Delta Tau GEO MACRO DRIVE Uživatelský manuál

^1 USER MANUAL & REFERENCE^2 Geo MACRO Drive ^3 Direct PWM Amplifier over MACRO ^4 500-603701-xUxx ^5 April 27,

Geo MACRO Drive User Manual iv Table of Contents D1: Geo MACRO Drive Status Display Codes...

Geo MACRO Drive User Manual 88 Setting Up Turbo Motor Operation usually by exchanging two of the motor phase leads at the drive. Note: Because I1

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 89 of a short to motor power must be considered; safety considerations an

Geo MACRO Drive User Manual 90 Setting Up Turbo Motor Operation Suggested definitions for Channel 2 are: Turbo Ultralite Description M224->X:$

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 91 Hall Sensors at 30o, 150 o, and 270o P179=I179 P129=I129 ; store pre

Geo MACRO Drive User Manual 92 Setting Up Turbo Motor Operation 64*oo360360%HEZOffset = The offset computed here should be rounded to the nearest

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 93 Turbo Software Setup (Turbo PMAC2 Ultralite, UMAC, and QMAC) Hall Effe

Geo MACRO Drive User Manual 94 Setting Up Turbo Motor Operation Hex ($) Bit ValueC B23 22 21 201 1 0 019118017 161 1Reserved0 0 014 13 1215 0

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 95 Ixx91=$CB0000 Hex ($) Bit ValueC B23 22 21 201 1 0 019118017 161 1

Geo MACRO Drive User Manual 96 Setting Up Turbo Motor Operation Setting I2T Protection It is important to set the I2T protection for the amplifier

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 97 Calculating Minimum PWM Frequency The minimum PWM frequency requireme

Geo MACRO Drive User and Reference Manual Table of Contents v MS{node},MI916 Output n Mode Select ...

Geo MACRO Drive User Manual 98 Setting Up Turbo Motor Operation

Geo MACRO Drive User and Reference Manual Setting Up Discrete Inputs and Outputs 99 SETTING UP DISCRETE INPUTS AND OUTPUTS Inputs and Outputs For t

Geo MACRO Drive User Manual 100 Setting Up Discrete Inputs and Outputs Ring Break Output indicator MS{node},MI13 In case of a ring break error, M

Geo MACRO Drive User and Reference Manual Setting Up Discrete Inputs and Outputs 101 The following table lists the locations of the ADCs if using ot

Geo MACRO Drive User Manual 102 Setting Up Discrete Inputs and Outputs Limit and Flag Circuit Wiring The Geo PMAC allows the use of sinking or sou

Geo MACRO Drive User and Reference Manual Setting Up Discrete Inputs and Outputs 103 Setting up Position Compare (EQU) Outputs The position-compare

Geo MACRO Drive User Manual 104 Setting Up Discrete Inputs and Outputs MS0,MI926=1010 ; Set back end compare in B MS0,MI923=0 ; No auto-incremen

Geo MACRO Drive User and Reference Manual Connectors 105 CONNECTORS Connector Pinouts X1: Encoder Input 1 The main encoder input channels for the

Geo MACRO Drive User Manual 106 Connectors X2: Encoder Input 2 The main encoder input channels for the Geo Drive, supports a variety of encoder

Geo MACRO Drive User and Reference Manual Connectors 107 X3: General Purpose I/O Discrete I/O is available on the Geo Drive. All I/O is electricall

Geo MACRO Drive User Manual vi Table of Contents ADC Register Table ...

Geo MACRO Drive User Manual 108 Connectors X4: Safety Relay (Optional) 1 2 3 4TB-4: 016-PL0F04-38P Pin # Symbol Function 1 RELAY WA Safety I

Geo MACRO Drive User and Reference Manual Connectors 109 8 N.C. Not Connected 9 ANALOG1- Input Command level +/-10v X8: S. Encoder 1 The Sec

Geo MACRO Drive User Manual 110 Connectors 6 GND Common PMAC GND Part Type: FKMC 0,5/6-ST-2,5 p/n: 18 81 36 7 Position Compare Port Driver IC A

Geo MACRO Drive User and Reference Manual Connectors 111 MACRO Link Connectors The unit can be ordered to use either RJ45 connectors with twisted pa

Geo MACRO Drive User Manual 112 Connectors X12: USB Universal Serial Bus Port Pin # Symbol Function 1 VCC N.C. 2 D- DATA- 3 D+ DATA+ 4 GND

Geo MACRO Drive User and Reference Manual Troubleshooting 113 TROUBLESHOOTING The Geo MACRO utilizes a scrolling single-digit 7-segment display. Wh

Geo MACRO Drive User Manual 114 Troubleshooting E5 Motor Over Temp - Axis 1 Warning Normally closed input on the front of the Geo drive amplifier

Geo MACRO Drive User and Reference Manual Troubleshooting 115 Status LEDs LED Function Color Description EN1 Enable Axis 1 Green/Red Green when fir

Geo MACRO Drive User Manual 116 Troubleshooting Geo MACRO Drive Ring Status Error Codes MS{node},MI4 Geo MACRO Status Word (Read Only) Range:

Geo MACRO Drive User and Reference Manual Troubleshooting 117 MS{node},MI6 Status Word Control Value Function MS{node},MI6 0 Ring Status Word M

Geo MACRO Drive User and Reference Manual Introduction 1 INTRODUCTION The Geo Drive family of “bookcase”-style servo amplifiers provides many new c

Geo MACRO Drive User Manual 118 Troubleshooting

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 119 TURBO PMAC2 RELATED I-VARIABLE REFERENCE Ixx10: Motor xx Pow

Geo MACRO Drive User Manual 120 Turbo PMAC2 Related I-Variable Reference Ixx10 for Acc-8D Option 7 Resolver/Digital Converter (Ixx95=$000000 - $0

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 121 The following table shows the required values of Ixx10 for al

Geo MACRO Drive User Manual 122 Turbo PMAC2 Related I-Variable Reference Ixx24 specifies how the address in Ixx25 is to be used. Bit 0 of Ixx24 m

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 123 Ixx70, Ixx71: Commutation Cycle Size If the Turbo PMAC2 is p

Geo MACRO Drive User Manual 124 Turbo PMAC2 Related I-Variable Reference Ixx81: Motor xx Power-On Phase Position Address and Mode Range: $00000

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 125 Ixx81 Value Register Ixx81 Value Register I181 $003440 M

Geo MACRO Drive User Manual 126 Turbo PMAC2 Related I-Variable Reference Ixx83: Commutation Feedback Address If the Turbo PMAC2 is performing com

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 127 Ixx91 Value Range Absolute Position Source Ixx81 Address Ty

Geo MACRO Drive User Manual 2 Introduction Geo PMAC Drives The Geo PMAC Drive is a standalone-capable integrated controller/amplifier with a built

Geo MACRO Drive User Manual 128 Turbo PMAC2 Related I-Variable Reference Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000 (bit

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 129 The following table shows the values of Ixx81 used here. Turb

Geo MACRO Drive User Manual 130 Turbo PMAC2 Related I-Variable Reference Ixx95 is used only on power-on/reset or on the $* or $$* command. To get

Geo MACRO Drive User and Reference Manual Turbo PMAC2 Related I-Variable Reference 131 In this mode, bit 22 of Ixx95 specifies whether a Y-register

Geo MACRO Drive User Manual 132 Turbo PMAC2 Related I-Variable Reference feedback for Motor xx, as specified by Ixx03, and the conversion table, m

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 133 GEO MACRO DRIVE MI-VARIABLE REFERENCE The Geo MACRO Station is s

Geo MACRO Drive User Manual 134 Geo Macro Drive MI-Variable Reference MS{node},MI4 Geo MACRO drive Status Word (Read Only) Range: $00000000 - $

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 135 MS{node},MI6 Status Word Control Range: 0 – $F Units: non

Geo MACRO Drive User Manual 136 Geo Macro Drive MI-Variable Reference The Station can detect four types of communications errors: byte “violation”

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 137 MACROSTASCII255 command, the first “unordered” station in the ri

Geo MACRO Drive User and Reference Manual Introduction 3 • One ring, multiple masters: In a ring network, several motion controllers (masters) ca

Geo MACRO Drive User Manual 138 Geo Macro Drive MI-Variable Reference MS{node},MI100 Motor Activation Control word Range: 0 – $F Units: none

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 139 MS{node},MI101 MS{node},MI102 13 Write the arctangent value of

Geo MACRO Drive User Manual 140 Geo Macro Drive MI-Variable Reference MS{node},MI107 Motor 1 Encoder-Loss Mask Range: $0 - $F Units: none De

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 141 If bit 0 (value of 1) is set to 1, then if the digital quadratur

Geo MACRO Drive User Manual 142 Geo Macro Drive MI-Variable Reference Primary Channel Node-Specific Gate Array MI-variables MI-variables MI910 thr

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 143 (sign) signal on CHBn. If the signal is unidirectional, the CHB

Geo MACRO Drive User Manual 144 Geo Macro Drive MI-Variable Reference 0: Immediate capture 1: Capture on Index (CHCn) high 2: Capture on Fl

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 145 When MI914 is set to 1, the encoder index channel input (CHCn) i

Geo MACRO Drive User Manual 146 Geo Macro Drive MI-Variable Reference Secondary encoder Channel Node-Specific Gate Array MI-variables MS{node},MI9

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 147 MS{node},MI912 Secondary Encoder Index Capture Control Range:

Geo MACRO Drive User Manual 4 Introduction servo control. Most applications have a duty cycle in which the acceleration profile occurs repetitive

Geo MACRO Drive User Manual 148 Geo Macro Drive MI-Variable Reference MS{node},MI915 Secondary Encoder Capture Flag Select Control Range: 0 - 3

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 149 2 = Do not invert Outputs A & B; Invert Output C 3 =

Geo MACRO Drive User Manual 150 Geo Macro Drive MI-Variable Reference does nothing – software-1/T functions can still be used. However, it is str

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 151 the specified Geo MACRO Node number. The value is reported as a

Geo MACRO Drive User Manual 152 Geo Macro Drive MI-Variable Reference General Hardware Setup MI-variables MS{anynode}, MI930 SSI Channel 1 Contro

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 153 MS{anynode}, MI932 Resolver Excitation Frequency Divider Range

Geo MACRO Drive User Manual 154 Geo Macro Drive MI-Variable Reference MS{anynode}, MI941 Resolver Excitation Phase Offset Range: 0 – 255 Unit

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 155 Global & 2-Axis Board I-Variables MI-Variables numbered in

Geo MACRO Drive User Manual 156 Geo Macro Drive MI-Variable Reference DAC_CLK Frequency = 39.3216 MHz / (2 ^ 3) = 4.9152 MHz ADC_CLK Frequ

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 157 SCLK Divider N: 5 PFM_CLK Divider N: 4 DAC_CLK Divider N:

Geo MACRO Drive User and Reference Manual Introduction 5 ratings for servomotors are in the area of 8 to 200 volts-per-thousand rpm. The Geo drive

Geo MACRO Drive User Manual 158 Geo Macro Drive MI-Variable Reference MI995 contains configuration and status bits for MACRO ring operation of the

Geo MACRO Drive User and Reference Manual Geo Macro Drive MI-Variable Reference 159 12 4096($1000) Config Node 12 Activate 13 8192($2000) Confi

Geo MACRO Drive User Manual 160 Geo Macro Drive MI-Variable Reference MS{node},MI997 Phase Clock Frequency Control Range: 0 - 15 Units: PHAS

Geo MACRO Drive User and Reference Manual Absolute Power On Online Commands 161 ABSOLUTE POWER ON ONLINE COMMANDS $$* Function: Read motor absolute

Geo MACRO Drive User Manual 162 Absolute Power On Online Commands With Ixx10 set to 0, the action of $* is very similar to that of the HOMEZ comma

Geo MACRO Drive User and Reference Manual Absolute Power On Online Commands 163

Geo MACRO Drive User Manual 164 Useful Notes

Geo MACRO Drive User and Reference Manual Appendix A 165

Geo MACRO Drive User Manual 166 Appendix A APPENDIX A Fiber Optic Cable Ordering Information CABFBR-1 20 cm terminated glass optical fiber cabl

Geo MACRO Drive User and Reference Manual Appendix A 167 CABKIT1C Includes Molex mating connectors pre-crimped for single axis drives up to 5-amp c

Geo MACRO Drive User Manual 6 Introduction

Geo MACRO Drive User Manual 168 Appendix A Connector and pins Part numbers CONKIT1A Connector D/T part number D/T part number individuals Molex

Geo MACRO Drive User and Reference Manual Appendix A 169 CONKIT4A Connector D/T part number D/T part number individuals Molex part number 24VDC 2

Geo MACRO Drive User Manual 170 Appendix A Cable Drawings

Geo MACRO Drive User and Reference Manual Appendix A 171

Geo MACRO Drive User Manual 172 Appendix A

Geo MACRO Drive User and Reference Manual Appendix A 173

Geo MACRO Drive User Manual 174 Appendix A

Geo MACRO Drive User and Reference Manual Appendix A 175

Geo MACRO Drive User Manual 176 Appendix A Regenerative Resistor: GAR78/48 Model Description 1.5/4.5A 3/9A 5/10A 10/20A 15/30A 20/40A 30/60A

Geo MACRO Drive User and Reference Manual Appendix A 177 Type of Cable for Encoder Wiring Low capacitance shielded twisted pair cable is ideal for w

Geo MACRO Drive User and Reference Manual Specifications 7 SPECIFICATIONS Part Number Geo MACRO Drive Model Number DefinitionGL03 1 0Continuous/Pe

Geo MACRO Drive User Manual 178 Appendix A One possible cable type for encoders is Belden 8164 or ALPHA 6318. This is a 4-pair individually shiel

Geo MACRO Drive User and Reference Manual Appendix A 179

Geo MACRO Drive User Manual 180 Appendix B APPENDIX B Schematics X3: Discrete I/O Channel #1 Flags C81.1U65PS2705-412345678910111213141516AC1AC1A

Geo MACRO Drive User and Reference Manual Appendix B 181 General Purpose Inputs 1-4 D7MMBZ5V6ALT1123D34MMBZ33VALT1123R2062.2KC63.1ufD33MMBZ33VALT11

Geo MACRO Drive User Manual 182 Appendix B X6 and X7: Analog Inputs Analog Input 1 TP6TP1_amp_flt+C20322 pf1_pmac_gndR9624.0k, 1%pmac_gnd for a

Geo MACRO Drive User and Reference Manual Appendix B 183 Analog Input 2 J16HEADER 1012345678910R783.01k, 0.1%ch3C18122 pf2_aenaC16422 pf2_PMAC_5V2_

Geo MACRO Drive User Manual 184 Appendix C APPENDIX C Communication to the Geo MACRO via the USB Port The USB port on the Geo MACRO is actually a

Geo MACRO Drive User and Reference Manual Appendix C 185

Geo MACRO Drive User Manual 186 Appendix D APPENDIX D MACRO Flag Transfer Location For proper servo operations, the Master Controller must process

Geo MACRO Drive User and Reference Manual Appendix D 187 NodeCntrlCmd: (Sent by Master - Located in Turbo at: Y:$3440 .. Y:$347F / Y-portion of Flag

Geo MACRO Drive User Manual 8 Specifications Geo MACRO Feedback Options Model Default Configuration: Quadrature Encoders Or SSI Absolute Encoder

Geo MACRO Drive User Manual 188 Appendix D Turbo PMAC2 Node Addresses (Continued) MACRO IC Node Axis/IO User Node Node 24-bit Transfer Addresses N

Geo MACRO Drive User and Reference Manual Appendix D 189 ADC Register Table Geo Drive Value Sin Cos MS0,MI101 1 (IC#0) MS1,MI102 12 or 13 X:$7

Geo MACRO Drive User Manual 190 Appendix D Stepping through an Electrical Cycle It is important to know what commands to use in order to force the

Geo MACRO Drive User and Reference Manual Appendix D 191 Now that we know how to step through electrical cycle, we must determine the location and v

Geo MACRO Drive User Manual 192 Appendix D Ixx79 Ixx29 Electrical Cycle U V WPositive 3000 -1500 -30 0 1 0 1500 -3000 -90 1 1 0 -1500

Geo MACRO Drive User and Reference Manual Appendix D 193 USEFUL NOTES • Geo MACRO drives are using 2-axis MACRO station CPU’s. They are not the sam

Geo MACRO Drive User and Reference Manual Specifications 9 Electrical Specifications 230VAC Input Drives GxL051 GxL101 GxL151 GxL201 GxL301Nomi

Geo MACRO Drive User Manual 10 Specifications GxL012 GxL032 GxL052 GxL102 GxL152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 230 Rated

Geo MACRO Drive User and Reference Manual Specifications 11 480VAC Input Drives GxH051 GxH101 GxH151 GxH201 GxH301 Output Circuits (axes) 1 Nomin

Geo MACRO Drive User Manual 12 Specifications GxH012 GxH032 GxH052 GxH102 GxH152 Output Circuits (axes) 2 Nominal Input Voltage (VAC) 480 Rated

Geo MACRO Drive User and Reference Manual Specifications 13 Environmental Specifications Description Unit Specifications Operating Temperature °C

Geo MACRO Drive User Manual 14 Specifications

Geo MACRO Drive User and Reference Manual Receiving and Unpacking 15 RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factor

Geo MACRO Drive User Manual 16 Receiving and Unpacking

Geo MACRO Drive User and Reference Manual Mounting 17 MOUNTING The location of the controller is important. Installation should be in an area that

Copyright Information © 2010 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems,

Geo MACRO Drive User Manual 18 Mounting Low Profile Gxx012xx Width Height Depth Weight Mounting dimensions 3.30in./ 84mm 11.00in./ 280mm 5.7

Geo MACRO Drive User and Reference Manual Mounting 19 Single Width Gxx051xx, Gxx101xx, Gxx151xx, Gxx032xx, Gxx052xx and GxL102xx Width Height Dep

Geo MACRO Drive User Manual 20 Mounting Double Width Gxx201xx, Gxx301xx, GxH102xx and Gxx152xx Width Height Depth Weight Mounting dimensions 6

Geo MACRO Drive User and Reference Manual Connections 21 CONNECTIONS System (Power) Wiring MAINPOWEREARTH BLOCKOPTIONALEMI FILTERMCREARTHFRAMEGARx

Geo MACRO Drive User Manual 22 Connections installation practices must be followed. The use of inductor chokes in the output of the drive will he

Geo MACRO Drive User and Reference Manual Connections 23 Wiring AC Input, J1 The main bus voltage supply is brought to the Geo drive through connec

Geo MACRO Drive User Manual 24 Connections 4. Motor cable shields should be bonded to the back panel using 360-degree clamps at the point they en

Geo MACRO Drive User and Reference Manual Connections 25 Wiring the Motor Thermostats Some motor manufacturers provide the motors with integrated t

Geo MACRO Drive User Manual 26 Connections Caution: The black wires are for the thermostat and the white wires are for the regen resistor on the e

Geo MACRO Drive User and Reference Manual Connections 27 Shunt Regulation When the motor is used to slow the moving load, this is called regenerati

After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally

Geo MACRO Drive User Manual 28 Connections 2mv21KE = where: EK is the kinetic energy in joules (J) m is the mass in kilograms (kg) v is the linear

Geo MACRO Drive User and Reference Manual Connections 29 ELE is the lost energy in joules (J) irms is the current required for the deceleration in

Geo MACRO Drive User Manual 30 Connections panel. Power input wiring does not require shielding (screening) if the power is fed to the enclosure v

Geo MACRO Drive User and Reference Manual Connections 31 Input Power Filtering Caution: To avoid electric shock, do not touch filters for at least

Geo MACRO Drive User Manual 32 Connections Connecting Main Feedback Sensors (X1 & X2) X1 is for motor #1 and X2 for motor #2. Digital Quadratu

Geo MACRO Drive User and Reference Manual Connections 33 Digital Hall Commutation Sensors Many motor manufactures now give the consumer the option

Geo MACRO Drive User Manual 34 Connections Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two sinusoidal or qu

Geo MACRO Drive User and Reference Manual Connections 35 Hiperface® Interface The Geo Drive will read the absolute data from the Hiperface® interfa

Geo MACRO Drive User Manual 36 Connections EnDat Interface The Geo Drive will read the absolute data from the EnDat (Encoder Data) interface only

Geo MACRO Drive User and Reference Manual Connections 37 Resolvers The Geo Drive can interface to most industry standard resolvers if the appropria

REVISION HISTORY REV. DESCRIPTION DATE CHG APPVD 1 UPDATED ENDAT SETUP INFO, P. 82 07/18/06 CP P.SHANTZ 2 UPDATED ERROR CODE EF GA

Geo MACRO Drive User Manual 38 Connections Connecting Secondary Quad. Encoders (X8 & X9) Secondary encoders in the Geo MACRO Amplifier are sta

Geo MACRO Drive User and Reference Manual Connections 39 Connecting General Purpose I/O & Flags (X3) X3 provides the connector for general purp

Geo MACRO Drive User Manual 40 Connections Sinking Inputs and Sinking Outputs Function Pin # GP_OUT 1 COL 1 GP_OUT 2 COL 3 GP_OUT 3 COL 5 GP_OU

Geo MACRO Drive User and Reference Manual Connections 41 Connecting MACRO Ring Fiber Optic MACRO connections (X5) InputOutputGeo MACROMACRO I/O(X5)

Geo MACRO Drive User Manual 42 Connections Connecting optional Analog Inputs (X6 & X7) The MACRO Geo Drive can be ordered with two analog to d

Geo MACRO Drive User and Reference Manual Software Setup 43 SOFTWARE SETUP FOR GEO MACRO DRIVES Introduction Turbo PMAC2 controllers can command ax

Geo MACRO Drive User Manual 44 Software Setup Note: When making this change, change the Turbo PMAC2’s I6800 variable first, then the MACRO Statio

Geo MACRO Drive User and Reference Manual Software Setup 45 Bits 20-23: Master Number. These four bits together form the master number (0 to 15) o

Geo MACRO Drive User Manual 46 Software Setup I76=$3333 ; Enabled for MACRO IC 3, Nodes 0,1,4,5,8,9,12,13 I71/I73/I75/I77: MACRO IC 0/1/2/3 N

Geo MACRO Drive User and Reference Manual Software Setup 47 been detected in this interval, Turbo PMAC will assume a major ring problem, and all mo

Geo MACRO Drive User Manual 48 Software Setup Register Addresses for MACRO IC 0 with I20=$078400 (default) Turbo PMAC2 Addresses: MACRO IC 0

Geo MACRO Drive User and Reference Manual Software Setup 49 Register Addresses for MACRO IC 2 with I22=$07A400 (default) Turbo PMAC2 Addresses:

Geo MACRO Drive User Manual 50 Software Setup Note: With the MACRO station, only nodes that map into Turbo PMAC2 Y registers (0, 1, 4, 5, 8, 9, 1

Geo MACRO Drive User and Reference Manual Software Setup 51 Using the Turbo PMAC Setup Program The following captured screens are taken from the Tu

Geo MACRO Drive User Manual 52 Software Setup Then the first step is to select the kind of communications you have established with your PMAC devi

Geo MACRO Drive User and Reference Manual Software Setup 53 The first setup screen is to set some information about your PMAC controller and the AC

Geo MACRO Drive User Manual 54 Software Setup The next window that will appear is to set up your PWM frequency. After you select the dominant PWM

Geo MACRO Drive User and Reference Manual Software Setup 55 The following screen of the Setup program selects which method to use to bind the MACRO

Geo MACRO Drive User Manual 56 Software Setup Bits 20-23 specify the master number (0-15) for the Geo MACRO Station. At power-up/reset, these bit

Geo MACRO Drive User and Reference Manual Software Setup 57 All the screens following are the Steps to setup your motors, so check the boxes and en

Geo MACRO Drive User and Reference Manual Table of Contents i Table of Contents Copyright Information...

Geo MACRO Drive User Manual 58 Software Setup Using the PEWIN32PRO 2 MACRO Ring ASCII Feature With the new PEWIN32PRO Suite2 a new configuration a

Geo MACRO Drive User and Reference Manual Software Setup 59 connected and powered up. Then if it is the first time he tries to setup his system, it

Geo MACRO Drive User Manual 60 Software Setup The user has to first setup his Ring Controller and save any changes and then Setup each of his MACR

Geo MACRO Drive User and Reference Manual Software Setup 61 First the user needs to select which MACRO station to start with. Set the MI-variables

Geo MACRO Drive User Manual 62 Software Setup PEWIN32PRO Suite 2 MACRO Status window One more new addition to the new PEWIN32PRO (Suite2) is the M

Geo MACRO Drive User and Reference Manual Software Setup 63 Ring Order Communications Method The Ring Order Method has been developed to allow MAC

Geo MACRO Drive User Manual 64 Software Setup MACRO ASCII Communications MACRO ASCII Communication Mode allows direct access to the MACRO Device.

Geo MACRO Drive User and Reference Manual Software Setup 65 Delta Tau: Turbo PMAC2 Ultralite = 603182 (MACRO Master) Delta Tau: UMAC Turbo

Geo MACRO Drive User Manual 66 Software Setup

Geo MACRO Drive User and Reference Manual Setting Up Primary Feedback 67 SETTING UP PRIMARY FEEDBACK Device Selection Control Geo Drives with the ap

Geo MACRO Drive User Manual ii Table of Contents CE Filtering ...

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&

Geo MACRO Drive User and Reference Manual Setting Up Primary Feedback 69 Setting up Sinusoidal Encoders The Geo Drive with the Interpolator option a

Geo MACRO Drive User Manual 70 Setting Up Primary Feedback 1/4096 of a line, so there are 4096 unique states per line, or 1024 states per hardware

Geo MACRO Drive User and Reference Manual Setting Up Primary Feedback 71 The commutation uses the hardware counter. There are 8000 hardware counts

Geo MACRO Drive User Manual 72 Setting Up Primary Feedback Setting up Endat The Geo Drive can be ordered to accept Heidenhain Corporations propri

Geo MACRO Drive User and Reference Manual Setting Up Primary Feedback 73 Phase Clock frequency of the PMAC set by I7m00 and I7m01. The user has the

Geo MACRO Drive User Manual 74 Setting Up Primary Feedback WARNING: An unreliable phasing reference method can lead to a runaway condition. Test

Geo MACRO Drive User and Reference Manual Setting Up Secondary Encoders 75 SETTING UP SECONDARY ENCODERS Geo Drives have also secondary encoder inpu

Geo MACRO Drive User Manual 76 Setting Up Secondary Encoders

Geo MACRO Drive User and Reference Manual Setting Up Turbo PMAC Conversion Table 77 SETTING UP THE TURBO PMAC CONVERSION TABLE The position feedback

Geo MACRO Drive User and Reference Manual Table of Contents iii SETTING UP TURBO MOTOR OPERATION ...

Geo MACRO Drive User Manual 78 Setting Up Turbo PMAC Conversion Table

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 79 SETTING UP TURBO MOTOR OPERATION Turbo PMAC Basic Setup for Brushless

Geo MACRO Drive User Manual 80 Setting Up Turbo Motor Operation • Ixx66 = 16384 ; Geo MACRO PWM scale factor • Ixx82 = node address = base nod

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 81 • The two leads of the brush motor’s armature are connected to amplif

Geo MACRO Drive User Manual 82 Setting Up Turbo Motor Operation 3 is node 4, motor 4 is node 5, motor 6 is node 8, etc) then you can simply use t

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 83 motor on the drive, and Mx54 in the watch window should be 1. If not,

Geo MACRO Drive User Manual 84 Setting Up Turbo Motor Operation 5. The motor is now at electrical 0, so set Mx71=0 in order to force the phase po

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 85 Instructions for Direct-PWM Control of Brush Motors WARNING: Make su

Geo MACRO Drive User Manual 86 Setting Up Turbo Motor Operation that these readings may appear noisy. Observe the base value underneath the noise

Geo MACRO Drive User and Reference Manual Setting Up Turbo Motor Operation 87 • Determine proper current loop polarity • Confirm commutation cycle