Delta Tau Geo MACRO User Manual And Reference Manual Download Page 188

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Geo MACRO Drive User Manual

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Appendix A

Regenerative Resistor: GAR78/48

Model Description

1.5/4.5A 3/9A 5/10A 10/20A 15/30A 20/40A 30/60A

GAR78

300W 78 OHM regenerative
resistor with Thermostat
protection. Includes 18 inch
wire cable, single or dual axis

√

GAR48

300W 48 OHM regenerative
resistor with Thermostat
protection. Includes 18 inch
wire cable

single or dual axis

√

GAR48-3

300W 48 OHM regenerative
resistor with Thermostat
protection. Includes 18 inch
wire cable.

√

Summary of Contents for Geo MACRO

Page 1: ...MACRO Drive 3 Direct PWM Amplifier over MACRO 4 500 603701 xUxx 5 April 27 2010 Single Source Machine Control Power Flexibility Ease of Use 21314 Lassen Street Chatsworth CA 91311 Tel 818 998 2095 Fax...

Page 2: ......

Page 3: ...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 t...

Page 4: ...or 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 operatio...

Page 5: ...06 CP P SHANTZ 3 CORRECTED GP OUT INPUT FUNCTIONS P 39 06 11 08 CP K ZHAO 4 CORRECTED RESET COMMAND P 138 10 30 08 CP S MILICI 5 CORRECTED M VARIABLE DEFINITIONS P 87 12 08 09 CP S MILICI 6 CORRECTED...

Page 6: ......

Page 7: ...kage Types 8 Electrical Specifications 9 230VAC Input Drives 9 480VAC Input Drives 11 Environmental Specifications 13 Recommended Fusing and Wire Gauge 13 RECEIVING AND UNPACKING 15 Use of Equipment 1...

Page 8: ...891 I6941 I6991 MACRO IC 0 1 2 3 Node Activation Control 44 I70 I72 I74 I76 MACRO IC 0 1 2 3 Node Auxiliary Function Enable 45 I71 I73 I75 I77 MACRO IC 0 1 2 3 Node Protocol Type Control 46 I78 MACRO...

Page 9: ...ing Minimum PWM Frequency 97 SETTING UP DISCRETE INPUTS AND OUTPUTS 99 Inputs and Outputs 99 Ring Break Output indicator MS node MI13 100 Setting up the Analog Inputs X6 and X7 100 Limit and Flag Circ...

Page 10: ...MS node MI8 Geo MACRO Ring Check Period 135 MS node MI9 Geo MACRO Ring Error Shutdown Count 135 MS node MI10 Geo MACRO Sync Packet Shutdown Count 136 MS node MI11 Station Order Number 136 MS node MI1...

Page 11: ...Resolver Excitation Gain 153 MS anynode MI941 Resolver Excitation Phase Offset 154 MS anynode MI942 ADC Strobe Word Channel 1 2 154 MS node MI943 Encoder Power control bit 154 MS node MI944 MI949 Res...

Page 12: ...f Contents ADC Register Table 189 Stepping through an Electrical Cycle 190 Manually Stepping through an Electrical Cycle at 30 degree increments 190 Example 1 of Hall Effect Values 191 Example 2 of Ha...

Page 13: ...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...

Page 14: ...no software setup of drive is required No position feedback or axis flags required at the drive MACRO Defined MACRO defined is a digital interface for connection of multi axis motion controllers ampl...

Page 15: ...me 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 t...

Page 16: ...y 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...

Page 17: ...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 co...

Page 18: ...Geo MACRO Drive User Manual 6 Introduction...

Page 19: ...Default R M Feedback Options 0 No options Default Standard feedback per axis is quadrature differential encoder with hall effect inputs or SSI absolute encoder 1 Analog Feedback including Option 0 St...

Page 20: ...03 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 effec...

Page 21: ...t A for 2 seconds 10 20 30 40 60 Output Power Rated Output Power per Axis Watts 1195 2390 3585 4780 7171 Nominal DC Bus 325 Over voltage Trip Level VDC 410 Bus Protection Under voltage Lockout Level V...

Page 22: ...2 seconds 4 5 9 10 20 30 Output Power Rated Output Power per Axis Watts 359 717 1195 2390 3585 Nominal DC Bus 325 Over voltage Trip Level VDC 410 Bus Protection Under voltage Lockout Level VDC 10 Turn...

Page 23: ...ut Current A for 2 seconds 10 20 30 40 60 Rated Output Power per Axis Watts 2494 4988 7482 9977 14965 Nominal DC Bus 678 Over voltage Trip Level VDC 828 Bus Protection Under voltage Lockout Level VDC...

Page 24: ...for 2 seconds 4 5 9 10 20 30 Rated Output Power per Axis Watts 748 1496 2494 4988 7482 Nominal DC Bus 678 Over voltage Trip Level VDC 828 Bus Protection Under voltage Lockout Level VDC 20 Turn On Volt...

Page 25: ...G 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...

Page 26: ...Geo MACRO Drive User Manual 14 Specifications...

Page 27: ...ed the controller 5 Electronic components in this amplifier are design hardened to reduce static sensitivity However use proper procedures when handling the equipment 6 If the Geo Drive is to be store...

Page 28: ...Geo MACRO Drive User Manual 16 Receiving and Unpacking...

Page 29: ...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...

Page 30: ...ive User Manual 18 Mounting Low Profile Gxx012xx Width Height Depth Weight Mounting dimensions 3 30in 84mm 11 00in 280mm 5 79in 147 1mm 4 3lbs 1 95kgs MACRO Version No Heatsink No Fan 2 70 5 79 11 00...

Page 31: ...ive User and Reference Manual Mounting 19 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...

Page 32: ...Geo MACRO Drive User Manual 20 Mounting Double Width Gxx201xx Gxx301xx GxH102xx and Gxx152xx Width Height Depth Weight Mounting dimensions 6 50in 165mm 11 00in 280mm 8 00in 203mm Call the factory...

Page 33: ...atings 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 breaker...

Page 34: ...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 roug...

Page 35: ...3 Input Line Input Phase 3 2 L2 Input Line Input Phase 2 3 L1 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...

Page 36: ...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 J...

Page 37: ...5 and 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 mo...

Page 38: ...t 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...

Page 39: ...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...

Page 40: ...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...

Page 41: ...or will have both a peak instantaneous and a continuous average power dissipation limit It is therefore necessary to compare the required peak and continuous regen power dissipation requirements again...

Page 42: ...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 mod...

Page 43: ...otor 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...

Page 44: ...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...

Page 45: ...eo drive to Digital Hall sensors Function Pin U 8 V 21 W 9 T 22 5V 12 24 GND 13 25 2 3 4 5 14 15 16 17 1 6 7 18 19 8 9 20 21 10 11 22 23 12 13 24 25 Hall Sensors U V W T 5V GND Shield X1 X2 SSI Encode...

Page 46: ...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 immuni...

Page 47: ...leads The wiring diagram to the right shows an example of how to connect the Geo Drive with Hiperface Function Pin Sin ChA 1 Cos ChB 2 Sin ChA 14 Cos ChB 15 DATA 7 DATA 20 ENCPWR 5V 12 24 GND 13 25 No...

Page 48: ...n example of how to connect the Geo Drive to an EnDat interface Function Pin Sin ChA 1 Cos ChB 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 In...

Page 49: ...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 bet...

Page 50: ...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 wi...

Page 51: ...no mixing topologies all sinking or all sourcing Flag Supply 12 24VDC 24V Return Flag Sourcing Separate Supply 0V Flag Supply 12 24VDC 24V 0V Return Flag Sinking Separate Supply Sample wiring the I O...

Page 52: ...utputs Input Return Input4 Input1 Input2 Input3 Com_EMT Output1 Output4 Output3 Output2 Sample Wiring the Flags Geo MACRO Sourcing Flags 24 23 22 13 14 15 16 17 18 19 20 21 USER 1 Neg Limit 1 Pos Limi...

Page 53: ...MACRO Ring Fiber Optic MACRO connections X5 Input Output Geo MACRO MACRO I O X5 Turbo Ultralite ACC 5E Input Next Output Previous RJ 45 Copper MACRO connections X10 X11 Turbo Ultralite ACC 5E Geo MAC...

Page 54: ...oftware 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 AD...

Page 55: ...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...

Page 56: ...spectively 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 bo...

Page 57: ...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 I...

Page 58: ...must be set to 0 so Node 15 is not used for flag transfers also I79 MACRO Master Master Auxiliary Communications Timeout If I79 is set greater than 0 the MACRO Type 1 Master Master Auxiliary Communica...

Page 59: ...t 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...

Page 60: ...7843B 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 I21 079400 default Turbo PMAC2 Address...

Page 61: ...43A Y 07A43B 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...

Page 62: ...AC2 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 Nod...

Page 63: ...over the Tools and select with double click the Turbo UMAC Setup Pro 2 Another way to start the Turbo Setup Application the user can double click the Turbo Setup shortcut on the desktop So as to use t...

Page 64: ...tion o The PCI boards can communicate to the PC via Serial Port and PCI Bus Plug and Play If there are no Devices on the list then the user needs to Insert new devices For more information and details...

Page 65: ...ow many MACRO ICs the used Turbo Ultralite or ACC 5E 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 2...

Page 66: ...next window that will appear is to set up your PWM frequency 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...

Page 67: ...lly on this screen to enable the nodes 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...

Page 68: ...mber must be specified whether the card is a master station or a slave station Bit Hex 0 0 0 0 0 0 Slave node Enables Sync node Address Master Address 0 15 0 15 After setting the correct value to the...

Page 69: ...so check the boxes and enter the correct data to the questions to setup phase and tune your motors There are 23 steps Note Geo Drives are using Digital Current Loop with PWM outputs User needs with t...

Page 70: ...start your PEWIN32 PRO Suite2 and with the mouse on the Menu Bar select the Configure Menu and click on the MACRO Ring ASCII The new application starts make sure you have selected which PMAC device t...

Page 71: ...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...

Page 72: ...explained at the Appendix of this manual If the user clicks on his Right mouse button on the Ring Controller Window a new menu window will show up on screen Reset All Stations to Default sends the co...

Page 73: ...online command MACSTA node 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 node and re in...

Page 74: ...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 A new window will...

Page 75: ...is assigned to the device the system will look for the next device 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...

Page 76: ...n n stands for the assigned station number for the device command to the device in the ring Note For MACRO ASCII communication via PEWIN 32 Pro close all other windows of the PEWIN other than the term...

Page 77: ...for Ring location identification Note Do not use 5 SAVE Save station number and initialization parameters 6 Reset Station to saved station number and initialization parameters 7 STN n n 0 254 Assigns...

Page 78: ...Geo MACRO Drive User Manual 66 Software Setup...

Page 79: ...Digital quadrature encoders 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 b...

Page 80: ...utting gray code then the control word needs to be set equal to B 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 co...

Page 81: ...t A D n bit A D Decoder Counter 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 t...

Page 82: ...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...

Page 83: ...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 commutat...

Page 84: ...olute position parallel read E g for motor 1 on node 0 I110 100 and I195 740000 3 Ix81 and Ix91 will be setup for MACRO absolute parallel power on phasing E g for motor 1 on node 0 I181 100 and I195 7...

Page 85: ...uts the 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 MS0 MI101 5 MS0 MI101 13 This would enable...

Page 86: ...he 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...

Page 87: ...ich input to use Home Flag or Index channel MS node MI915 If the user wants to capture on the Index channel only then MI915 has to be set equal to C0 If the user wants to capture on the Home Flag then...

Page 88: ...Geo MACRO Drive User Manual 76 Setting Up Secondary Encoders...

Page 89: ...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 disab...

Page 90: ...Geo MACRO Drive User Manual 78 Setting Up Turbo PMAC Conversion Table...

Page 91: ...1 Node 12 Reg 0 I3102 07B438 MACRO IC 3 Node 12 Reg 0 I1602 07943C MACRO IC 1 Node 13 Reg 0 I3202 07B43C MACRO IC 3 Node 13 Reg 0 Ixx03 ECT address for position encoder 35xy Ixx04 ECT address for vel...

Page 92: ...07A420 MACRO IC 2 Node 0 Reg 0 I283 078424 MACRO IC 0 Node 1 Reg 0 I1883 07A424 MACRO IC 2 Node 1 Reg 0 I383 078428 MACRO IC 0 Node 4 Reg 0 I1983 07A428 MACRO IC 2 Node 4 Reg 0 I483 07842C MACRO IC 0...

Page 93: ...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 Ixx84 is set just as f...

Page 94: ...mssav31mssav47mssav63 command from the terminal window in PEWIN32Pro or a SAVE command from Hyperterminal if using USB communications Now issue a ms 15ms 31ms 47ms 63 to reset You should be able to no...

Page 95: ...ds 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 larg...

Page 96: ...of the motor You can switch the encoder direction by changing MI910 You can change the motor direction by swapping any two motor leads 6 Now you should be able to run your motor open loop Issue Oxx co...

Page 97: ...tch 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 mot...

Page 98: ...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...

Page 99: ...w To prepare Turbo PMAC for these tests 1 Set I100 to 0 to deactivate the motor 2 Set I101 to 0 to disable commutation This allows for manual use of these registers 3 Make sure that I6800 I6804 I6816...

Page 100: ...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 tr...

Page 101: ...ase 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 w...

Page 102: ...ffect 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 desc...

Page 103: ...3000 I129 3000 60o elec I179 0 I129 3000 120o elec I179 3000 I129 0 180o elec I179 3000 I129 3000 120o elec I179 0 I129 3000 60o elec I179 3000 I129 0 0o elec I179 P179 I129 P129 restore previous off...

Page 104: ...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 Ixx29 Electrical Cycle U V W 3000 15...

Page 105: ...4 13 12 15 0 1 1 1 10 9 8 11 1 0 0 0 6 5 4 7 1 0 0 0 2 1 0 3 0 0 0 0 0 The Ixx81 setting contains the location of the Hall Effect Data and is channel dependent The above setting is channel one on a Tu...

Page 106: ...0 0 0 2 1 0 3 0 0 0 0 0 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 34...

Page 107: ...Turbo Motor Operation 95 Ixx91 CB0000 Hex Bit Value C B 23 22 21 20 1 1 0 0 19 1 18 0 17 16 1 1 Reserved 0 0 0 14 13 12 15 0 0 0 0 10 9 8 11 0 0 0 0 6 5 4 7 0 0 0 0 2 1 0 3 0 0 0 0 0 Hall Effect Offs...

Page 108: ...or system RMS or Peak Continuous Current Limit The lower of the amplifier or motor system Usually RMS I2 T protection time Time at instantaneous limit Two seconds Magnetization Current Ixx77 value for...

Page 109: ...ctive 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 consta...

Page 110: ...Geo MACRO Drive User Manual 98 Setting Up Turbo Motor Operation...

Page 111: ...2 Y 10F1 0 24 Output Image Word1 free user memory space M3012 X 78420 8 4 four inputs M3013 X 78420 12 4 four outputs Open PLC1 Clear M980 M3000 Input Image Word equals Actual Input Word Process Input...

Page 112: ...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 When selected for bipola...

Page 113: ...6 S X 079422 8 16 S 19 X 079425 8 16 S X 079426 8 16 S 22 X 079429 8 16 S X 07942A 8 16 S 23 X 07942D 8 16 S X 07942E 8 16 S 26 X 079431 8 16 S X 079432 8 16 S 27 X 079435 8 16 S X 079436 8 16 S 34 X...

Page 114: ...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 1K resistor pack RP can be placed in either RP7 channel 1 or RP8 channel...

Page 115: ...its are updated every ring cycle Turbo Ultralite M152 X 003440 9 M252 X 003441 9 M352 X 003444 9 M452 X 003445 9 M552 X 003448 9 M652 X 003449 9 M752 X 00344C 9 M852 X 00344D 9 The Position Compare Ou...

Page 116: ...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 tha...

Page 117: ...Not used Not used Resolver Cosine 6 CLK AltSin1 CLK N A Axis 1 SSI Clock Power On Position Sine for Endat output CLK Not used 7 DAT AltCos1 DAT N A Axis 1 SSI Data Power On Position Cosine for Endat...

Page 118: ...ut CLK Not used 7 DAT AltCos2 DAT N A Axis2 SSI Data Power On Position Cosine for Endat input DATA Not used 8 ChU2 ChU2 ChU2 Axis 2 U Commutation 9 ChW2 ChW2 ChW2 Axis 2 W Commutation 10 BVREF2 Axis 2...

Page 119: ...tive limit 1 18 MLIM1 Input Negative limit 1 19 HOME1 Input Home flag 1 20 USER1 Input User Flag 1 21 PLIM2 Input Positive Limit 2 22 MLIM2 Input Negative Limit 2 23 HOME2 Input Home flag 2 24 USER2 I...

Page 120: ...e 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...

Page 121: ...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 pin...

Page 122: ...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 Outpu...

Page 123: ...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...

Page 124: ...software 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...

Page 125: ...lowed with the normal code The scrolling display begins with an E followed by the specific fault code There is a blank pause between the first code and the fault code of the scrolling display to disti...

Page 126: ...to set MS node MI100 To disable this function for older firmware drives ground pin 13 25 to pin 23 temp input Eb Over Voltage The bus voltage has exceeded a factor pre set threshold of 820V for 480V...

Page 127: ...en 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 resisto...

Page 128: ...otor 1 Over Temperature display E5 or AE5 5 MTR 2 Over Temperature Motor 2 Over Temperature display EA or AEA 6 MTR 1 IGBT Over Temperature IGBT 1 Over Temperature display E4 or AE4 7 MTR 2 IGBT Over...

Page 129: ...1 Over Temperature display E5 or AE5 5 0020 MTR2_OT Motor 2 Over Temperature display EA or AEA 6 0040 IGBT1_OT IGBT 1 Over Temperature display E4 or AE4 7 0080 IGBT2_OT IGBT 2 Over Temperature display...

Page 130: ...Geo MACRO Drive User Manual 118 Troubleshooting...

Page 131: ...en 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 flas...

Page 132: ...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 0...

Page 133: ...t 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...

Page 134: ...RO 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 limits and amplifier fault are he...

Page 135: ...with 2 or 4 phase motors Delta Tau has created user written phase algorithms for these motors contact the factory if interested in obtaining these Note It is important to set the value of Ixx72 proper...

Page 136: ...ion 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...

Page 137: ...t 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 val...

Page 138: ...583 07B420 MACRO IC 3 Node 0 Reg 0 I1083 079424 MACRO IC 1 Node 1 Reg 0 I2683 07B424 MACRO IC 3 Node 1 Reg 0 I1183 079428 MACRO IC 1 Node 4 Reg 0 I2783 07B428 MACRO IC 3 Node 4 Reg 0 I1283 07942C MACR...

Page 139: ...91 specifies whether a Y register is to be read or an X register A value of 0 in this bit yielding Ixx91 values from 080000 to 180000 specifies a Y register a value of 1 yielding Ixx91 values from 480...

Page 140: ...2 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...

Page 141: ...ister Set 37 I581 003448 MACRO Flag Register Set 8 I2181 003468 MACRO Flag Register Set 40 I681 003449 MACRO Flag Register Set 9 I2281 003469 MACRO Flag Register Set 41 I781 00344C MACRO Flag Register...

Page 142: ...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...

Page 143: ...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...

Page 144: ...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 e...

Page 145: ...on 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...

Page 146: ...T Over Temperature IGBT 1 Over Temperature display E4 or AE4 7 MTR 2 IGBT Over Temperature IGBT 2 Over Temperature display E9 or AE9 8 Encoder 1 Loss Encoder 1 Loss display Eh or AEh check MS node MI1...

Page 147: ...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 o...

Page 148: ...nd 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...

Page 149: ...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...

Page 150: ...ion 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 d...

Page 151: ...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 It is generally set t...

Page 152: ...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...

Page 153: ...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...

Page 154: ...e decode CW 4 Pulse and direction CCW 5 x1 quadrature decode CCW 6 x2 quadrature decode CCW 7 x4 quadrature decode CCW 8 Internal pulse and direction 9 Not used 10 Not used 11 x6 hall format decode CW...

Page 155: ...l 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 enc...

Page 156: ...elect Control Range 0 3 Units 0 HMFLn Home Flag n 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 w...

Page 157: ...Default 0 MI915 is a 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 MI9...

Page 158: ...e 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 MI91...

Page 159: ...ault 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 If a flag input index or Home flag i...

Page 160: ...hem 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 si...

Page 161: ...ll 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 U...

Page 162: ...p 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 FFFFFF Units counts Defau...

Page 163: ...ounts 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 encod...

Page 164: ...or future use 5 Reserved for future use D Reserved for future use 6 16 bit numeric binary E 24 bit numeric binary 7 16 bit Gray code F 24 bit Gray code MS anynode MI931 SSI Channel 2 Control Word Rang...

Page 165: ...nits 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 produc...

Page 166: ...high 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...

Page 167: ...ck 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 If the ring controller is a PMAC2 Ultra...

Page 168: ...r 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 frequenc...

Page 169: ...so 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...

Page 170: ...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...

Page 171: ...ivated 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 activat...

Page 172: ...q 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...

Page 173: ...tion 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 i...

Page 174: ...xisting 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 encod...

Page 175: ...Geo MACRO Drive User and Reference Manual Absolute Power On Online Commands 163...

Page 176: ...Geo MACRO Drive User Manual 164 Useful Notes...

Page 177: ...Geo MACRO Drive User and Reference Manual Appendix A 165...

Page 178: ...he 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 C...

Page 179: ...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 driv...

Page 180: ...HSG Pins 014 043375 001 44441 2003 43375 0001 AC Input 200 H00F03 049 Housing 014 H00F03 049 Pins 014 042815 0031 42816 0312 42815 0031 CONKIT2A Connector D T part number D T part number individuals...

Page 181: ...2 HSG Housing 014 000F02 HSG Pins 014 043375 001 44441 2002 43375 0001 Shunt Resistor 200 H00F03 049 Housing 014 H00F03 049 Pins 014 042815 0031 42816 0312 42815 0031 Motor x1 4pins 200 H00F04 049 Hou...

Page 182: ...Geo MACRO Drive User Manual 170 Appendix A Cable Drawings...

Page 183: ...Geo MACRO Drive User and Reference Manual Appendix A 171...

Page 184: ...Geo MACRO Drive User Manual 172 Appendix A...

Page 185: ...Geo MACRO Drive User and Reference Manual Appendix A 173...

Page 186: ...Geo MACRO Drive User Manual 174 Appendix A...

Page 187: ...Geo MACRO Drive User and Reference Manual Appendix A 175...

Page 188: ...30 60A GAR78 300W 78 OHM regenerative resistor with Thermostat protection Includes 18 inch wire cable single or dual axis GAR48 300W 48 OHM regenerative resistor with Thermostat protection Includes 18...

Page 189: ...COS SHIELD INDEX INDEX SHIELD ENC PWR GND SHIELD 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 accept...

Page 190: ...ould 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 a...

Page 191: ...Geo MACRO Drive User and Reference Manual Appendix A 179...

Page 192: ..._ret RP24 4 7KSIP8I 1 2 3 4 5 6 7 8 C83 1 minus_limit1 home1 C80 1 RP4 4 7KSIP8I 1 2 3 4 5 6 7 8 user1 plus_limit1 RP3 1KSIP8I 1 2 3 4 5 6 7 8 Channel 2 Flags home2 RP2 4 7KSIP8I 1 2 3 4 5 6 7 8 RP23...

Page 193: ...C60 1uf R15 1 2K General Purpose Outputs 1 4 OPT_I O_OUT3_COL F3 RUE090 RAYCHEM 30R090 Littelfuse D28 MBRS140T3 2 1 F2 RUE090 RAYCHEM 30R090 Littelfuse OPT_I O_OUT4_COL D26 MBRS140T3 2 1 D27 MBRS140T3...

Page 194: ...or amp fault 1_PMAC_5V ch1 ad_ref1 U46A AD824AR SO14 3 2 1 4 11 ch0 1_amp_flt C192 100 nf TP9 TP U46B AD824AR SO14 5 6 7 pmac_ 5 for amp fault J11 HEADER 10 1 2 3 4 5 6 7 8 9 10 5V_AN C165 22pf analog...

Page 195: ...R294 24 0k 1 R95 24 0k 1 pmac_gnd for amp fault ch2 TP8 TP U46D AD824AR SO14 12 13 14 pmac_ 5 for amp fault C202 22pf analog gnd for a d R104 3 01k 0 1 R105 3 01k 0 1 R309 24 0k 1 X8 and X9 Secondary...

Page 196: ...w 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 1 Power on the PC with t...

Page 197: ...Geo MACRO Drive User and Reference Manual Appendix C 185...

Page 198: ...n 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 A...

Page 199: ...UserCmd5 Note The items in bold are reserved and defined flag locations Turbo PMAC2 Node Addresses MACRO IC Node Axis IO User Node Node 24 bit Transfer Addresses Node 16 bit upper 16 bits Transfer Ad...

Page 200: ...7A42F IC2 6 I O 38 X 07A428 X 07A429 X 07A42A X 07A42B IC2 7 I O 39 X 07A42C X 07A42D X 07A42E X 07A42F IC2 8 Axis 21 40 Y 07A430 Y 07A431 Y 07A432 Y 07A433 IC2 9 Axis 22 41 Y 07A434 Y 07A435 Y 07A436...

Page 201: ...2 12 or 13 X 7A429 8 16 s X 7A42A 8 16 s MS40 MI101 11 IC 2 MS41 MI102 12 or 13 X 7A431 8 16 s X 7A432 8 16 s MS44 MI101 12 IC 2 MS45 MI102 12 or 13 X 7A439 8 16 s X 7A43A 8 16 s MS48 MI101 13 IC 3 MS...

Page 202: ...c I179 3000 I129 3000 60o elec I179 1500 I129 3000 90o elec I179 0 I129 3000 120o elec I179 1500 I129 1500 150o elec I179 3000 I129 0 180o elec I179 3000 I129 1500 150o elec I179 3000 I129 3000 120o e...

Page 203: ...al cycle we are by the following formula Electrical Cycle Degrees M171 I171 360 It might be easier to write a short PLC that stores the electrical cycle location similar to the following OPEN PLC 2 CL...

Page 204: ...l the cases where the zero point in the hall effect cycle is at a 0o 60o 120o 180o 120o or 60o point where manufacturers generally align the sensors Ixx81 Hall Effect phase settings are described in t...

Page 205: ...c 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 node MI100 Firmware 1 006 gives the u...

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