95 200000 Turbo PMAC would read 32 bits the low 24 bits from Y 078D00 and the high eight bits from the low eight bits of Y 078D01 Example 2 If Ixx10 078C00 and Ixx95 100004 Turbo PMAC would read 16 bits with the low eight bits from the low byte of Y 078C00 and the high eight bits from the low byte of Y 078C01 Example 3 If Ixx10 079E03 and Ixx95 120005 Turbo PMAC would read 18 bits with the low eight bits from the middle byte of Y 079E03 and the next eight bits from the middle byte of Y 079E04 and the high two bits from the first two bits of the middle byte of Y 079E05 Geo MACRO Drive Example for Absolute Position Data If there are two Geo MACRO drives the first one has two axis and axis 2 uses Resolver The other Geo MACRO drive has only one axis quadrature encoder feedback 1210 53508 1295 5B0000 Turbo PMAC would read 19 bits X register Turbo Ultralite ECT 18000 2 8420 53501 18001 18000 53502 18002 52 8424 53503 Resolver 18003 18000 53504 18004 52 8428 350
262. s IC allows the current to flow from return to flag sinking or from flag to return sourcing 5V RETURN To PMAC MA FLAG A sample of the positive limit circuit is shown below The 4 7K resistor packs used will allow 12 24V flag inputs If 0 5V flags are used then a resistor pack RP can be placed in either RP7 channel 1 or RP8 channel 2 If these resistor packs are not added all flags Limits Home User will be referenced from 12 24V Digital Analeg Plone Plane PLIM PLIM GND PS2705 4NEC ND Surface Mounted PS2505 4NEC ND Socketed Connecting Limits Flags to the Geo Drive The following diagrams illustrate the sinking and sourcing connections to a Geo Drive This example uses 12 24V flags 24V Rewi Sinking amp Separate Flag Supply Supply 12 24VDC Flag OV 24V Flag Flag Supply Sourcing 12 24VDC Separate Supply OV Return 102 Setting Up Discrete Inputs and Outputs Geo MACRO Drive User and Reference Manual Setting up Position Compare EQU Outputs The position compare feature is a dedicated hardware circuit in the Servo ASICs that creates an output pulse when an exact encoder position is reached Because it uses actual position servo following errors do not affect the accuracy Because it is a hardware feature there are no software delays in generating the pulse Because it is a hardware function it can operate asynchronously from the programme
263. s allow for quicker acceleration However consider the reflected inertia from the load back to the motor shaft when choosing the motor s inertia A high ratio of load to motor inertia can limit the achievable gains in an application if there is compliance in the transmission system such as belt drive systems or rubber based couplings to the systems The closer the rotor inertia matches the load s reflected inertia to the motor shaft the higher the achievable gains will be for a given system In general the higher the motor inertia the more stable the system will be inherently Mechanical gearing is often placed between the load and the motor simply to reduce the reflected inertia back to the motor shaft Motor Cabling Motor cables are an integral part of a motor drive system Several factors should be considered when selecting motor cables First the PWM frequency of the drive emits electrical noise Motor cables must have a good quality shield around them The motor frame must also have a separate conductor to bring back to the drive amplifier to help quench current flows from the motor due to the PWM switching noise Both motor drain wire and the cable shield should be tied at both ends to the motor and to the drive amplifier Another consideration in selecting motor cables is the conductor to conductor capacitance rating of the cable Small capacitance is desirable Longer runs of motor cable can add motor capacitance loading to the drive amp
264. s desired MI916 should be set to 0 If signal outputs for external digital to analog converters are desired MI916 should be set to 1 or 3 In this case the C output can be used as a supplemental non servo output in either PWM or PFM form For example it can be used to excite an MLDT sensor e g Temposonics in PFM form Geo MACRO drives require PWM signals so MI916 0 MS node MI917 Output n Invert Control Range 0 3 Units none 0 Do not invert Outputs A amp B Do not invert Output C 1 Invert Outputs A amp B Do not invert Output C 148 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual 2 Do not invert Outputs A amp B Invert Output C 3 Invert Outputs A amp B Invert Output C Default 0 MI917 controls the polarity of the command output signals for Channel n The default non inverted outputs are high true For PWM signals on Outputs A B and C this means that the transistor on signal is high Delta Tau PWM input amplifiers and most other PWM input amplifiers expect this non inverted output format For such a 3 phase motor drive MI917 should be set to 0 For PFM signals on Output C non inverted means that the pulse on signal is high direction polarity is controlled by MI918 During a change of direction the direction bit will change synchronously with the leading edge of the pulse which in the non inverted form is the rising edge If the drive requires a set up time on
265. servo loop use the hardware 1 T extension method C method digit with the mode switch bit set to 1 in the encoder conversion table MS node MI921 Flag Capture Position Read Only Range 0 SFFFFFF Units counts Default 0 This variable when queried reports the value of the captured position for the machine interface channel mapped to the specified Geo MACRO Node Refer to the Motor command status flag registers for their relationship to this value MS node MI922 ADC A Input Value Read Only Range 000000 SFFFFFF Units Bits of a 24 bit ADC MI922 reports the value of the serial ADC input register A for the machine interface channel mapped to the specified Geo MACRO Node number The value is reported as a 24 bit number even though there are a maximum of 18 real bits in the register the most significant bits and existing hardware provides 12 or 16 bits of true input MS node MI923 Compare Auto Increment Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI923 specifies the value of the position compare auto increment register for the machine interface channel mapped to the specified Geo MACRO Node number MS node MI924 ADC B Input Value Read Only Range 8 388 608 8 388 607 Units Bits of a 24 bit ADC MI924 reports the value of the serial ADC input register B for the machine interface channel mapped to 150 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Man
266. solvers demodulates the signals and derives the position of the resolver from the resulting information in an absolute sense if necessary The Geo MACRO drive so as to read the Resolver feedback needs the device control variable MS lt node gt MI101 for the first channel 1 or MS lt node gt MI102 for the second channel 2 equal to 4 ClockWise or equal to 5 CounterClockWise Then the user has to set three 3 MI variables so as the Resolvers to function correctly The ResOut signal Resolver excitation frequency from the Geo MACRO Drive is derived from the 72 Setting Up Primary Feedback Geo MACRO Drive User and Reference Manual Phase Clock frequency of the PMAC set by I7m00 I7m01 The user has the ability to select the excitation frequency to be equal with the Phase Clock frequency default by setting MS lt node gt MI932 equal to 0 Or use lower frequencies by increasing the value of MI932 e Excitation frequency could be set equal to a half 1 2 the Phase Clock Frequency if MI932 1 e Excitation frequency could be set equal to a quarter 1 4 the Phase Clock Frequency if MI932 2 e Excitation frequency could be set equal to a sixth 1 6 the Phase Clock Frequency if MI932 3 this would be and the lowest available excitation frequency Also the user needs to set the Excitation output gain for the systems resolvers by setting MS lt node gt MI940 Default MI940 is set to 0 which means a 2 5V gain peak to peak If
267. ssue a MSn MI996 command from the terminal window where n is an active node on the drive you want to talk to You should get the value of that MI variable back in the terminal window This assumes that you are using the default 2 2kHz servo and 4 5 kHz PWM rate Note that the max PWM rate for the Geo MACRO drive is 9 KHz If you are using another PWM rate you will need to set the I68xx variables which deal with that Issue a SAVE and then a Reset It is recommended to then create a backup file with the PEWIN32PRO Now to set up PWM 1 Check encoder direction move the motor by hand in the positive direction and make sure that it is counting up If itis counting in a negative direction then reverse the value of MI910 change a 7 to a 30ra3toa7 Now check again and it should have changed direction 2 Write a PLC like so Open plc10 clear Mx02 P2 Mx04 P4 07 7 Close Set 15 3 and issue a SAVE command from the terminal window Be sure that there are no other PLCs in memory as we want this to execute at a very high rate 3 Check ADC connection Set Ixx00 0 for the motor in question Add Mx05 Mx06 Mx54 to the watch window Set Mx54 1 for that motor You should now see the enable LED come on for that 82 Setting Up Turbo Motor Operation Geo MACRO Drive User and Reference Manual motor on the drive and Mx54 in the watch window should be 1 If not be sure that Ix00 0 for that motor and that
268. t can be used with Geo MACRO drives Turbo UMAC MACRO or QMAC About Your PMAC and Accessaries Please Select Your Pn C PMAC Ultralite C Turbo Pmac 1 C Turbo Pmac 2 Turbo UMAC MACRO C UMAC Non Macro C QMAC How many Macro Sations will be controlled by this Please select the options you have on your Turbo Pmac Ultra L ight Option 1C Four Macro ICs zl Do you have any Accesory 24 or 51 in your On the same setup screen the user needy to select how many MACRO ICs the used Turbo Ultralite or ACC SE have installed and how many MACRO Stations will be controlled If UMAC MACRO is used then the user needs to know if he has in his UMAC rack an ACC 24E or and ACC 51E After selecting all the correct options appropriate to your system click the Next button A pop up window will show asking you if your Geo MACRO drive is a 16 axis MACRO station Geo MACRO drives are neither 16 axis nor 8 axis MACRO stations Geo MACRO drives use special MACRO CPU So click on the No button Software Setup 53 Geo MACRO Drive User Manual The next window that will appear is to set up your PWM frequency Main PWM phase and servo frequency set r Step 1 Choose Your Dominant PWM Fr quency User Defined 4 5173 Khz default gt Step 2 Select your dominant phase frequency 9 0346 Khz r Step 3 Select your dominant servo
269. test Hall Sensors at 0 120 and 240 179 1179 129 1129 store previous offsets before test 100 Open loop command of zero magnitude Six Step Method U Mx26 V Mx25 W Mx24 1179 3000 1129 0 O elec 1179 3000 1129 3000 60 elec 1179 0 1129 3000 120 elec 1179 3000 1129 0 180 elec I179 3000 1129 3000 120 elec I179 0 1129 3000 _ 60 elec 1179 3000 1129 0 O elec I179 P179 1129 129 restore previous offsets after test Now that the transitions have been mapped out for the sections of the electrical cycle define and calculate the Hall Effect Zero HEZ Note Remember to clear the offsets when finished with this test Hall Effect Zero HEZ The Hall Effect Zero is the location in the electrical cycle when U is low value of 0 W is high value of 1 and V changes state either from 1 to 0 or from 0 to 1 Example Value 1 i 90 HEZ 60 degrees electrical The offset can be computed using the mapping test shown above In the example the Hall Effect Zero HEZ point was found to be between 30 e and 90 e so it is called 60 e The offset value can be computed as Setting Up Turbo Motor Operation 91 Geo MACRO Drive User Manual HEZ 360 Offset 64 7 3600 The offset computed here should be rounded to the nearest integer In the example this comes to 09
270. th Units Double Width Units 1 5 4 5 Dual Axis 10 20 Dual Axis 480VAC 3 9 Dual Axis 15 30 Dual Axis 5 10 Single and Dual Axis 20 40 Single Axis 10 20 Single Axis and Dual Axis 240VAC _ 30 60 Single Axis 15 30 Single Axis GMx012xx GMx051xx GMx101xx GMx151xx GMx032xx GMx052xx GML102xx GMx201xx GMx301xx GMH102xx GMx152xx Single axis Lon pg ENESEREXRARSERE EN NC Single Width Double width Low Profile Unit No heatsink no Fan Size Axis Specifications Geo MACRO Drive User Manual Geo MACRO Feedback Options Model Default Configuration Analog Sin Cos Encoders Absolute Encoder Addition of two Quadrature Encoders x4096 Interpolator Interfaces channels of 16 bit Or SSI Absolute Encoders Resolver to Digital EnDat A D converters with And Hall Effect inputs Converters Hiperface each feedback option GMxxxxx0 GMxxxxx1 Y GMxxxxx2 Y GMxxxxx3 Y Y GMxxxxx4 Y Y GMxxxxx5 d NI Package Types Geo package types provide various power levels and one or two axis capability with three different package types The Geo Drive has a basic package size of 3 3 W x 11 H x 8 0 D 84mm W x 280mm H x 203mm D This size includes the heat sink and fan In this package size Single Width the Geo can handle one or two low to medium power axes or only a single axis for medium to high power The mechanical design of the Geo drive is such that it
271. the direction line before the rising edge of the pulse the pulse output can be inverted so that the rising edge is the trailing edge and the pulse width established by MI904 or MI908 is the set up time For DAC signals on Outputs A and B non inverted means that a 1 value to the DAC is high DACs used on Delta Tau accessory boards as well as all other known DACs always expect non inverted inputs so MI917 should always be set to 0 or 2 when using DACs on Channel n MS node MI918 Output n PFM Direction Signal Invert Control Range 0 1 Units none 0 Do not invert direction signal low high 1 Invert direction signal low high Default 0 MI918 controls the polarity of the direction output signal in the pulse and direction format for Channel n It is only active if MI916 has been set to 2 or 3 to use Output C as a pulse frequency modulated output If MI918 is set to the default value of 0 a positive direction command provides a low output if MI918 is set to 1 a positive direction command provides a high output MS node MI919 Hardware 1 T Range 0 1 Units 0 Do not use hardware 1 T 1 Use hardware 1 T Default 0 MI919 controls whether the hardware 1 T functionality is enabled for Channel n of a PMAC2 style Servo IC m If MI919 is set to the default value of 0 the hardware 1 T functionality is disabled permitting the use of the software 1 T position extension that is calculated by default with enc
272. the motor leads Typically bad setup information check Ix69 or overshoots in the current loop or voltage commands from the controller through the power stage Output Short Circuit Axis 2 The output of the drive has been shorted together or to ground Do not reset drive until condition has been cleared Do not reset drive for at least 60 seconds Check wiring if the motor cable is disconnected and the fault insists sent the drive for RMA IGBT temperature is above a factory pre set range approximately 85 C IGBT Over Temp Axis 2 Drawing excessive current through the amplifier blocked airflow through the amplifier or operation in an ambient temperature above 45 Normally closed input on the front of the Geo drive amplifier connector Motor Over Temp Axis 2 X2 Motor over Temp is detected in open circuit With firmware 1 006 this function is not enabled default to enable it user needs to set Warning MS node MI100 To disable this function for older firmware drives ground pin 13 25 to pin 23 temp input Over Voltage The bus voltage has exceeded a factor pre set threshold of 820V for 480V drives or 420V for 230V drives Lack of ability to dump the regenerated energy from the motor A shunt regulator or dump resistor can help GAR48 or GAR78 Another common cause can be excessively high input line voltage Under Voltage The DC bus internal to the Geo drive has decreased below a factory
273. the third channel signal into four separate values one for each of the four possible AB quadrature states The de multiplexed hall commutation states can be used to provide power on phase position using Ixx81 and Ixx91 The following table shows what hall or index state is broken out for each of the four quadrature states A B C 1 1 Z 1 0 U 0 0 V 0 1 W See also M1943 Geo Macro Drive MI Variable Reference 145 Geo MACRO Drive User Manual Secondary encoder Channel Node Specific Gate Array MI variables MS node MI910 Secondary Encoder Decode Control Range 0 15 Units None Default 0 MI910 controls how the input signal for the secondary encoder mapped to the specified node is decoded into counts As such this defines the sign and magnitude of a count The following settings may be used to decode an input signal 0 x4 quadrature decode 1 1 quadrature decode In any of the quadrature decode modes PMAC is expecting two input waveforms on CHAn and CHBn each with approximately 50 duty cycle and approximately one quarter of a cycle out of phase with each other Times one x1 decode provides one count per cycle and x4 provides four counts per cycle The vast majority of users select x4 decode to get maximum resolution MS node MI911 Secondary Encoder counter Direction Range 0 1 Units None Default 0 MI911 controls the direction sense for the secondary en
274. tion CABKIT4B Includes Molex mating connectors pre crimped for single axis drives up to 30 amp continuous rated Gxx201xx Gxx301xx e 3 ft AC Input Cable 4pin e 3 ft 24VDC Power Cable 10 ft shielded Motor Cables 4 pin GI4AWG Motor Power Cables Extended cable length Per foot per cable for the CABKITs Customer must specify length For drives up to 15 amp continuous rating Gxx051xx Gxx101xx Gxx151xx Gxx012xx Gxx032xx Gxx052xx Gxx102xx Gxx152xx Appendix A Geo MACRO Drive User Manual Connector and pins Part numbers CONKIT1A Connector D T part number D T part number individuals Molex part number Housing 014 000F02 HSG 44441 2002 24VDC amp 200 000F02 HSG Shunt Resistor Pins 014 043375 001 43375 0001 Housing 014 000F03 HSG 44441 2003 Motor 2 990 000F03 HSG 3pins Pins 014 043375 001 43375 0001 Housing 014 H00F03 049 42816 0312 AC Input 200 H00F03 049 Pins 014 042815 0031 42815 0031 CONKIT1C D T part D T part number Molex part number Connector number individuals Housing 014 000F02 HSG 44441 2002 24VDC amp 200 000F02 HSG Shunt Resistor Pins 014 043375 001 43375 0001 Housing 014 000F03 HSG 44441 2003 Motor x1 599 000F03 HSG 3pins Pins 014 043375 001 43375 0001 Housing 014 H00F03 049 42816 0312 AC Input 200 H00F03 049 Pins 014
275. tion 9 ChW1 ChW1 ChW1 Axis 1 W Commutation 10 1 Axis 1 Buffered 2 5 Volt Reference N A N A ResOutl Axis 1 Not used Not used Resolver Excitation Output 12 Encoder Powerl Encoder Powerl N A Encoder PWR Encoder PWR Not used 5VDC 13 GND Common 14 ChAI Sinl N A Axis 1 Encoder A Encoder Sine Not used 15 ChBI Cosl N A Axis 1 Encoder B Encoder Cosine Not used 16 Index 1 Index 1 N A Axis 1 Encoder Index Encoder Index Not used 17 N A N A ResSin1 Axis 1 Not used Not used Resolver Sine 18 N A N A ResCosl Axis 1 Not used Not used Resolver Cosine 19 CLK AltSinl CLK N A Axis 1 SSI Clock Power On Position Sine for Endat output CLK Not used 20 DAT AltCos1 DAT N A Axis 1 SSI Data Power On Position Cosine for Endat input DATA Not used 21 1 1 ChvV1 Axis 1 V Commutation 22 ChT1 ChT1 ChT1 Axis 1 T Commutation 23 1 In Therm Mot Motor 1 Thermal Input Switch 24 5V Axis 1 5V Supply 25 GND Common Connectors 105 Geo MACRO Drive User Manual X2 Encoder Input 2 The main encoder input channels for the Geo Drive supports a variety of encoder feedback types 5V supply to power the encoder is provided and also four digital Hall sensors UVWT for phasing Quadrature Encoder Input or SSI Absolute Encoders Optional Sinusoidal Encoder Input with x4096 Interpolation Resolver Feedback Endat and Hiperface Interfaces X2 Encoder Input 2 DB 25 Female On
276. tion compare output for the channel associated with the specified node when MI928 is set to 1 After this each time the channel s encoder counter position matches the value of MI925 or MI926 the output state 1s toggled Geo Macro Drive MI Variable Reference 151 Geo MACRO Drive User Manual General Hardware Setup MI variables MS anynode MI930 SSI Channel 1 Control Word Range 0 F Units none Default 0 MI930 specifies the mode for interpreting data from the first SSI encoder interface In addition it specifies the word length in bits from the first SSI encoder interface The following table lists the possible values of MI930 and the data formats they cause the Geo MACRO to expect MI930 Description MI930 Description 0 Reserved for future use 1 Reserved for future use 2 20 bit numeric binary 3 20 bit Gray code 4 Reserved for future use 5 Reserved for future use 6 24 bit numeric binary 7 16 bit Gray code F 24 bit Gray code MS anynode MI931 SSI Channel 2 Control Word Range 0 F Units none Default 0 MI931 specifies the mode for interpreting data from the second SSI encoder interface In addition it specifies the word length in bits from the second SSI encoder interface The following table lists the possible values of MI931 and the data formats they cause the Geo MACRO to expect MI931 Description MI931 Description 0 Reserved for future use 1 Reserved fo
277. tions and guidelines are offered Motor manufacturers include a host of parameters to describe their motor Some basic equations can help guide an applications engineer to mate a proper drive with a motor A typical application accelerates a load to a speed running the speed for a while and then decelerating the load back into position Maximum Speed The motor s maximum rated speed is given This speed may or may not be achievable in a given system The speed could be achieved if enough voltage and enough current loop gain are available Also consider the motor s feedback adding limitations to achievable speeds The load attached to the motor also limits the maximum achievable speed In addition some manufacturers will provide motor data with their drive controller which is tweaked to extend the operation range that other controllers may be able to provide In general the maximum speed can be determined by input voltage line to line divided by Kb the motor s back EMF constant It is wise to de rate this a little for proper servo applications Torque The torque required for the application can be viewed as both instantaneous and average Typically the instantaneous or peak torque is calculated as a sum of machining forces or frictional forces plus the forces required to accelerate the load inertia The machining or frictional forces on a machine must be determined by the actual application The energy required to accelerate the inertia follows t
278. tomatically copies information between the MACRO interface flag register and RAM register 00344n 00345n 00346n and 00347n where n is the IC s node number 0 15 for MACRO ICs 0 1 2 and 3 respectively Note that Turbo PMAC MACRO node numbers as opposed to individual MACRO IC node numbers go from 0 to 63 with board nodes 0 15 on MACRO IC 0 board nodes 16 31 on MACRO IC 1 board nodes 32 47 on MACRO IC 2 and board nodes 48 63 on MACRO IC 3 Each MACRO node that is used for servo functions should have the corresponding bit n of 170 172 174 or 176 set to 1 Ixx25 for the Motor x that uses Node n should then address 00344n 00345n 00346n or 00347n not the address of the MACRO register itself see below If Register 3 ofa MACRO node is used for other purposes such as direct I O the corresponding bit of 170 172 174 or 176 should be set to 0 so this copying function does not overwrite these registers Typically non servo I O functions with a MACRO Station do not involve auxiliary flag functions so this flag copy function should remain disabled for any node used to transmit I O between the Turbo PMAC2 and the MACRO Station If any auxiliary communications is done between the Turbo PMAC2 and the MACRO Station on Nodes 14 and or 15 bits 14 and 15 of these variables must be set to 0 Examples 170 53 Enabled for MACRO IC 0 Nodes 0 and 1 172 530 Enabled for MACRO IC 1 Nodes 4 5 174 53300
279. tomatically through the move until trigger constructs The second parallel processing of the sine and cosine signals is through analog to digital converters which produce numbers proportional to the input voltages These numbers are used to calculate mathematically an arctangent value that represents the location within a single line This is calculated to Setting Up Primary Feedback 69 Geo MACRO Drive User Manual 1 4096 of a line so there are 4096 unique states per line or 1024 states per hardware count For historical reasons PMAC expects the position it reads for its servo feedback software to have units of 1 32 of a count That is it considers the least significant bit LSB of whatever it reads for position feedback to have a magnitude of 1 32 of a count for the purposes of its software scaling calculations We call the resulting software units software counts and any software parameter that uses counts from the servo feedback e g jog speed in counts msec axis scale factor in counts engineering unit is using these software counts In most cases such as digital quadrature feedback these software counts are equivalent to hardware counts However with the added resolution produced by the Geo Drive interpolator option software counts and hardware counts are no longer the same The LSB produced by the interpolator through the encoder conversion table processing is 1 1024 of a hardware count but PMAC software considers it 1
280. ts and amplifier fault are held in the X registers of 0034xn Monitoring of flag values should use these holding registers in RAM not the actual MACRO node registers The following tables show the locations of the individual flags in these registers Motor Command Flags Y 0034xn for MACRO IC x 4 Node n Bit Function Notes 0 Position Capture Prepare Flag Must be set to 1 to prepare for hardware capture over ring to 0 when done 1 7 Not Used 8 10 Reserved for future use 11 Position Capture Enable Flag Must be set to 1 to prepare for hardware capture over ring to 0 when done 12 Node Position Reset Flag 13 Reserved for future use 14 Amplifier Enabled Command to Station 15 23 Reserved for future use Motor Status Flags X 0034xn for MACRO IC x 4 Node n Bit Function Notes 0 7 Not Used 8 10 Reserved for future use 11 Position Captured Flag Latched from selected flag 12 Power On Reset or Node Reset Occurred 13 Ring Break Detected Elsewhere 14 Amplifier Enabled Status from Station 15 Amplifier Node Shutdown Fault 1 is treated as shutdown if Ix25 bit 23 1 0 if Ix25 bit 23 0 16 Home Flag HOME Input Value 17 Positive Limit Flag PLIM Value 18 Negative Limit Flag MLIM Value 19 User Flag USER Input Value 20 Flag W Input Value 21 Flag V Input Value 22 Flag U Input Value 23 Flag T Input Value
281. turned off saad MIB Vatne QE Rn reat Up og ie i i Es ps BON 5 i w PN COM EMT pin10 is wired to GND and pin 9 COM COL is let floating COM COL pin 9 is wired to 12 24V and pin 10 COM EMT is let floating Note MS node MI13 was added in Geo MACRO firmware versions 1 005 and above Geo Macro Drive MI Variable Reference 137 Geo MACRO Drive User Manual MS node MI100 Motor Activation Control word Range 0 F Units none Default 0 MI100 controls which axis functions are enabled on the Geo MACRO drive If bit 0 value of 1 is set to 1 this would indicate that the user wants to use only one motor node with his Geo MACRO drive This is always the case with single axis Geo MACRO Drives If bit 0 is set to 0 then both nodes are enabled default Bit 1 is reserved for future use If bit 2 value of 4 is set to 1 then Motor 1 over temperature function is enabled and Geo MACRO Drive expects the Motor 1 Over temperature input to be wired into pin 23 of the X1 If the over temperature for motor 1 is triggered then the seven segment display will show the fault code ES or AES if in ASCH mode If bit 2 is set to 0 Motor 1 over temperature function is disabled default If bit 3 value of 8 is set to 1 then Motor 2 over temperature function is enabled and Geo MACR
282. ual the specified Geo MACRO Node number The value is reported as a 24 bit number even though there are a maximum of 18 real bits in the register the most significant bits and existing hardware provides 12 or 16 bits of true input MS node MI925 Compare A Position Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI925 specifies the value of A compare register of the position compare function for the machine interface channel mapped to the specified Geo MACRO Node number The units are encoder counts referenced to the position at the latest power on or reset MS node MI926 Compare B Position Value Range 8 388 608 8 388 607 Units Encoder counts Default 0 MI926 specifies the value of the B compare register of the position compare function for the machine interface channel mapped to the specified Geo MACRO Node number The units are encoder counts referenced to the position at the latest power on or reset MS node MI927 Reserved for future use Range 0 Units 0 Default 0 MS node MI928 Compare State Write Enable Range 0 1 Units none Default 0 When MI928 is set to 1 the value of MI929 if forced onto the position compare output for the channel associated with the specified node MI928 is automatically reset to 0 immediately after this occurs MS node MI929 Compare Output Initial State Range 0 1 Units none Default 0 The value of MI929 is forced onto the posi
283. uipment connected to the same line While it is possible to operate drives on single phase power the actual power delivered to the motor must be considered Never design expecting more than 1 5 HP total from any 115V single phase system and never more than 2 5 HP from any 230V single phase system 22 Connections Geo MACRO Drive User and Reference Manual Wiring AC Input J1 The main bus voltage supply is brought to the Geo drive through connector J1 1 5A continuous and 3A continuous Geo drives can be run off single phase power It is acceptable to bring the single phase power into any two of the three input pins on connector J1 Higher power drive amplifiers require three phase input power It is extremely important to provide fuse protection or overload protection to the input power to the Geo drive amplifier Typically this is provided with fuses designed to be slow acting such as FRN type fuses Due to the various regulations of local codes NEC codes UL and CE requirements It is very important to reference these requirements before making a determination of how the input power is wired Additionally many systems require that the power be able to be turned on and off in the cabinet It is typical that the AC power is run through some kind of main control contact within the cabinet through the fuses and then fed to a Geo drive If multiple Geo drives are used it is important that each drive has Its own separate fuse block Wheth
284. unction Pin Sin ChA 1 Cos ChB 2 Sin ChA 14 Cos ChB 15 DATA 7 DATA 20 ENCPWR SV 12 24 GND 13 25 Note We assume the Hiperface Interface power requirements are for 5V else use of an external power supply for the Hiperface is required Tie together the Geo Drive GND and the power supply GND for noise immunity Shield o qm 2 amp qus E EE a6 1VppA 1VppB m gt Up Power I OV Supply 4 5 DATA lt gt DATA Connections 35 Geo MACRO Drive User Manual EnDat Interface The Geo Drive will read the absolute data from the EnDat Encoder Data interface only if the appropriate option is ordered Not yet released firmware Hardware Setup The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery The wiring diagram to the right shows an example of how to connect the Geo Drive to an EnDat interface Function Pin Sint ChA 1 2 Sin ChA 14 Cos ChB 15 CLK 6 DATA 7 CLK 19 DATA 20 ENCPWR 5V 12 24 GND 13 25 Note We assume the EnDat Interface power requirements are for 5V else use of an external power supply for the EnDat is required Tie together the Geo Drive GND and the power supply GND for noise immunity 1 2 EnDat Interface 0 51 OA a N 1VppA x g
285. unication via PEWIN 32 Pro close all other windows of the PEWIN other than the terminal window HyperTerminal also can be used for MACRO ASCII communication to the Geo MACRO drive PEWIN32 Pro must be totally closed In many cases there will be only one device and a number may not be assigned to the device In that case use the MACSTA255 or MACSTAO commands The actual number that is assigned to the device resides in MI11 of the MACRO Device and the default value is 0 If there are multiple MACRO devices in the ring and communication is in MACRO ASCII mode set up the systems with the Ring Order Method and assign station numbers to each device If the assigned station number is not known check MI11 Once in MACRO ASCII Mode communicate to the MACRO device is done directly To change monitor an MI variable write directly to the Variable in the terminal window MI996 SOF803F activate Nodes 0 1 2 3 4 5 at the MACRO Device To exit or disable MACRO ASCII Communication mode issue the lt CTRL gt T command Note The MACSTA255 command will look for the first MACRO device that does not have a station number assigned to it MI11 0 As soon as MI11 is changed to a value greater than zero then it will look immediately for the next device with MII1 set to zero MACRO ASCII Communication global commands 1 VID Vendor ID Delta Tau 1 Range 1 65535 2 CID Vendor Card ID Part Number Range 1 4 294 967 295 32 bit unsigned D
286. up Geo MACRO Drive User and Reference Manual Using the Turbo PMAC Setup Program The following captured screens are taken from the Turbo Setup program First the user needs to start the Turbo Setup Application From the Menu Bar move the mouse over the Tools and select with double click the Turbo UMAC Setup Pro 2 PEWIN32PRO2 C PROGRAM FILES DELTA TAU PRO SUITE2 PEWINS2PRO2 PEWING2PRO2 Default INT 15 x Oevce 1 gt Error OxC000000 1 gt Error 0 0000 SAVE command complete X Reset command comp Siue LAs IZPEWINS2 PRO 420m Another way to start the Turbo Setup Application the user can double click the Turbo Setup shortcut on the desktop TurboSe So as to use the Geo MACRO drive Turbo Ultralite UMAC MACRO or QMAC with MACRO option needs to be used and if they do then at the first pop up window user needs to click Yes If your system doesn t use any of the above Controllers then Turbo Setup cannot be used click No The Turbo Setup Pro program works with QMAC UMAC Turbo PMAC2 Turbo Ultalite and UMAC MACRO Do you wish to continue fh Software Setup 51 Geo MACRO Drive User Manual Then the first step is to select the kind of communications you have established with your PMAC device that would be used as your Controller e UMAC and QMAC controllers can communicate to the PC via Serial Port USB a
287. ut Control power input 24V 10 2A Connector is located at the bottom side of the unit Wiring the Motors The cable wiring must be shielded and have a separate conductor connecting the motor frame back to the drive amplifier The cables are available in cable kits CABKITxx from Delta Tau See Appendix A Motor phases are conversed in one of three conventions Motor manufacturers will call the motor phases A B or C Other motor manufacturers call them U V W Induction motor manufacturers may call them L1 L2 and L3 The drive s inputs are called U V and W Wire U A or L1 to the drive s U terminal Wire V B or L2 to the drive s V terminal Wire W C or L3 to the drive s W terminal The motor s frame drain wire and the motor cable shield must be tied together at the mounting stud 5mm thread on top of the Geo drive product J2 Motor 1 Output Connector Pinout Pin Symbol Function Description Notes I U Output Axis Phasel 2 V Output Axis 1 Phase2 3 W Output Axis 1 Phase3 On Gxx201xx and Gxx301xx there is a fourth pin for Ground connection Connector is located at the top side of the unit J3 Motor 2 Output Connector Pinout Pin Symbol Function Description Notes 1 U Output Axis 2 Phasel 2 Axis drives only 2 V Output Axis 2 Phase2 2 Axis drives only 3 W Output Axis 2 Phase3 2 Axis drives only Connector is l
288. variety of absolute position sensors with the Turbo PMAC Turbo PMAC2 Related I Variable Reference 129 Geo MACRO Drive User Manual Ixx95 is used only on power on reset or on the or command To get a new value of Ixx95 to take effect either the or command must be issued or the value must be stored to non volatile flash memory with the SAVE command and the board must be reset Ixx95 15 a 24 bit value currently bits 16 23 which comprise the first two of six hex digits are used Ixx95 is only used if Ixx10 is set to a non zero value The possible values of Ixx95 and the absolute position feedback devices they reference are summarized in the following table Ixx95 Value Range Absolute Position Source Ixx10 Address Type Format 000000 070000 ACC 8D Opt 7 R D Converter Multiplexer Port Unsigned 080000 300000 Parallel Data Y Register Turbo PMAC Memory I O Unsigned 3 10000 ACC 28 A D Converter Turbo PMAC Memory I O Unsigned 320000 ACC 49 Sanyo Abs Encoder Turbo PMAC Memory I O Unsigned 480000 700000 Parallel Data X Register Turbo PMAC Memory I O Unsigned 710000 ACC 8D Opt 9 Yaskawa Abs Enc Multiplexer Port Unsigned 720000 MACRO Station Yaskawa Abs Enc MACRO Node Number Unsigned 730000 MACRO Station R D Converter MACRO Node Number Unsigned 740000 MACRO Station Parallel Read MACRO Node Number Unsigned 800000 870000 A
289. verter options The DAC CLK controls the serial data frequency to D A converters which are optional To determine the clock frequencies set by a given value of MI993 use the following procedure 1 Divide MI993 by 512 and round down to the nearest integer This value N1 is the ADC CLK divider 2 Multiply N1 by 512 and subtract the product from M1993 to get MI993 Divide MI993 by 64 and round down to the nearest integer This value N2 is the DAC_CLK divider not relevant here 3 Multiply N2 by 64 and subtract the product from MI993 to get MI993 Divide MI993 by 8 and round down to the nearest integer This value N3 is the PFM CLK divider 4 Multiply N3 by 8 and subtract the product from MI993 The resulting value N4 is the SCLK divider Examples The maximum encoder count frequency in the application is 800 kHz so the 1 2288 MHz SCLK frequency is chosen A pulse train up to 500 kHz needs to be generated so the 2 4576 MHz PFM CLK frequency is chosen ADCs DACs are not used so the default DAC CLK frequency of 4 9152 MHz and the default frequency of 2 4576 MHz are chosen From the table 156 Geo Macro Drive MI Variable Reference Geo MACRO Drive User and Reference Manual SCLK Divider N 5 PFM_CLK Divider N 4 DAC CLK Divider N 3 ADC CLK Divider N 4 MI993 5 8 4 64 3 512 4 5 32 192 2048 2277 MI993 has been set to 3429 What clock frequencies does this set
290. x29 Electrical m The HEZ occurs at 60 electrical If the Cycle U VW Positive transition of V from 0 to 1 at the HEZ point 3000 1500 30 01110 is in the negative direction like this 1500 1 1 0 example then the hall effect sensing would 1500 1 0 0 be considered reversed If the transition of 3000 1 0 1 V from 0 to 1 at the HEZ is in the positive 1500 1 direction then the hall effect sensing would 1500 1500 30 0 1 1 be considered standard 3000 1500 30 0 14 0 Record whether the Hall Effects are setup as standard or reversed and move on to the next step of setting up the Controller setup parameters for Hall Effect Power on Phasing Software Settings for Hall Effect Phasing The variables used for Hall Effect Phasing are Ixx81 and Ixx91 Turbo These variables are the Power on phasing setup registers To enable a Hall Effect Phasing on power up configure Ixx81 Ixx91 properly and then enable the power on feature by setting Ixx80 1 The default of Ixx80 is 0 and then a phasing search will be activated only by the command It is recommended that the phasing search is set up and tested with the aid of this document and verified through the command before enabling the power on phasing routine with Ixx80 Note If Ixx73 and Ixx74 have a value greater than zero then the automatic hall phasing routines will not work Ixx73 and Ixx74 are used for the automatic step phase method 92 Setting Up Turbo Motor O
291. y the motor or amplifier could be damaged Three phase digital hall effect position sensors or their equivalent are popular for commutation feedback They can also be used with Turbo PMAC as low resolution position velocity sensors As commutation position sensors typically they are just used by Turbo PMAC for approximate power up phase position ongoing phase position is derived from the same high resolution encoder that is used for servo feedback Many controllers and amplifiers use these hall sensors as their only commutation position feedback starting and ongoing but that is a lower performance technique Many optical encoders have hall tracks These commutation tracks provide signal outputs equivalent to those of magnetic hall commutation sensors but use optical means to create the signals Note These digital hall effect position sensors should not be confused with analog hall effect current sensors used in many amplifiers to provide current feedback data for the current loop Signal Format Digital hall sensors provide three digital signals that are a function of the position of the motor each nominally with 50 duty cycle and nominally one third cycle apart This format is often called 120 spacing Turbo PMAC has no automatic hardware or software features to work with 60 spacing This format provides six distinct states per cycle of the signal Typically one cycle of the signal set corresponds to one electrical
292. y specifying that you want to use the address of the last I variable in the entry The command 11032818001 performs the same action as 1103 3502 Setting Up Turbo PMAC Conversion Table 77 Geo MACRO Drive User Manual 78 Setting Up Turbo PMAC Conversion Table Geo MACRO Drive User and Reference Manual SETTING UP TURBO MOTOR OPERATION Turbo PMAC Basic Setup for Brushless Servo or Induction Motor 1 Basic I variable settings Ixx00 1 Ixx01 3 1102 078420 MACRO IC 0 Node 0 Reg 0 1202 078424 MACRO IC 0 Node 1 Reg 0 1302 078428 MACRO IC 0 Node 4 Reg 0 1402 07842C MACRO IC 0 Node 5 Reg 0 1502 078430 MACRO IC 0 Node 8 Reg 0 1602 078434 MACRO IC 0 Node 9 Reg 0 1702 078438 MACRO IC 0 Node 12 Reg 0 1802 07843C MACRO IC 0 Node 13 Reg 0 1902 079420 MACRO IC 1 Node 0 Reg 0 11002 079424 MACRO IC 1 Node 1 Reg 0 11102 079428 MACRO IC 1 Node 4 Reg 0 11202 07942C MACRO IC 1 Node 5 Reg 0 11302 079430 MACRO IC 1 Node 8 Reg 0 11402 079434 MACRO IC 1 Node 9 Reg 0 11502 079438 MACRO IC 1 Node 12 Reg 0 11602 07943C MACRO IC 1 Node 13 Reg 0 setting for commutation across MACRO Ixx02 node address base 0 output address 11702 07A420 MACRO IC 2 Node 0 Reg 0 11802 07A424 MACRO IC 2 Node 1 Reg 0 11902 07A428 MACRO IC 2 Node 4 Reg 0 12002 07A42C MACRO IC 2 Node 5 Reg 0 12102 07A430 MACRO IC 2 Node 8 Reg 0 12202 07A434 MACRO IC 2 Node 9 Reg 0 12302 07A438 MACRO IC 2 Node 12 Re

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