Delta Tau GEO MACRO DRIVE User Manual Page 92
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- Table of contents
- TROUBLESHOOTING
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Geo MACRO Drive User Manual
80 Setting Up Turbo Motor Operation
• Ixx66 = 16384 ; Geo MACRO PWM scale factor
• Ixx82 = node address = base node address + 2 (ADC B) – commutation current feedback
I182 $078422 MACRO IC 0 Node 0 Reg. 2 I1782 $07A422 MACRO IC 2 Node 0 Reg. 2
I282 $078426 MACRO IC 0 Node 1 Reg. 2 I1882 $07A426 MACRO IC 2 Node 1 Reg. 2
I382 $07842A MACRO IC 0 Node 4 Reg. 2 I1982 $07A42A MACRO IC 2 Node 4 Reg. 2
I482 $07842E MACRO IC 0 Node 5 Reg. 2 I2082 $07A42E MACRO IC 2 Node 5 Reg. 2
I582 $078432 MACRO IC 0 Node 8 Reg. 2 I2182 $07A432 MACRO IC 2 Node 8 Reg. 2
I682 $078436 MACRO IC 0 Node 9 Reg. 2 I2282 $07A436 MACRO IC 2 Node 9 Reg. 2
I782 $07843A MACRO IC 0 Node 12 Reg. 2 I2382 $07A43A MACRO IC 2 Node 12 Reg. 2
I882 $07843E MACRO IC 0 Node 13 Reg. 2 I2482 $07A43E MACRO IC 2 Node 13 Reg. 2
I982 $079422 MACRO IC 1 Node 0 Reg. 2 I2582 $07B422 MACRO IC 3 Node 0 Reg. 2
I1082 $079426 MACRO IC 1 Node 1 Reg. 2 I2682 $07B426 MACRO IC 3 Node 1 Reg. 2
I1182 $07942A MACRO IC 1 Node 4 Reg. 2 I2782 $07B42A MACRO IC 3 Node 4 Reg. 2
I1282 $07942E MACRO IC 1 Node 5 Reg. 2 I2882 $07B42E MACRO IC 3 Node 5 Reg. 2
I1382 $079432 MACRO IC 1 Node 8 Reg. 2 I2982 $07B432 MACRO IC 3 Node 8 Reg. 2
I1482 $079436 MACRO IC 1 Node 9 Reg. 2 I3082 $07B436 MACRO IC 3 Node 9 Reg. 2
I1582 $07943A MACRO IC 1 Node 12 Reg. 2 I3182 $07B43A MACRO IC 3 Node 12 Reg. 2
I1682 $07943E MACRO IC 1 Node 13 Reg. 2 I3282 $07B43E MACRO IC 3 Node 13 Reg. 2
• Ixx83 = node address = base node address +0 – commutation position feedback address
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
• Ixx84 = $fff000 - mask word
Turbo PMAC Basic Setup for DC Brush Motors
Special settings are needed to use the direct-PWM algorithms for DC brush motors. The basic idea is to
trick the commutation algorithm into thinking that the commutation angle is always stuck at 0 degrees, so
current into the A phase is always quadrature (torque-producing) current. These instructions assume:
• The brush motor’s rotor field comes from permanent magnets or a wound field excited by a separate
means; the field is not controlled by one of the phases of this channel.
- 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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