Delta Tau GEO MACRO DRIVE User Manual Page 10
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- Table of contents
- TROUBLESHOOTING
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Geo MACRO Drive User Manual
iv Table of Contents
D1: Geo MACRO Drive Status Display Codes.................................................................................................113
MACRO Network Errors...................................................................................................................................114
Status LEDs ......................................................................................................................................................115
Geo MACRO Drive Ring Status Error Codes.......................................................................................................116
MS{node},MI4 Geo MACRO Status Word (Read Only) ...............................................................................116
MS{node},MI6 Status Word Control.............................................................................................................117
Status Word.......................................................................................................................................................117
TURBO PMAC2 RELATED I-VARIABLE REFERENCE ...............................................................................119
Ixx10: Motor xx Power-On Servo Position Address............................................................................................119
Ixx25, Ixx24: Flag Address and Mode..................................................................................................................121
Ixx70, Ixx71: Commutation Cycle Size ...............................................................................................................123
Ixx72: Commutation Phase Angle.........................................................................................................................123
Ixx75: Absolute Phase Position Offset.................................................................................................................123
Ixx81: Motor xx Power-On Phase Position Address and Mode...........................................................................124
Ixx82: Current Loop Feedback Address................................................................................................................125
Ixx83: Commutation Feedback Address ..............................................................................................................126
Ixx91: Motor xx Power-On Phase Position Format .............................................................................................126
Ixx95: Motor xx Power-On Servo Position Format .............................................................................................129
Ixx97 Motor xx Position Capture and Trigger Mode ...........................................................................................131
GEO MACRO DRIVE MI-VARIABLE REFERENCE......................................................................................133
Global MI-Variables .............................................................................................................................................133
MS{node},MI0 Geo MACRO drive Firmware Version (Read Only)............................................................133
MS{node},MI1 Geo MACRO drive Firmware Date (Read Only) ................................................................133
MS{node},MI2 and MI3 (Reserved for future use).......................................................................................133
MS{node},MI4 Geo MACRO drive Status Word (Read Only) ......................................................................134
MS{node},MI5 Ring Error Counter .............................................................................................................134
MS{node},MI6 Status Word Control............................................................................................................135
MS{node},MI7 Geo MACRO Error Counter ...............................................................................................135
MS{node},MI8 Geo MACRO Ring Check Period ........................................................................................135
MS{node},MI9 Geo MACRO Ring Error Shutdown Count..........................................................................135
MS{node},MI10 Geo MACRO Sync Packet Shutdown Count......................................................................136
MS{node},MI11 Station Order Number .......................................................................................................136
MS{node},MI12 Card Identification (Read Only)........................................................................................137
MS{node},MI13 Ring Break Output indicator .............................................................................................137
MS{node},MI100 Motor Activation Control word .......................................................................................138
MS{node},MI101-102 Primary Feedback Selection .....................................................................................138
MS{node},MI103 Sin Encoder/ Resolver #1 bias..........................................................................................139
MS{node},MI104 Sin Encoder/ Resolver #2 bias..........................................................................................139
MS{node},MI105 Cosine Encoder/ Resolver #1 bias....................................................................................139
MS{node},MI106 Cosine Encoder/ Resolver #2 bias....................................................................................139
MS{node},MI107 Motor 1 Encoder-Loss Mask ............................................................................................140
MS{node},MI108 Motor 2 Encoder-Loss Mask ............................................................................................140
Primary Channel Node-Specific Gate Array MI-variables....................................................................................142
MS{node},MI910 Primary Encoder/Timer n Decode Control ......................................................................142
MS{node},MI911 Primary Enc. Position Compare n Channel Select ..........................................................143
MS{node},MI912 Primary Encoder n Capture Control................................................................................143
MS{node},MI913 Primary Encoder Capture n Flag Select Control.............................................................144
MS{node},MI914 Primary Encoder n Gated Index Select ............................................................................144
MS{node},MI915 Primary Encoder Index Gate State/Demux Control .........................................................145
MS{node},MI910 Secondary Encoder Decode Control ................................................................................146
MS{node},MI911 Secondary Encoder counter Direction .............................................................................146
MS{node},MI912 Secondary Encoder Index Capture Control ....................................................................147
MS{node},MI913 Secondary Encoder Home Flag Capture Control ...........................................................147
MS{node},MI914 Secondary Encoder Filter Control ...................................................................................147
MS{node},MI915 Secondary Encoder Capture Flag Select Control ............................................................148
- 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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