Delta Tau GEO PMAC User Manual Page 12
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- TROUBLESHOOTING
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Geo PMAC Drive User Manual
2 Introduction
loop operation. Interface to the direct-PWM amplifier is through a standard 36-pin Mini-D style
cable. The drive performs no control functions but has protection features. Drive installation,
maintenance, and replacement are simplified because there is less wiring (position feedback and I/O
are not connected to the drive) and there are no variables to set or programs to install in the drive.
• Fully centralized control means that all gains and settings are made in the PMAC; no software
setup of drive is required
• No position feedback or axis flags required at the drive
Geo PMAC Drives
The Geo PMAC Drive is a standalone-capable integrated controller/amplifier with a built-in full
PMAC2 controller having stored-program capability. It can be operated standalone, or commanded
from a host computer through USB2.0 or 100 Mbps Ethernet ports. The controller has the full
software capabilities of a PMAC (see descriptions), with an internal fully-digital connection to the
advanced Geo power-stage , providing a convenient, compact, and cost-effective installation for one
and two-axis systems, with easy synchronization to other drives and controls.
• Choices for main feedback for each axis: A/B quadrature encoder, sinusoidal encoder with
EnDat
TM
or Hiperface
TM
, SSI encoder, resolver
• Secondary A/B quadrature encoder for each axis
• General-purpose isolated digital I/O: 8 in, 6 out at 24VDC
• 2 optional A/D converters 12- or 16-bit resolution
Motion Controller Standard Features:
• Motorola DSP 56k digital signal processor
• PMAC2 CPU
• Fully Configurable via USB2.0 and Ethernet TCP/IP
• Operation from a PC via setup software
• Stand-alone operation
• Linear and circular interpolation
• 256 motion programs capacity
• 64 asynchronous PLC program capability
• Rotating buffer for large programs
• 36-bit position range (± 64 billion counts)
• Adjustable S-curve acceleration and deceleration
• Cubic trajectory calculations, splines
• Set and change parameters in real time
• Torque, Velocity and Position control standard
• Full rated temperature cooling standard (no need for additional fans except small power models)
• Eight inputs @12-24V, fully-protected and isolated with separate commons for two banks of four.
• Six thermal-fuse protected outputs rated for 0.5A @, 24VDC each. (Flexible outputs allow for sinking
or sourcing of current depending on whether the common emitter or common collector is used.)
• On single axis drives: One primary encoder with TTL differential/single-ended inputs with A, B
quadrature channels and C index channel, 10 MHz cycle rate, or SSI feedback and Hall-effect inputs.
Plus one secondary encoder with TTL differential/single-ended input with A, B quadrature feedback
- ^2 Geo PMAC Drive 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 3
- WARNING: 4
- REVISION HISTORY 5
- .......61 8
- INTRODUCTION 11
- Geo PMAC Drives 12
- Feedback Devices 13
- Compatible Motors 13
- Motor Poles 14
- Introduction 5 15
- 6 Introduction 16
- SPECIFICATIONS 17
- Geo PMAC Feedback Options 18
- Package Types 18
- Electrical Specifications 19
- 480VAC Input Drives 21
- Environmental Specifications 23
- 14 Specifications 24
- RECEIVING AND UNPACKING 25
- 16 Receiving and Unpacking 26
- MOUNTING 27
- Geo PMAC 28
- Low Profile, Dual Axis 28
- GIL012XX, GIH012XX 28
- Single Width 29
- GIH102, GIL152 & GIH152 30
- Double wide with 2 Fans 30
- CONNECTIONS 31
- Use of GFI Breakers 32
- Noise Problems 32
- Operating Temperature 32
- Single Phase Operation 32
- Wiring AC Input, J1 33
- Wiring Earth-Ground 33
- Wiring the Motors 34
- Wiring the Motor Thermostats 35
- Shunt Regulation 37
- Minimum Resistance Value 37
- Maximum Resistance Value 37
- Energy Transfer Equations 37
- 28 System Wiring 38
- System Wiring 29 39
- Bonding 40
- Filtering 40
- Motor Line Filtering 41
- I/O Filtering 41
- System Wiring 42
- CONNECTORS 43
- X2: Encoder Input 2 44
- 6 5 123479 8 45
- 12 11 1 0 45
- Connectors 46
- Connectors 37 47
- TB-4: 016-P L0F04-38P 48
- X8: S. Encoder 1 49
- X9: S. Encoder 2 51
- X10: Discrete I/O 52
- Connectors 43 53
- SETTING UP THE ENCODERS 56
- Setting up SSI Encoders 57
- Software Setup 58
- SSI Clock Frequency 58
- Expected Data Format 58
- Word Length 58
- Direct Memory Write Example 59
- Setting Up Encoders 60
- Commutation Example 1 61
- Commutation Example 2 61
- Encoder Connections 62
- Hardware Setup 62
- Principle of Operation 64
- Setting Up Encoders 55 65
- Setting up EnDat Interface 66
- Setting up Resolvers 69
- Range: 0 – 255 71
- Signal Format 72
- Hall Sensors 73
- Hall Sensors at 0 75
- Using the Test Results 80
- 72 Setting up Encoders 82
- Encoder Loss Setup 83
- Application Safe 84
- ; is a fault 85
- Key Servo IC Variables 86
- Key Motor Variables 86
- DC BRUSH MOTOR DRIVE SETUP 88
- Hardware Connection 89
- SETTING I 90
- T PROTECTION 90
- Setting I 91
- T Protection 81 91
- TROUBLESHOOTING 95
- Status LEDs 96
- APPENDIX A 97
- CONKIT1A 98
- CONKIT1C 99
- CONKIT2A 99
- CONKIT2C 99
- CONKIT4A 99
- Cable Drawings 100
- Geo PMAC Drive User Manual 101
- Appendix A 91 101
- Geo PMAC Drive User Manual 102
- 92 Appendix A 102
- Appendix A 93 103
- 94 Appendix A 104
- Appendix A 95 105
- √ √ √ 106
- √ √ 106
- √ √ 106
- Appendix A 97 107
- 98 Appendix A 108
- APPENDIX B 109
- LIMITS n 110
- APPENDIX C 111
- 102 Appendix C 112
- Appendix C 103 113
- 104 Appendix C 114
- Appendix C 105 115
- 106 Appendix C 116
- MEMORY AND I/O MAP ADDENDUM 117
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