Delta Tau GEO PMAC User Manual Page 56
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Geo PMAC Drive User Manual
46 Setting Up Encoders
SETTING UP THE ENCODERS
The Geo PMAC is a special version of the PMAC2 controller integrated with the amplifier in a single
package. It adds a few features not available on other versions of the PMAC2 controller. For all other
aspects of the software operation, the User’s Manual and Software Reference Manual for the PMAC2
family of controllers can be used. This section covers the features unique to the Geo PMAC Drive.
Setting up Quadrature Encoders
Digital quadrature encoders are the most common position sensors used with Geo Drives. Interface
circuitry for these encoders comes standard on board-level Turbo PMAC controllers, UMAC axis-
interface boards, Geo drives, and QMAC control boxes.
Signal Format
Quadrature encoders provide two digital signals that are a function of the position of the encoder, each
nominally with 50% duty cycle, and nominally one-quarter 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.
Typically, these signals are at 5V TTL/CMOS levels, whether single-ended or differential. The input
circuits are powered by the main 5V supply for the controller, but they can accept up to +/-12V between
the signals of each differential pair, and +/-12V between a signal and the GND voltage reference.
Differential encoder signals can enhance noise immunity by providing common-mode noise rejection.
Modern design standards virtually mandate their use for industrial systems, especially in the presence of
PWM power amplifiers, which generate a great deal of electromagnetic interference.
Hardware Setup
The Geo Drive accepts inputs from two digital encoders and
provides encoder position data to the motion processor. X1
is encoder 1 connector and X2 is encoder 2. The differential
format provides a means of using twisted pair wiring that
allows for better noise immunity when wired into
machinery.
Geo Drives encoder interface circuitry employs differential
line receivers. The wiring diagram on the right shows an
example of how to connect the Geo drive to a quadrature
encoder.
Function
Pin #
ChA+ 1
ChA- 14
ChB+ 2
ChB- 15
ChC+ 3
ChC- 16
2
3
4
5
14
15
16
17
1
6
7
18
19
8
9
20
21
10
11
22
23
12
13
24
25
Quadrature
Encoder
CHA+
CHA-
CHB+
CHB-
CHC+
CHC-
5V
GND
GND
Shield
X1/X2
- ^2 Geo PMAC Drive 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 3
- WARNING: 4
- REVISION HISTORY 5
- .......61 8
- INTRODUCTION 11
- Geo PMAC Drives 12
- Feedback Devices 13
- Compatible Motors 13
- Motor Poles 14
- Introduction 5 15
- 6 Introduction 16
- SPECIFICATIONS 17
- Geo PMAC Feedback Options 18
- Package Types 18
- Electrical Specifications 19
- 480VAC Input Drives 21
- Environmental Specifications 23
- 14 Specifications 24
- RECEIVING AND UNPACKING 25
- 16 Receiving and Unpacking 26
- MOUNTING 27
- Geo PMAC 28
- Low Profile, Dual Axis 28
- GIL012XX, GIH012XX 28
- Single Width 29
- GIH102, GIL152 & GIH152 30
- Double wide with 2 Fans 30
- CONNECTIONS 31
- Use of GFI Breakers 32
- Noise Problems 32
- Operating Temperature 32
- Single Phase Operation 32
- Wiring AC Input, J1 33
- Wiring Earth-Ground 33
- Wiring the Motors 34
- Wiring the Motor Thermostats 35
- Shunt Regulation 37
- Minimum Resistance Value 37
- Maximum Resistance Value 37
- Energy Transfer Equations 37
- 28 System Wiring 38
- System Wiring 29 39
- Bonding 40
- Filtering 40
- Motor Line Filtering 41
- I/O Filtering 41
- System Wiring 42
- CONNECTORS 43
- X2: Encoder Input 2 44
- 6 5 123479 8 45
- 12 11 1 0 45
- Connectors 46
- Connectors 37 47
- TB-4: 016-P L0F04-38P 48
- X8: S. Encoder 1 49
- X9: S. Encoder 2 51
- X10: Discrete I/O 52
- Connectors 43 53
- SETTING UP THE ENCODERS 56
- Setting up SSI Encoders 57
- Software Setup 58
- SSI Clock Frequency 58
- Expected Data Format 58
- Word Length 58
- Direct Memory Write Example 59
- Setting Up Encoders 60
- Commutation Example 1 61
- Commutation Example 2 61
- Encoder Connections 62
- Hardware Setup 62
- Principle of Operation 64
- Setting Up Encoders 55 65
- Setting up EnDat Interface 66
- Setting up Resolvers 69
- Range: 0 – 255 71
- Signal Format 72
- Hall Sensors 73
- Hall Sensors at 0 75
- Using the Test Results 80
- 72 Setting up Encoders 82
- Encoder Loss Setup 83
- Application Safe 84
- ; is a fault 85
- Key Servo IC Variables 86
- Key Motor Variables 86
- DC BRUSH MOTOR DRIVE SETUP 88
- Hardware Connection 89
- SETTING I 90
- T PROTECTION 90
- Setting I 91
- T Protection 81 91
- TROUBLESHOOTING 95
- Status LEDs 96
- APPENDIX A 97
- CONKIT1A 98
- CONKIT1C 99
- CONKIT2A 99
- CONKIT2C 99
- CONKIT4A 99
- Cable Drawings 100
- Geo PMAC Drive User Manual 101
- Appendix A 91 101
- Geo PMAC Drive User Manual 102
- 92 Appendix A 102
- Appendix A 93 103
- 94 Appendix A 104
- Appendix A 95 105
- √ √ √ 106
- √ √ 106
- √ √ 106
- Appendix A 97 107
- 98 Appendix A 108
- APPENDIX B 109
- LIMITS n 110
- APPENDIX C 111
- 102 Appendix C 112
- Appendix C 103 113
- 104 Appendix C 114
- Appendix C 105 115
- 106 Appendix C 116
- MEMORY AND I/O MAP ADDENDUM 117
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