Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 152)

Geo MACRO Drive User Manual

140 Geo Macro Drive MI-Variable Reference

MS{node},MI107 Motor 1 Encoder-Loss Mask

Range: $0 - $F

Units: none

Default: $0

MI107 specifies which encoder-loss condition(s) will cause a shutdown fault on the first motor of the Geo

MACRO drive. MI107 consists of 4 bits, each of which permits a shutdown fault on a specific encoder-

loss condition.

If bit 0 (value of 1) is set to 1, then if the digital quadrature encoder-loss detection circuit for the encoder

wired into X1 (“Encoder 1”) reports a loss, the first motor will be shut down. If bit 0 is set to 0, there will

be no reaction to this circuit reporting a loss.

If bit 1 (value of 2) is set to 1, then if the digital quadrature encoder-loss detection circuit for the encoder

wired into X2 (“Encoder 2”) reports a loss, the first motor will be shut down. If bit 1 is set to 0, there will

be no reaction to this circuit reporting a loss.

If bit 2 (value of 4) is set to 1, then if the analog sinusoidal encoder-loss detection circuit for the encoder

wired into X1 (“Encoder 1”) reports a loss, the first motor will be shut down. If bit 2 is set to 0, there will

be no reaction to this circuit reporting a loss.

If bit 3 (value of 8) is set to 1, then if the analog sinusoidal encoder-loss detection circuit for the encoder

wired into X2 (“Encoder 2”) reports a loss, the first motor will be shut down. If bit 3 is set to 0, there will

be no reaction to this circuit reporting a loss.

As only one type of encoder can be wired into a given connector, at most one of the bits for that connector

should be set to 1.

Encoder-loss faults are reported back to the Turbo PMAC over the MACRO ring as “amplifier fault”

conditions. The Turbo PMAC motor controlling this Geo MACRO motor must be set to react to

amplifier fault conditions (bit 20 of Ixx24 must be set to the default of 0) in order for Turbo PMAC to

react to these encoder-loss conditions. Bits 21 and 22 of Ixx24 on the Turbo PMAC will control the

effect on other motors of a detected encoder loss on this motor.

Examples:

• For no encoder-loss shutdown: MI107=0

• For Motor 1 shutdown on loss of digital quadrature on Encoder 1: MI107=1

• For Motor 1 shutdown on loss of analog sinusoid on Encoder 1: MI107=4

• For Motor 1 shutdown on loss of digital quadrature on Encoder 1 or Encoder 2 (dual feedback):

MI107=3.

MS{node},MI108 Motor 2 Encoder-Loss Mask

Range: $0 - $F

Units: none

Default: $0

MI108 specifies which encoder-loss condition(s) will cause a shutdown fault on the second motor of the

Geo MACRO drive. MI108 consists of 4 bits, each of which permits a shutdown fault on a specific

encoder-loss condition.

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Delta Tau GEO MACRO DRIVE User Manual Page 152