Geo MACRO Drive User Manual
68
Setting Up Primary Feedback
The user needs to set the control word
MS<node>,MI930
(channel#1) and
MS<node>,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.
•
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.
•
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.
•
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.
•
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<node>, MI933
). A value of 0 sets the Clock output @ 153.6 KHz. If higher clock
frequency required then 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.
Summary of Contents for Geo MACRO
Page 2: ......
Page 6: ......
Page 18: ...Geo MACRO Drive User Manual 6 Introduction...
Page 26: ...Geo MACRO Drive User Manual 14 Specifications...
Page 28: ...Geo MACRO Drive User Manual 16 Receiving and Unpacking...
Page 78: ...Geo MACRO Drive User Manual 66 Software Setup...
Page 88: ...Geo MACRO Drive User Manual 76 Setting Up Secondary Encoders...
Page 90: ...Geo MACRO Drive User Manual 78 Setting Up Turbo PMAC Conversion Table...
Page 110: ...Geo MACRO Drive User Manual 98 Setting Up Turbo Motor Operation...
Page 130: ...Geo MACRO Drive User Manual 118 Troubleshooting...
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 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 191: ...Geo MACRO Drive User and Reference Manual Appendix A 179...
Page 197: ...Geo MACRO Drive User and Reference Manual Appendix C 185...