Delta Tau GEO PMAC User Manual Page 73
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Geo PMAC Drive User Manual
Setting Up Encoders 63
The wiring diagram on the right side of the
page shows an example of how to connect the
Geo drive to the Hall Sensors.
Function Pin #
U 8
V 21
W 9
T 22
5V 12,24
GND 13,25
2
3
4
5
14
15
16
17
1
6
7
18
19
8
9
20
21
10
11
22
23
12
13
24
25
Hall Sensors
U
V
W
T
5V
GND
Shield
X1/X2
Note:
In the case of magnetic hall sensors, the feedback signals often come back to the
controller in the same cable as the motor power leads. In this case, the possibility
of a short to motor power must be considered; safety considerations and industrial
design codes may make it impermissible to connect the signals directly to the Geo
PMAC TTL inputs without isolation.
If used for servo position and velocity feedback, the three hall sensors are connected to the A, B, and C
encoder inputs, so that the signal edges can be counted. As with quadrature encoders, these inputs can be
single-ended or differential. They are not optically isolated inputs; if isolation is desired from the sensor,
this must be done externally. There may be applications in which the signals are connected both to U, V,
and W inputs (for power-on commutation position) and to A, B, and C inputs (for servo feedback).
Using Hall Effect Sensors for Phase Reference
There are usually four things to be considered about the alignment of the Hall Effect Sensors in order to
properly set up Hall Effect phasing within the Geo Drive.
• Commutation Phase angle –based on Ix72
• Hall Effect Transition Points
• Hall Effect Zero position with respect to PMAC’s electrical zero
• Polarity of the Hall Effects – standard or reversed
Determining the Commutation Phase Angle
The commutation phase angle most likely has been set up already and it can be checked by querying the
value of Ix72. For details on how this is determined, see the PMAC2 User’s Manual under Commutation
Phase angle for either Sinusoidal Commutation or Direct PWM Commutation.
Ix72=85 Ix72=171
Commutation Phase Angle
120 degrees
240 degrees
- ^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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