Delta Tau Geo MACRO, User Manual And Reference Manual

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Geo MACRO Drive User Manual
148 Geo Macro Drive MI-Variable Reference
MS{node},MI915 Secondary Encoder Capture Flag Select Control
Range: 0 - 3
Units: $00C0: Capture on Index
$6000: Capture on Home Flag
$40C0: Capture on Home 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 & B are PWM; Output C is PWM
1 = Outputs A & B are DAC; Output C is PWM
2 = Outputs A & B are PWM; Output C is PFM
3 = Outputs A & 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 is 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
TM
) 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 & B; Do not invert Output C
1 = Invert Outputs A & B; Do not invert Output C