Delta Tau Geo MACRO, User Manual And Reference Manual

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Geo MACRO Drive User Manual
72 Setting Up Primary Feedback
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. MI111 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
th
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 data 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: MI111=$5417 (23 bits Shift Left, 20 bits Shift Right, complemented,
unsigned, 1 error bit).
Signed setup: MI111=$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: 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=$740000.
4. To set the value for Ix75:
Set Ix69=0. Next do a #xO0, then set Ix79=2000 (Safe current value). Do a #x$, 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 resolvers, 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<node>,
MI101 (for the first channel #1) or MS<node>, 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