Delta Tau GEO MACRO DRIVE User Manual Page 138
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Geo MACRO Drive User Manual
126 Turbo PMAC2 Related I-Variable Reference
Ixx83: Commutation Feedback Address
If the Turbo PMAC2 is performing commutation for Motor xx (Ixx01 bit 0 = 1), providing either 2-phase
current commands (sine-wave output) or 3-PWM phase voltage commands (direct PWM), Ixx83 must
specify the address of the ongoing commutation position feedback.
When commutating over MACRO (Ixx01=3), the position feedback comes from Register 0 of the
MACRO node. In this case, Ixx83 must contain the address of this MACRO node register. The
following table contains the default Ixx83 values for Turbo PMAC2 Ultralite boards, listing the addresses
of the position feedback registers for each MACRO servo node.
Turbo PMAC2 Ultralite Ixx83 Defaults
Ixx83 Value Register Ixx83 Value Register
I183 $078420 MACRO IC 0 Node 0 Reg. 0 I1783 $07A420 MACRO IC 2 Node 0 Reg. 0
I283 $078424 MACRO IC 0 Node 1 Reg. 0 I1883 $07A424 MACRO IC 2 Node 1 Reg. 0
I383 $078428 MACRO IC 0 Node 4 Reg. 0 I1983 $07A428 MACRO IC 2 Node 4 Reg. 0
I483 $07842C MACRO IC 0 Node 5 Reg. 0 I2083 $07A42C MACRO IC 2 Node 5 Reg. 0
I583 $078430 MACRO IC 0 Node 8 Reg. 0 I2183 $07A430 MACRO IC 2 Node 8 Reg. 0
I683 $078434 MACRO IC 0 Node 9 Reg. 0 I2283 $07A434 MACRO IC 2 Node 9 Reg. 0
I783 $078438 MACRO IC 0 Node 12 Reg. 0 I2383 $07A438 MACRO IC 2 Node 12 Reg. 0
I883 $07843C MACRO IC 0 Node 13 Reg. 0 I2483 $07A43C MACRO IC 2 Node 13 Reg. 0
I983 $079420 MACRO IC 1 Node 0 Reg. 0 I2583 $07B420 MACRO IC 3 Node 0 Reg. 0
I1083 $079424 MACRO IC 1 Node 1 Reg. 0 I2683 $07B424 MACRO IC 3 Node 1 Reg. 0
I1183 $079428 MACRO IC 1 Node 4 Reg. 0 I2783 $07B428 MACRO IC 3 Node 4 Reg. 0
I1283 $07942C MACRO IC 1 Node 5 Reg. 0 I2883 $07B42C MACRO IC 3 Node 5 Reg. 0
I1383 $079430 MACRO IC 1 Node 8 Reg. 0 I2983 $07B430 MACRO IC 3 Node 8 Reg. 0
I1483 $079434 MACRO IC 1 Node 9 Reg. 0 I3083 $07B434 MACRO IC 3 Node 9 Reg. 0
I1583 $079438 MACRO IC 1 Node 12 Reg. 0 I3183 $07B438 MACRO IC 3 Node 12 Reg. 0
I1683 $07943C MACRO IC 1 Node 13 Reg. 0 I3283 $07B43C MACRO IC 3 Node 13 Reg. 0
Because these are all Y addresses, bit 1 of Ixx01 must be set to 1. With bit 0 of Ixx01 set to 1 to enable
commutation, the net value of Ixx01 is 3.
Ixx91: Motor xx Power-On Phase Position Format
Range: $000000 - $FFFFFF
Units: None
Default: 0
Ixx91 specifies how the power-on phase-position data, if any, for Motor xx is interpreted. Ixx81 specifies
the address of the register containing this position data; Ixx91 controls how that data is read. This permits
the use of a wide variety of absolute position sensors with the Turbo PMAC.
Ixx91 is used only on power-on/reset or on the $* or $$* on-line reset commands. To get a new value of
Ixx91 to take effect, the $* or $$* command must be issued, or the value of Ixx91 must be stored to non-
volatile flash memory with the SAVE command, and the board must be reset.
Ixx91 is a 24-bit value; currently only bits 16-23, which comprise the first two of six hex digits, are used.
Ixx91 is only used if Ixx81 is set to a non-zero value.
The possible values of Ixx91 and the position sources they specify are summarized in the following table:
- 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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