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Turbo PMAC Clipper Hardware Reference Manual

Drive – Motor Setup

I603=$3506 I604=$3506

; Channel 6 position and velocity pointers

(First Acc-1P)

I703=$3507 I704=$3507

; Channel 7 position and velocity pointers

(First Acc-1P)

I803=$3508 I804=$3508

; Channel 8 position and velocity pointers

(First Acc-1P)

I903=$3509 I904=$3509

; Channel 9 position and velocity pointers (Second Acc-1P)

I1003=$350A I1004=$350A

; Channel 10 position and velocity pointers (Second Acc-1P)

I1103=$350B I1104=$350B

; Channel 11 position and velocity pointers (Second Acc-1P)

I1203=$350C I1204=$350C

; Channel 12 position and velocity pointers (Second Acc-1P)

Flag Control, Ixx24

The following diagram showcases important bit settings pertaining to flags, and amplifier information:

Amplifier Enable Use Bit

= 0 Use amp enable output

= 1

Don’t use amp enable

Amplifier Fault Use Bit

= 0 Enable amp fault input

= 1 Disable amp fault input

Overtravel Limit Use Bit

= 0 Enable hardware over-travel limits
= 1 Disable hardware over-travel limits

Amplifier Fault Polarity Bit

= 0 For low true amp

= 1 For high true amp

Bit #:

Flag Register Type

Always =1 for Turbo PMAC Clipper

(Turbo PMAC)

Example:

Setting Ixx24 for a low true amplifier, disabling the over-travel limits and amplifier fault input yields
$120001.

I124,4,100 = $120001

; Channels 1-4

I524,4,100 = $120001

; Channels 5-8

(First Acc-1P)

I924,4,100 = $120001

; Channels 9-12

(Second Acc-1P)

Implementing PID gains, Ixx30..Ixx35

In PFM mode, the PID Gains can be determined using the following empirical equations:

[MHz]

CLock

PFM

Ixx08

660000

Ixx30





// Channels 1-4 PID Gains (with default clock settings):
I130,4,100 = 11190

; Motors 5-8 Proportional Gain

I131,4,100 = 0

; Motors 5-8 Derivative Gain

I132,4,100 = 15038

; Motors 5-8 Velocity FeedForward Gain

I133,4,100 = 0

; Motors 5-8 Integral Gain

I134,4,100 = 0

; Motors 5-8 Integral Mode

I135,4,100 = 0

; Motors 5-8 Acceleration FeedForward Gain

// Channels 5-8 PID Gains (with default clock settings):
I530,4,100 = 11190

; Motors 5-8 Proportional Gain

(First Acc-1P)

I531,4,100 = 0

; Motors 5-8 Derivative Gain

(First Acc-1P)

I532,4,100 = 15038

; Motors 5-8 Velocity FeedForward Gain

(First Acc-1P)

I533,4,100 = 0

; Motors 5-8 Integral Gain

(First Acc-1P)

I534,4,100 = 0

; Motors 5-8 Integral Mode

(First Acc-1P)

I535,4,100 = 0

; Motors 5-8 Acceleration FeedForward Gain

(First Acc-1P)

Ixx31



[KHz]

Freq.

Servo

6660

Ixx32





..Ixx35

Ixx3



Содержание Turbo PMAC Clipper

Страница 1: ...Ease of Use 21314 Lassen St Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com 1 HARDWARE REFERENCE MANUAL 2 Turbo PMAC Clipper 3Turbo PMAC Clipper 4 4xx 603871 xAxx 5October 17 2018 DELTA TAU Data Systems Inc NEW IDEAS IN MOTION ...

Страница 2: ...es 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 en...

Страница 3: ...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 an unpainted metal grounded surface before touching the equipment Keep all covers and cabinet doors shut during operation Be aware that during operation t...

Страница 4: ...D 10 Adjusted diagram on P 31 12 16 09 CP SM 11 Added pulse and direction setup updated fifth motor setup 06 10 10 RN SM 12 Updated power supply information 03 17 12 GS SM 13 General formatting and corrections 04 15 14 MC RN 14 Added KC Conformity 10 17 18 SM RN Note Older revision correction notes have been removed for clarity ...

Страница 5: ......

Страница 6: ...Connector JMACH1 Port 20 Setting up Quadrature Encoders 23 Setting up Sinusoidal Encoders 23 Counts per User Units 25 Wiring the DAC Output 26 Amplifier Enable Signal AENAn DIRn 27 Amplifier Fault Signal FAULT 28 Optional Analog Inputs 29 Analog Inputs Setup 29 J4 Machine Connector JMACH2 Port 30 Overtravel Limits and Home Switches 31 Wiring the Limits and Flags 31 Limits and Flags Axis 1 4 Sugges...

Страница 7: ...rection Output PFM 55 PFM Clock Settings Example 55 PFM Setup Example 56 Writing directly to the PFM register 56 Issuing Open Loop Commands 57 Issuing Closed Loop Commands 57 Setup of a Fifth Motor Using Opt 12 on the Clipper Board 60 LASER CONTROL OUTPUT 62 Understanding Option 11A Capabilities 63 Clock Settings 64 Controlling the output 65 TROUBLESHOOTING 67 Serial Number and Board Revisions Ide...

Страница 8: ... Watchdog Disable Jumper 75 E5 Reserved for factory use only 75 E6 ADC Inputs Enable 76 E7 E8 USB Ethernet Reset Jumpers 76 E10 E12 Flash IC Jumpers 76 E13 Power Up Reset Load Source 77 E14 E17 Ports Direction Control 77 APPENDIX B SCHEMATICS 78 ...

Страница 9: ...hannels and extra I O ports The Turbo PMAC Clipper can be interfaced with several different type of encoders and it supports three types of outputs Analog 10V 12 bit Filtered PWM Analog 10V 18 bit True DAC Optional Pulse Frequency Modulation PFM Documentation In conjunction with this user manual the Turbo Software Reference Manual and Turbo PMAC User Manual are essential for proper use motor setup...

Страница 10: ...ited response to host port P1 P1 1 Counter using variable P1 Disable PLC 1 Disable plc 1 Close Close open buffer Caution All PLC examples are stated in PLC number 1 It is the user s responsibility to arrange their application PLCs properly and handle power on sequencing for various tasks It is the user s responsibility to use the PLC examples presented in this manual properly That is incorporating...

Страница 11: ...Turbo PMAC Clipper Connections and Software Setup 11 SPECIFICATIONS Part Number ...

Страница 12: ... general purpose TTL level I O points default Additional 8 general purpose I O and multiplexed I O Acc 1P Option1 Analog Inputs Two 12 bit analog inputs and a 12 bit filtered PWM 10V outputs Opt 12 Additional two 12 bit analog inputs and a 12 bit filtered PWM 10V outputs Acc 1P Option2 Host Communication USB 2 0 Ethernet 100 Base T RS232 default Stackable Accessories ACC 1P PC 104 format Channel 5...

Страница 13: ... 1A 5VDC power supply for normal operation however the Clipper board has an in rush current requirement that can reach 3A so a 6A 5VDC power supply is recommended DAC Outputs Power Supply The 12V lines from the supply including the ground reference can be brought in either from the TB1 terminal block or from the JMACH1 connector 12 to 15 V 4 5W 0 30 A Eight channel configuration with a typical loa...

Страница 14: ...d Safety Item Description CE Mark EN61326 1 EMC EN55011 Class A Group 1 EN61000 4 2 EN61000 4 3 EN61000 4 4 EN61000 4 5 EN61000 4 6 Flammability Class UL 94V 0 KC EMI KN 11 EMS KN 61000 6 2 사 용 자 안 내 문 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정 용 환경에서 사용하는 경우 전파간섭의 우려가 있습니다 ...

Страница 15: ...any damage immediately to the commercial carrier that delivered the board Electronic components in this product are design hardened to reduce static sensitivity However use proper procedures when handling the equipment If the Turbo PMAC Clipper 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 specificat...

Страница 16: ...the end product ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F The Turbo PMAC Clipper can be mounted as a stand alone controller using standoffs At each of the four corners of the board and at the center edges there are mounting holes that can be used for this The order of the Acc 1P or other stacked accessories with respect to the Clipper Board does...

Страница 17: ...Turbo PMAC Clipper Connections and Software Setup 17 Physical Specifications Board Dimensions and Layout Top View Rev106 ...

Страница 18: ...ulations pertaining to the installation TB1 Power Supply Input This 4 pin terminal block is used to bring the 5VDC logic power and 12VDC DAC supply into the Turbo PMAC Clipper TB1 JPWR Power Supply 4 Pin Terminal Block Pin Symbol Function Description Notes 1 GND Common Digital Common 2 5V Input Logic Voltage Supplies all PMAC digital circuits 3 12V Input DAC Supply Voltage Ref to Digital GND 4 12V...

Страница 19: ...5V Output 5Vdc Supply Power supply out 10 pin female flat cable connector T B Ansley P N 609 1041 Standard flat cable stranded 10 wire T B Ansley P N 171 10 The baud rate for the RS 232 serial port is set by variable I54 At power up reset The Turbo PMAC Clipper sets the active baud based on the setting of I54 and the CPU speed I52 Note that the baud rate frequency is divided down from the CPU s op...

Страница 20: ... Positive 2 6 CHA2 Input Encoder A Channel Positive 2 7 CHA1 Input Encoder A Channel Negative 2 3 8 CHA2 Input Encoder A Channel Negative 2 3 9 CHB1 Input Encoder B Channel Positive 2 10 CHB2 Input Encoder B Channel Positive 2 11 CHB1 Input Encoder B Channel Negative 2 3 12 CHB2 Input Encoder B Channel Negative 2 3 13 CHC1 Input Encoder C Channel Positive 2 14 CHC2 Input Encoder C Channel Positive...

Страница 21: ...FAULT4 Input Amplifier Fault 4 6 45 ADCIN_1 Input Analog Input 1 Option 12 required 46 ADCIN_2 Input Analog Input 2 Option 12 required 47 FLT_FLG_V Input Amplifier Fault pull up V 48 GND Common Digital Common 49 12V Input DAC Supply Voltage 7 50 12V Input DAC Supply Voltage 7 Note Note 1 These lines can be used as 5V power supply inputs to power PMAC s digital circuitry Note 2 Referenced to digita...

Страница 22: ... two digital signals to determine the position of the motor Each nominally with 50 duty cycle and nominally 1 4 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 Channel A Channel B Typica...

Страница 23: ...mental entry in the encoder conversion table Position and velocity pointers should by default be valid and in most cases no software setup is required activating Ixx00 1 the corresponding channel is sufficient to see encoder counts in the position window when the motor encoder shaft is moved by hand I100 4 100 1 Servo IC0 Channels 1 4 activated I500 4 100 1 Servo IC0 Channels 5 8 activated First A...

Страница 24: ...interpolation entry Encoder Conversion Table Setup Example Channel 1 1 Conversion Type High res interpolator PMAC2 Style 2 Enter Source Address see table below 3 Enter A D Converter Address see table below 4 A D Bias always zero Channel Source Address A D converter Address Channel Source Address A D converter Address 1 78000 78800 5 78100 78808 2 78008 78802 6 78108 7880A 3 78010 78804 7 78110 788...

Страница 25: ...ss Acc 1P Acc 51S I8017 000000 Bias Term and Entry result Acc 1P Acc 51S Channel 7 I8018 FF8110 High resolution interpolator Acc 1P Acc 51S I8019 07880C A D converter address Acc 1P Acc 51S I8020 000000 Bias Term and Entry result Acc 1P Acc 51S Channel 8 I8021 FF8118 High resolution interpolator Acc 1P Acc 51S I8022 07880E A D converter address Acc 1P Acc 51S I8023 000000 Bias Term and Entry resul...

Страница 26: ...3 JMACH1 Analog Device COM DAC1 DAC1 25 23 49 50 47 48 45 46 43 44 41 42 39 40 37 38 35 36 33 34 31 32 29 30 27 28 26 Differential DAC Output J3 JMACH1 Note The analog outputs are intended to drive high impedance inputs with no significant current draw 10mA max The 220 output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry but any curre...

Страница 27: ... the amplifier regardless of the voltage of the command signal PMAC s AENA line is meant for this purpose AENA1 is pin 33 This signal is an open collector output and an external 3 3 k pull up resistor can be used if necessary Example for Clipper Channel 1 25 23 49 50 47 48 45 46 43 44 41 42 39 40 37 38 35 36 33 34 31 32 29 30 27 28 26 J3 JMACH1 AENA1 GND Connect to the amplifier enable input ...

Страница 28: ...I variable Ixx24 I124 for motor 1 and the return signal is ground GND FAULT1 is pin 35 With the default setup this signal must actively be pulled low for a fault condition In this setup if nothing is wired into this input PMAC will consider the motor not to be in a fault condition Example for Clipper Channel 1 J3 JMACH1 5 24 VDC Power Supply 25 23 49 50 47 48 45 46 43 44 41 42 39 40 37 38 35 36 33...

Страница 29: ...Signal ADCIN_1 J3 JMACH1 49 50 47 48 45 46 43 44 41 42 39 40 37 38 35 36 33 34 31 32 29 30 27 28 25 26 23 24 21 22 19 20 17 18 15 16 13 14 11 12 9 10 7 8 5 6 3 4 1 2 The M variables associated with these inputs provided a range of values between 2048 and 2048 for the respective 10Vdc input range The following is the software procedure to setup and read these ports Analog Inputs Setup I7003 1746 Se...

Страница 30: ...2 Pull Up 2 FLG_3_4_V Input Flags 3 4 Pull Up 3 GND Common Digital Common 4 GND Common Digital Common 5 HOME1 Input Home Flag 1 10 6 HOME2 Input Home Flag 2 10 7 PLIM1 Input Positive End Limit 1 8 9 8 PLIM2 Input Positive End Limit 2 8 9 9 MLIM1 Input Negative End Limit 1 8 9 10 MLIM2 Input Negative End Limit 2 8 9 11 USER1 Input User Flag 1 12 USER2 Input User Flag 2 13 PUL_1 Output Pulse Output ...

Страница 31: ...Must be conducting to 0V usually GND to produce a 0 in PMAC software Note 11 Even if it is not used but connected long cabling may pull this line low and cause PMAC to unintentionally reset 34 pin female flat cable connector T B Ansley P N 609 3441 Standard flat cable stranded 34 wire T B Ansley P N 171 34 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 Overtravel Limits and Home Sw...

Страница 32: ... 9 10 7 8 15 16 13 14 11 12 19 20 17 18 25 26 23 24 21 22 29 30 27 28 33 34 31 32 5 24 VDC Power supply USER 1 NC POS LIMIT 1 NC NEG LIMIT 1 HOME 1 COM FLAG RETURN 3 4 FLAG RETURN 1 2 USER 2 NC POS LIMIT 2 NC NEG LIMIT 2 HOME 2 USER 3 NC POS LIMIT 3 NC NEG LIMIT 3 HOME 3 USER 4 NC POS LIMIT 4 NC NEG LIMIT 4 HOME 4 J4 JMACH2 ...

Страница 33: ...2 9 10 7 8 15 16 13 14 11 12 19 20 17 18 25 26 23 24 21 22 29 30 27 28 33 34 31 32 5 24 VDC Power supply USER 1 NC POS LIMIT 1 NC NEG LIMIT 1 HOME 1 COM FLAG RETURN 3 4 FLAG RETURN 1 2 USER 2 NC POS LIMIT 2 NC NEG LIMIT 2 HOME 2 USER 3 NC POS LIMIT 3 NC NEG LIMIT 3 HOME 3 USER 4 NC POS LIMIT 4 NC NEG LIMIT 4 HOME 4 J4 JMACH2 ...

Страница 34: ...nput status M121 X 078000 17 Positive Limit 1 flag input status M122 X 078000 18 Negative Limit 1 flag input status M214 X 07800D 14 AENA2 output status M215 X 078008 19 User 2 flag input status M220 X 078008 16 Home flag 2 input status M221 X 078008 17 Positive Limit 2 flag input status M222 X 078008 18 Negative Limit 2 flag input status M314 X 078015 14 AENA3 output status M315 X 078010 19 User ...

Страница 35: ...ing step and direction Pulse Frequency Modulation output signals to external stepper amplifiers The step and direction outputs can be connected in single ended configuration for 5V input signal amplifiers Example for Clipper Channel 1 5 6 3 4 1 2 9 10 7 8 15 16 13 14 11 12 17 External Stepper Amplifier DIR PUL GND J4 JMACH2 Note Software setup for PFM output can be found in the Drive Motor setup s...

Страница 36: ...s is very useful for scanning and measurement applications Instructions for use of these outputs are covered in detail in the Turbo PMAC User Manual Example for Channel 1 5 6 3 4 1 2 9 10 7 8 15 16 13 14 11 12 17 J4 JMACH2 TTL level output EQU_1 GND M116 X 078000 9 EQU1 ENC1 compare output value M216 X 078008 9 EQU2 ENC2 compare output value M316 X 078010 9 EQU3 ENC3 compare output value M416 X 07...

Страница 37: ...n Digital Common 2 GND Common Digital Common 3 CHU1 Input U Flag Channel 1 4 CHU2 Input U Flag Channel 2 5 CHV1 Input V Flag Channel 1 6 CHV2 Input V Flag Channel 2 7 CHW1 Input W Flag Channel 1 8 CHW2 Input W Flag Channel 2 9 CHU3 Input U Flag Channel 3 10 CHU4 Input U Flag Channel 4 11 CHV3 Input V Flag Channel 3 12 CHV4 Input V Flag Channel 4 13 CHW3 Input W Flag Channel 3 14 CHW4 Input W Flag ...

Страница 38: ... Output Multiplexer select output 5 DAT1 Input Data 1 Input Data input from multiplexed accessory 6 SEL1 Output Select 1 Output Multiplexer select output 7 DAT2 Input Data 2 Input Data input from multiplexed accessory 8 SEL2 Output Select 2 Output Multiplexer select output 9 DAT3 Input Data 3 Input Data input from multiplexed accessory 10 SEL3 Output Select 3 Output Multiplexer select output 11 DA...

Страница 39: ...uts and outputs on the thumbwheel multiplexer port J8 may be used as discrete non multiplexed I O In this case these I O lines can be accessed through M variables M40 Y 78402 8 1 SEL0 Output M41 Y 78402 9 1 SEL1 Output M42 Y 78402 10 1 SEL2 Output M43 Y 78402 11 1 SEL3 Output M44 Y 78402 12 1 SEL4 Output M45 Y 78402 13 1 SEL5 Output M46 Y 78402 14 1 SEL6 Output M47 Y 78402 15 1 SEL7 Output M48 Y 7...

Страница 40: ...1 22 29 30 27 28 33 34 31 32 Pin Symbol Function Description Notes 1 MI8 Input Machine Input 8 12 13 2 GND Common PMAC Common 3 MI7 Input Machine Input 7 12 13 4 GND Common PMAC Common 5 MI6 Input Machine Input 6 12 13 6 GND Common PMAC Common 7 MI5 Input Machine Input 5 12 13 8 GND Common PMAC Common 9 MI4 Input Machine Input 4 12 13 10 GND Common PMAC Common 11 MI3 Input Machine Input 3 12 13 12...

Страница 41: ...wer I O 34 GND Common PMAC Common Note Note 11 To configure MO1 MO8 as inputs install jumper E16 To configure MO1 MO8 as outputs remove jumper E16 Note 12 To configure MI1 MI8 as inputs install jumper E17 To configure MI1 MI8 as outputs remove jumper E17 Note 13 Includes a 10K ohm pull up resistor to 5V 34 pin female flat cable connector T B Ansley P N 609 3441 Standard flat cable stranded 34 wire...

Страница 42: ...9 Digital Input MI2 M10 Y 78400 10 Digital Input MI3 M11 Y 78400 11 Digital Input MI4 M12 Y 78400 12 Digital Input MI5 M13 Y 78400 13 Digital Input MI6 M14 Y 78400 14 Digital Input MI7 M15 Y 78400 15 Digital Input MI8 M32 X 78400 0 8 Direction Control bits 0 7 1 output 0 input M34 X 78400 8 8 Direction Control bits 8 15 1 output 0 input M40 X 78404 0 24 Inversion control 0 0V 1 5V M42 Y 78404 0 24...

Страница 43: ...hannel B 6 HWB1 Input HW1 channel B 7 HWA2 Input HW2 channel A 8 HWA2 Input HW2 channel A 9 HWB2 Input HW2 channel B 10 HWB2 Input HW2 channel B 11 PUL1 Output PULSE1 output 12 PUL1 Output PULSE1 output 13 DIR1 Output DIRECTION1 output 14 DIR1 Output DIRECTION1 output 15 PUL2 Output PULSE2 output 16 PUL2 Output PULSE2 output 17 DIR2 Output DIRECTION2 output 18 DIR2 Output DIRECTION2 output 19 TBD ...

Страница 44: ... then a regular straight cable must be implemented Maximum length for Ethernet cable should not exceed 100m 330ft J13 USB Communications Port This connector is used to establish USB A B type cable communication between the host PC and the Turbo PMAC Clipper This type of USB cable can be purchased at any local electronics or computer store It may be ordered from Delta Tau as well Pin Symbol Functio...

Страница 45: ...hart summarizes the steps to implement for setting up a motor properly with the Turbo PMAC Clipper Factory Default Reset Save recommended Encoder Software Setup Verify Feedback rotate shaft by hand Position PID Tuning Output Type i e 10V PFM Dominant Clock Settings Encoder Motor wiring Note The following section assumes that feedback devices have been setup properly and that moving the motor encod...

Страница 46: ... ripple signal output Note Some amplifiers operate in the 5V range this can be regulated using the motor command output limit parameter Ixx69 Both the resolution and the frequency of the Filtered PWM outputs are configured in software on the Turbo PMAC Clipper through the variable I7000 This variable also effects the phase and servo interrupts Therefore as we change I7000 we will also have to chan...

Страница 47: ...equency Servo IC 1 Acc 1P I10 3421867 Servo Interrupt Time I169 4 100 1001 DAC Limit 10 VDC I7016 4 10 0 Output Mode PWM axis 1 4 Default I569 4 100 1001 DAC Limit 10 VDC Acc 1P I7116 4 10 0 Output Mode PWM axis 5 8 Default Acc 1P Flag Control Ixx24 The following diagram showcases important bit settings pertaining to flags and amplifier information 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6...

Страница 48: ...r Input define I2TOnTime 2 Time allowed at peak Current Amp motor spec sec User Input define ServoClk 2 45 Servo Clock pre defined in suggested clocks Khz I157 INT I7000 ContCurrent MaxADC I158 INT I7000 I7000 I157 I157 ServoClk 1000 I2TOnTime I7000 I7000 I257 I157 I357 I157 I457 I157 I557 I157 I657 I157 I757 I157 I857 I157 I258 I158 I358 I158 I458 I158 I558 I158 I657 I158 I757 I158 I857 I158 Open...

Страница 49: ...General recommendation for troubleshooting an unsuccessful open loop test An inverted saw tooth response most times indicates that the direction sense of the encoder is opposite to that of the command output Quadrature Sinusoidal Change I7mn0 to 3 from 7 default or vice versa Absolute Serial Encoders EnDat SSI BiSS Yaskawa Panasonic Tamagawa Mitutoyo The Turbo PMAC Clipper has no control on the di...

Страница 50: ...grams the motor can then assigned to a negative axis definition Position Loop PID Gains Ixx30 Ixx39 The position loop tuning is done as in any Turbo PMAC PID Loop setup The PMACTuningPro2 automatic or interactive utility can be used to fine tune the PID Loop Satisfactory Step and Parabolic move responses would look like Position Step Move Position Parabolic Move Note At this point of the setup the...

Страница 51: ... Bit 0 For low true amp 1 For high true amp Bit Flag Register Type Always 1 for Turbo PMAC Clipper Turbo PMAC Example Setting Ixx24 for a low true amplifier and disabling the over travel limit switches yields 20001 I124 4 100 20001 I2T Protection Ixx57 Ixx58 I2T is a software thermal model PMAC internal calculation used to protect motor and drive from exceeding current specifications For a safe se...

Страница 52: ...y data or simply monitoring the motor velocity in the position window Satisfactory Open Loop Test Result The open loop test is usually performed on an unloaded motor The open loop command output is adjustable start off with a conservative 1 to 2 percent command output i e nO2 value and increment gradually until you see a satisfactory result If the failure persists inverted saw tooth as shown in th...

Страница 53: ...lifiers allow swapping the DAC and DAC signal to invert the direction travel of the motor Otherwise two of the motor leads have to be swapped If the motor axis direction does not comply now with the machine design then negative jog commands can be issued for positive motion and vice versa Similarly for motion programs the motor can then assigned to a negative axis definition Position Loop PID Gain...

Страница 54: ...Turbo PMAC Clipper Hardware Reference Manual Drive Motor Setup 54 Note At this point of the setup the motor s is ready to accept Jog commands ...

Страница 55: ...k Settings Example Take a desired PFM clock frequency of 0 20 KHz and a pulse width of 20 μsec Channels 1 4 PFM Clock Settings I7003 2290 Servo IC 0 PFM Clock divider equal to 6 I7004 13 Servo IC 0 PFM Pulse Width Control equal to 13 I169 4 100 2427 Channels 1 4 Output Command Limit Channels 5 8 PFM Clock Settings I7103 2290 Servo IC 1 PFM Clock divider equal to 6 First Acc 1P I7104 13 Servo IC 1 ...

Страница 56: ...7 PFM First Acc 1P I802 7811C Channel 8 PFM First Acc 1P Encoder Conversion Table for channels 9 12 I8008 C79200 Entry 9 incremental encoder no extension Second Acc 1P I8009 C79208 Entry 10 incremental encoder no extension Second Acc 1P I8010 C79210 Entry 11 incremental encoder no extension Second Acc 1P I8011 C79218 Entry 12 incremental encoder no extension Second Acc 1P Channels 9 12 Output Mode...

Страница 57: ...uld be sufficient at this point to allow open loop commands Note that an open loop command of zero magnitude nO0 will result in a zero frequency output and an open loop command of 100 nO100 will result in the maximum calculated frequency output I100 4 100 1 Channels 1 4 active I500 4 100 1 Channels 5 8 active First Acc 1P I900 4 100 1 Channels 9 12 active Second Acc 1P Going back to the setup exam...

Страница 58: ... low true amp 1 For high true amp Bit Flag Register Type Always 1 for Turbo PMAC Clipper Turbo PMAC Example Setting Ixx24 for a low true amplifier disabling the over travel limits and amplifier fault input yields 120001 I124 4 100 120001 Channels 1 4 I524 4 100 120001 Channels 5 8 First Acc 1P I924 4 100 120001 Channels 9 12 Second Acc 1P Implementing PID gains Ixx30 Ixx35 In PFM mode the PID Gain...

Страница 59: ...I931 4 100 0 Motors 9 12 Derivative Gain Second Acc 1P I932 4 100 15038 Motors 9 12 Velocity FeedForward Gain Second Acc 1P I933 4 100 0 Motors 9 12 Integral Gain Second Acc 1P I934 4 100 0 Motors 9 12 Integral Mode Second Acc 1P I935 4 100 0 Motors 9 12 Acceleration FeedForward Gain Second Acc 1P Note At this point of the setup the drive motor s is ready to accept Jog commands ...

Страница 60: ...78410 and 78418 first and second supplementary registers respectively When using the OPT 12 filtered PWM DAC on the hand wheel port use the second output at 7841C The encoder counter registers are at Mxx X 78411 0 24 s first counter register Mxx X 78419 0 24 s second counter register Flags access through JOPTO port The OPT 12 channel may also access its machine I O such as the overtravels home and...

Страница 61: ...ts M40 0 Do not invert anything M42 FF0F 1 4 GP I O 5 8 flags 9 16 GP I O Disable plc 1 Close I925 78410 mot 9 I1025 78418 mot 10 for this motor use I1024 520001 to disable amp fault and overtravel limits I902 78414 mot 9 I1002 7841C mot 10 I6810 8 Internal pulse and direction mot 9 I6816 3 PFM on C I6820 8 Internal pulse and direction mot 10 I6826 3 PFM on C For motor 9 use I903 and I904 appropri...

Страница 62: ...ice is TTL level or it would have to be done through a relay system The difference between the Standby mode and Active mode is because of the signal type and shape Usually in order to control the output power of the laser a PWM Pulse Width Modulation signal is used and the positive duty cycle of the signal indicates the output power of the laser varying from 0 to 100 However in order to ensure imm...

Страница 63: ...5 Duty Cycle Tickle Pulse PFM Command 0 5 output In the next section we will use this laser specific information to set up Option 11A Please note that the values and settings here are just an example and your values might be different Please refer to your laser documentation or contact the manufacturer for detailed information about your specific laser Understanding Option 11A Capabilities Option ...

Страница 64: ...ents can be challenging especially if user is trying to use Filtered PWM outputs as DAC outputs for amplifier commands In most of the applications the PWM frequency is a set value and is not change at all however in some applications this is not the case and the PWM has to change based upon the material being cut or worked on If you are required to change the PWM based upon the material you won t ...

Страница 65: ... Clock kHz 4 006276 I6801 0 I6802 4 I7000 981 I7001 2 I7002 4 10 01569027 1 5 Controlling the output This section includes the memory address settings that you would need in order to change the PWM duty cycle PFM frequency EQU output mode and EQU selection Note Please Set I28 1 and issue a SAVE and before the following settings become active The I28 1 will disable the DISPLAY output port which in ...

Страница 66: ...10 9 ENC3 compare output value M411 X 07801D 11 ENC4 compare initial state write enable M412 X 07801D 12 ENC4 compare initial state M416 X 078018 9 ENC4 compare output value Open PLC 1 Clear CTRL_DIR F CTRL_DAT 1 CTRL_TYP F CTRL_INV 0 I6816 0 PWM OUTPUT ON 1st Supplimental Channel I6826 3 PFM Output on 2nd Supplimental Channel Disable PLC 1 Close PWM_CMD_VAL 0 represents 50 duty cycle PFM_CMD_VAL ...

Страница 67: ...by simply inserting the serial number and pressing the enter key This page will display Description and part number of the top assembly Turbo PMAC Clipper Part numbers and revision numbers of the sub assembly boards Top assembly original ship date Top assembly last ship date e g if it has ever been back for repair Note This page is strictly for identification purposes Some information may not be m...

Страница 68: ...K Enabling ModBus Reloading communication boot and firmware These functions are accessible through the Configure Ethernet 100 BaseT utility found in the Windows Start menu under PMAC Executive Pro2 Suite Delta Tau Common Configure Ethernet 100 BaseT Note This utility only works with USB communication The Pewin32Pro2 or any other software communicating to the Clipper must be closed before launching...

Страница 69: ...the desired address field Step2 Install the E8 jumper Step3 Press on the corresponding Store button Store IP for changing IP address Gateway IP for changing Gateway IP Gateway Mask for changing Gateway Mask Step4 Remove the E8 jumper after the corresponding confirmation message is received For changing the IP address follow through the subsequent messages for setting up windows registry for Pcomm3...

Страница 70: ...er unit This is found in the lower left hand side of the Ethernet 100 Base T utility Upon purchase of the ModBus Option a BIN file is obtained from Delta Tau for this purpose Installing this feature successfully requires the following procedure Step1 Install the E8 jumper Step2 Click on ModBus Option The utility will prompt for the bin file MAKE SURE you open the correct file Step3 Remove the E8 j...

Страница 71: ...n files will severely corrupt the functionality of the communication processor Step1 Install the E8 jumper Step2 Click on Store Boot Step3 The utility will prompt for the boot file MAKE SURE you open the correct IIC file ending with BootFx2 iic and wait for firmware load successful message Step4 Click on Store F W Step5 The utility will prompt for the Firmware file MAKE SURE you open the correct I...

Страница 72: ...rap mode The following steps ensure proper firmware reload upgrade Step1 Jumper the E13 while power is off Step2 Power up the Clipper Step3 Launch the Pewin32Pro2 Run the PMAC Devices window under Setup Force All Windows To Device Number Click Test for the corresponding communication method Click ok for message The PMAC is in Boostrap Mode ...

Страница 73: ... for a BIN file MAKE SURE you open the correct file Note The PMAC firmware file for Turbo PMAC Clipper MUST ALWAYS be TURBO2 BIN Step6 Wait until download is finished and click done Step7 Close all PMAC applications i e Pewin32Pro2 and turn off the power Step8 Remove the E13 jumper for normal operation ...

Страница 74: ...It occurs if any of the following applies PMAC CPU over clocked In this mode the CPU signals that is has been overloaded with computation and cannot accomplish tasks in a timely manner e g bad programming such as an infinite loop or too much computation Kinematics requiring faster CPU option Wrong clock settings In this mode the user has downloaded or written bad values to clock setting parameters...

Страница 75: ...PU 1 2 E3 Normal Re Initializing Power Up Reset Jumper Configuration Default E3 1 2 1 to 2 to re initialize on power up reset loading factory default settings Remove jumper for normal power up reset loading user saved settings Factory Set E4 Watchdog Disable Jumper Jumper Configuration Default E4 1 2 1 to 2 to disable Watchdog timer for test purposes only Remove jumper to enable Watchdog timer Fac...

Страница 76: ...for reading current feedback signals from digital amplifiers Factory Set E7 E8 USB Ethernet Reset Jumpers Jumper Configuration Default E7 1 2 Factory use only Install E7 for normal operation 1 2 E8 1 2 Install E8 to reload communication Boot Firmware or change IP Address Remove E8 to enable write protection for normal operation Factory Set E10 E12 Flash IC Jumpers Jumper Configuration Default E10 ...

Страница 77: ...puts Remove jumper to make DATx lines outputs Factory Set E15 1 2 1 to 2 to make SELx lines inputs Remove jumper to make SELx lines outputs Factory Set E16 1 2 1 to 2 to make MOx lines inputs Remove jumper to make MOx lines outputs Factory Set E17 1 2 1 to 2 to make MIx lines inputs Remove jumper to make MIx lines outputs Factory Set Jumper Configuration Default E1 1 2 3 1 to 2 Turbo Power 2 to 3 ...

Страница 78: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 78 APPENDIX B SCHEMATICS ...

Страница 79: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 79 ...

Страница 80: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 80 ...

Страница 81: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 81 ...

Страница 82: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 82 ...

Страница 83: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 83 ...

Страница 84: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 84 ...

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