Delta Tau GEO MACRO DRIVE User Manual Page 118
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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 feedback types. 5V
supply to power the encoder is provided and also four digital Hall sensors (UVWT) for phasing.
Quadrature Encoder Input, or SSI Absolute Encoders. Optional: Sinusoidal Encoder Input with x4096
Interpolation, Resolver Feedback, Endat and Hiperface Interfaces.
X2 Encoder Input 2 (DB-25 Female
Connector)
2345
14151617
1
67
1819
89
2021
1011
2223
1213
2425
Pin
#
Digital /
SSI
Encoder
Symbol
Sinusoidal
Encoder
Symbol*
Resolver
Symbol*
Use for Incremental Encoder/Sinusoidal
Encoder/Resolver
1
ChA2+ Sin2+ N/A
Axis 2 Encoder A+/Encoder Sine+/Not used
2 ChB2+ Cos2+ N/A Axis 2 Encoder B+/Encoder Cosine+/Not used
3 Index2+ Index2+ N/A Axis 2 Encoder Index+/Encoder Index+/Not used
4 N/A N/A ResSin2+ Axis 2 Not used/Not used/Resolver Sine+
5 N/A N/A ResCos2+ Axis 2 Not used/Not used/Resolver Cosine+
6
CLK+ AltSin2+/CLK+ N/A
Axis 2 SSI Clock+/Power On Position Sine+, for Endat output
CLK+/Not used
7
DAT+ AltCos2+/DAT+ N/A
Axis2 SSI Data+/Power On Position Cosine+, for Endat input
DATA +/Not used
8 ChU2+ ChU2+ ChU2+ Axis 2 U Commutation+
9 ChW2+ ChW2+ ChW2+ Axis 2 W Commutation+
10 BVREF2 Axis 2 Buffered 2.5 Volt Reference
11 N/A N/A ResOut2 Axis 2 Not used/Not used/Resolver Excitation Output
12 Encoder
Power2
Encoder Power2 N/A Relay-Controlled Power/Relay-Controlled Power/Not used
Default is Power ON, 5V
13 GND Common
14 ChA2- Sin2- N/A Axis 2 Encoder A-/Encoder Sine-/Not used
15 ChB2- Cos2- N/A Axis 2 Encoder B-/Encoder Cosine-/Not used
16 Index2- Index2- N/A Axis 2 Encoder Index-/Encoder Index-/Not used
17 N/A N/A ResSin2- Axis 2 Not used/Not used/Resolver Sine-
18 N/A N/A ResCos2- Axis 2 Not used/Not used/Resolver Cosine-
19
CLK- AltSin2-/CLK- N/A
Axis 2 SSI Clock-/Power On Position Sine-, for Endat output
CLK-/Not used
20
DAT- AltCos2-/DAT- N/A
Axis 2 SSI Data -/Power On Position Cosine-, for Endat input
DATA-/Not used
21 ChV2+ ChV2+ ChV2+ Axis 2 V Commutation+
22 ChT2+ ChT2+ ChT2+ Axis 2 T Commutation+
23 2_In_Therm_Mot Motor 2 Thermal Input Switch
24 +5V Axis 2, +5V Supply
25 GND Common
* The Analog Feedback Option 1 or 4 is required for these functions.
** The Serial Encoder Feedback Option 2 or 5 is required for these functions
- 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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