Delta Tau GEO MACRO DRIVE User Manual Page 9
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- Table of contents
- TROUBLESHOOTING
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Geo MACRO Drive User and Reference Manual
Table of Contents iii
SETTING UP TURBO MOTOR OPERATION ....................................................................................................79
Turbo PMAC Basic Setup for Brushless Servo or Induction Motor .......................................................................79
Turbo PMAC Basic Setup for DC Brush Motors ................................................................................................80
Instructions for Direct-PWM Control of Brush Motors ..........................................................................................85
PWM/ADC Phase Match ....................................................................................................................................85
Synchronous Motor Stepper Action ....................................................................................................................85
Current Loop Polarity Check..............................................................................................................................85
Troubleshooting..................................................................................................................................................86
Testing PWM and Current Feedback Operation .....................................................................................................86
Purpose...............................................................................................................................................................86
Preparation.........................................................................................................................................................87
Position Feedback and Polarity Test..................................................................................................................87
Setting Up Hall Commutation Sensors....................................................................................................................88
Signal Format .....................................................................................................................................................88
Using Hall Effect Sensors for Phase Reference..................................................................................................89
Determining the Commutation Phase Angle.......................................................................................................89
Finding the Hall Effect Transition Points...........................................................................................................89
Calculating the Hall Effect Zero Point (HEZ) ....................................................................................................90
Determining the Polarity of the Hall Effects – Standard or Reversed ................................................................92
Software Settings for Hall Effect Phasing...........................................................................................................92
Setting I
2
T Protection ..............................................................................................................................................96
Calculating 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 Circuit Wiring...............................................................................................................................102
Connecting Limits/Flags to the Geo Drive .......................................................................................................102
Setting up Position Compare (EQU) Outputs........................................................................................................103
Setting up for a Single Pulse Output.................................................................................................................103
Setting up for Multiple Pulse Outputs...............................................................................................................104
CONNECTORS.......................................................................................................................................................105
Connector Pinouts .................................................................................................................................................105
X1: Encoder Input 1.........................................................................................................................................105
X2: Encoder Input 2.........................................................................................................................................106
X3: General Purpose I/O ..................................................................................................................................107
X4: Safety Relay (Optional) .............................................................................................................................108
X6: Analog IN 1 (Optional 3/4/5) ....................................................................................................................108
X7: Analog IN 2 (Optional 3/4/5) ....................................................................................................................108
X8: S. Encoder 1 ..............................................................................................................................................109
X9: S. Encoder 2 ..............................................................................................................................................109
X13: Discrete I/O.............................................................................................................................................109
J1: AC Input Connector Pinout .......................................................................................................................110
J2: Motor 1 Output Connector Pinout.............................................................................................................110
J3: Motor 2 Output Connector Pinout (Optional) ...........................................................................................110
J4: 24VDC Input Logic Supply Connector .......................................................................................................110
J5: External Shunt Connector Pinout ..............................................................................................................110
MACRO Link Connectors.....................................................................................................................................111
X5: MACRO I/O, MACRO Fiber Optic Transceiver (Optional).......................................................................111
X10 and X11 MACRO RJ-45 Copper Connectors ............................................................................................111
USB Connector .....................................................................................................................................................111
X12: USB Universal Serial Bus Port ...............................................................................................................112
TROUBLESHOOTING..........................................................................................................................................113
Error Codes ...........................................................................................................................................................113
- Geo MACRO Drive 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 3
- WARNING 4
- INTRODUCTION 13
- MACRO Defined 14
- Feedback Devices 15
- Compatible Motors 15
- Motor Poles 16
- Motor Inductance 16
- Motor Resistance 16
- Motor Back EMF 16
- Motor Torque Constant 17
- Motor Inertia 17
- Motor Cabling 17
- 6 Introduction 18
- GL03 1 0 19
- Geo MACRO Feedback Options 20
- Package Types 20
- Electrical Specifications 21
- 480VAC Input Drives 23
- Environmental Specifications 25
- 14 Specifications 26
- RECEIVING AND UNPACKING 27
- 16 Receiving and Unpacking 28
- MOUNTING 29
- Low Profile 30
- Single Width 31
- Double Width 32
- CONNECTIONS 33
- Noise Problems 34
- Operating Temperature 34
- Single Phase Operation 34
- Wiring AC Input, J1 35
- Wiring Earth-Ground 35
- Wiring the Motors 36
- Wiring the Motor Thermostats 37
- Shunt Regulation 39
- Minimum Resistance Value 39
- Maximum Resistance Value 39
- Energy Transfer Equations 39
- Bonding 41
- Filtering 42
- Input Power Filtering 43
- Motor Line Filtering 43
- I/O Filtering 43
- Digital Quadrature Encoders 44
- SSI Encoders 45
- In_Therm_Mot 46
- Hiperface® Interface 47
- EnDat Interface 48
- Resolvers 49
- Hardware Setup 50
- Sample wiring the I/O 51
- Sample Wiring the Flags 52
- Connections 41 53
- -10VDC to 54
- Introduction 55
- 44 Software Setup 56
- Software Setup 45 57
- 46 Software Setup 58
- MACRO Node Addresses 59
- 48 Software Setup 60
- Software Setup 49 61
- 50 Software Setup 62
- Software Setup 51 63
- Software Setup 53 65
- 54 Software Setup 66
- Software Setup 55 67
- 56 Software Setup 68
- Software Setup 57 69
- 58 Software Setup 70
- • Ring Controller 70
- • MACRO Station #n 70
- Software Setup 59 71
- 60 Software Setup 72
- Software Setup 61 73
- 62 Software Setup 74
- Software Setup 63 75
- MACRO ASCII Communications 76
- Software Setup 65 77
- 66 Software Setup 78
- SETTING UP PRIMARY FEEDBACK 79
- Controller 81
- Four hardware counts per line 82
- One HW count 82
- Setting up Endat 84
- Setting up Resolvers 84
- Scaling the Feedback Units 86
- PWM/ADC Phase Match 97
- Current Loop Polarity Check 97
- Troubleshooting 98
- Purpose 98
- Preparation 99
- Signal Format 100
- Hall Sensors at 0 102
- HEZ @ +60 degrees electrical 103
- Reversed Hall Sense (1) 106
- Ixx91=$CB0000 107
- Setting I 108
- T Protection 108
- Inputs and Outputs 111
- CONNECTORS 117
- X2: Encoder Input 2 118
- X3: General Purpose I/O 119
- X4: Safety Relay (Optional) 120
- X8: S. Encoder 1 121
- X9: S. Encoder 2 121
- X13: Discrete I/O 121
- MACRO Link Connectors 123
- USB Connector 123
- TROUBLESHOOTING 125
- MACRO Network Errors 126
- Status LEDs 127
- Status Word 129
- 118 Troubleshooting 130
- WARNING: 136
- Global MI-Variables 145
- Range: 0 – 255 166
- 164 Useful Notes 176
- Appendix A 165 177
- APPENDIX A 178
- CONKIT1A 180
- CONKIT1C 180
- CONKIT2A 180
- CONKIT2C 180
- CONKIT4A 181
- Cable Drawings 182
- Appendix A 171 183
- 172 Appendix A 184
- Appendix A 173 185
- 174 Appendix A 186
- Appendix A 175 187
- Model Description 188
- , single or dual axis 188
- Appendix A 177 189
- 178 Appendix A 190
- Appendix A 179 191
- APPENDIX B 192
- General Purpose Inputs 1-4 193
- General Purpose Outputs 1-4 193
- X6 and X7: Analog Inputs 194
- ENCODER 3/4 195
- APPENDIX C 196
- Appendix C 185 197
- APPENDIX D 198
- Turbo PMAC2 Node Addresses 199
- ADC Register Table 201
- USEFUL NOTES 205
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