Delta Tau Geo MACRO User Manual And Reference Manual
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Delta Tau Geo MACRO User Manual And Reference Manual

Direct pwm amplifier over macro
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USER MANUAL & REFERENCE
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Single Source Machine Control
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com
Geo MACRO Drive
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Direct PWM Amplifier over MACRO
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500-603701-xUxx
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April 27, 2010
Power // Flexibility // Ease of Use

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  • Page 1 USER MANUAL & REFERENCE Geo MACRO Drive Direct PWM Amplifier over MACRO 500-603701-xUxx April 27, 2010 Single Source Machine Control Power // Flexibility // Ease of Use 21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com...

  • Page 3: Operating Conditions

    © 2010 Delta Tau Data Systems, Inc. All rights reserved. This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in this manual may be updated from time-to-time due to product improvements, etc., and may not conform in...
  • Page 4 After removing the power source from the equipment, wait at least 10 minutes before touching or disconnecting sections of the equipment that normally carry electrical charges (e.g., capacitors, contacts, screw connections). To be safe, measure the electrical contact points with a meter before touching the equipment.
  • Page 5 REVISION HISTORY REV. DESCRIPTION DATE APPVD UPDATED ENDAT SETUP INFO, P. 82 07/18/06 P.SHANTZ UPDATED ERROR CODE EF GATE DRIVE INFO 09/21/06 P.SHANTZ CORRECTED GP OUT INPUT FUNCTIONS, P. 39 06/11/08 K.ZHAO CORRECTED RESET COMMAND, P. 138 10/30/08 S. MILICI CORRECTED M-VARIABLE DEFINITIONS, P.

  • Page 7: Table Of Contents

    Geo MACRO Drive User and Reference Manual Table of Contents Copyright Information..............................i Operating Conditions ..............................i Safety Instructions..............................i INTRODUCTION ...............................1 User Interface ................................1 Geo MACRO Drives .............................1 Geo PMAC Drives ..............................2 Geo Direct-PWM Drives............................2 MACRO Defined ..............................2 Feedback Devices..............................3 Compatible Motors..............................3 Maximum Speed..............................3...
  • Page 8 Fiber Optic MACRO connections (X5).......................41 RJ-45 Copper MACRO connections (X10 &X11)....................41 Connecting optional Analog Inputs (X6 & X7) ......................42 SOFTWARE SETUP FOR GEO MACRO DRIVES.....................43 Introduction ................................43 Establishing MACRO Communications with Turbo PMAC ..................43 MACRO Ring Frequency Control Variables ......................43 I7: Phase Cycle Extension ..........................43...
  • Page 9 Geo MACRO Drive User and Reference Manual SETTING UP TURBO MOTOR OPERATION ....................79 Turbo PMAC Basic Setup for Brushless Servo or Induction Motor ...............79 Turbo PMAC Basic Setup for DC Brush Motors ....................80 Instructions for Direct-PWM Control of Brush Motors ..................85 PWM/ADC Phase Match ............................85...
  • Page 10 GEO MACRO DRIVE MI-VARIABLE REFERENCE..................133 Global MI-Variables .............................133 MS{node},MI0 Geo MACRO drive Firmware Version (Read Only)............133 MS{node},MI1 Geo MACRO drive Firmware Date (Read Only) ..............133 MS{node},MI2 and MI3 (Reserved for future use)..................133 MS{node},MI4 Geo MACRO drive Status Word (Read Only) ..............134 MS{node},MI5 Ring Error Counter ......................134...
  • Page 11 X3: Discrete I/O...............................180 X6 and X7: Analog Inputs..........................182 X8 and X9 Secondary Encoders (3 and 4) ......................183 APPENDIX C................................184 Communication to the Geo MACRO via the USB Port ..................184 APPENDIX D................................186 MACRO Flag Transfer Location...........................186 Turbo PMAC2 Node Addresses..........................187 Table of Contents...
  • Page 12 Geo MACRO Drive User Manual ADC Register Table ..............................189 Stepping through an Electrical Cycle ........................190 Manually Stepping through an Electrical Cycle at 30 degree increments............190 Example 1 of Hall Effect Values ........................191 Example 2 of Hall Effect Values ........................192 USEFUL NOTES..............................193...

  • Page 13: Introduction

    The Geo Drive family is available in different versions distinguished by their user interface styles. Geo MACRO Drives The Geo MACRO Drive interfaces to the controller through the 125 Mbit/sec MACRO ring, with either a fiber-optic or Ethernet electrical medium, accepting numerical command values for direct PWM voltages and returning numerical feedback values for phase current, motor position, and status.

  • Page 14: Geo Pmac Drives

    Geo MACRO Drive User Manual 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...

  • Page 15: Feedback Devices

    More feedback data or resolution provides the opportunity to have higher gains in a servo system. Geo MACRO drives have standard secondary quadrature encoder feedback. One secondary encoder (X8) for one axis drive and two secondary encoders (X8 and X9) for dual axis drives (603542 rev-10A and above).

  • Page 16: Motor Poles

    Geo MACRO Drive User Manual servo control. Most applications have a duty cycle in which the acceleration profile occurs repetitively over time. Calculating the average value of this profile gives the continuous rating required by the amplifier. Applications also concern themselves with the ability to achieve a speed. The requirements can be reviewed by either defining what the input voltage is to the drive, or defining what the voltage requirements are at the motor.

  • Page 17: Motor Torque Constant

    Geo MACRO Drive User and Reference Manual ratings for servomotors are in the area of 8 to 200 volts-per-thousand rpm. The Geo drive product series can drive any range of back EMF motor, but the back EMF is highly related to the other parameters of the motor such as the motor inductance and the motor Kt.
  • Page 18 Geo MACRO Drive User Manual Introduction...

  • Page 19: Specifications

    Geo MACRO Drive User and Reference Manual SPECIFICATIONS Part Number Geo MACRO Drive Model Number Definition L 03 1 Feedback Options 0 = No options, Default; Standard feedback Voltage Rating (Direct Mains ) per axis is quadrature differential L = 110 - 240 VAC...

  • Page 20: Geo Macro Feedback Options

    Geo MACRO Drive User Manual Geo MACRO Feedback Options Model Default Configuration: Analog (Sin/Cos) Encoders: Absolute Encoder Addition of two Quadrature Encoders x4096 Interpolator Interfaces: channels of 16-bit Or SSI Absolute Encoders Resolver to Digital EnDat A/D converters with And Hall Effect inputs...

  • Page 21: Electrical Specifications

    Geo MACRO Drive User and Reference Manual Electrical Specifications 230VAC Input Drives GxL051 GxL101 GxL151 GxL201 GxL301 Nominal Input Voltage (VAC) Rated Input Voltage (VAC) 97-265 Rated Continuous Input Current (A 13.2 19.8 Main Rated Input Power (Watts) 1315 2629...
  • Page 22 Geo MACRO Drive User Manual GxL012 GxL032 GxL052 GxL102 GxL152 Output Circuits (axes) Nominal Input Voltage (VAC) Rated Input Voltage (VAC) 97-265 Rated Continuous Input Current (A 1.98 3.96 13.2 19.8 Main Rated Input Power (Watts) 1578 2629 5259 7888...

  • Page 23: 480Vac Input Drives

    Geo MACRO Drive User and Reference Manual 480VAC Input Drives GxH051 GxH101 GxH151 GxH201 GxH301 Output Circuits (axes) Nominal Input Voltage (VAC) Rated Input Voltage (VAC) 300-525 Rated Continuous Input Current (A 13.2 19.8 Main Rated Input Power (Watts) 2744...
  • Page 24 Geo MACRO Drive User Manual GxH012 GxH032 GxH052 GxH102 GxH152 Output Circuits (axes) Nominal Input Voltage (VAC) Rated Input Voltage (VAC) 300-525 Rated Continuous Input Current (A 1.98 3.96 13.2 19.8 Main Input Rated Input Power (Watts) 1646 3292 5487...

  • Page 25: Environmental Specifications

    Geo MACRO Drive User and Reference Manual Environmental Specifications Description Unit Specifications Operating Temperature °C +0 to 45°C. Above 45°C, derate the continuous peak output current by 2.5% per °C above 45°C. Maximum Ambient is 55°C Rated Storage Temperature °C...
  • Page 26 Geo MACRO Drive User Manual Specifications...

  • Page 27: Receiving And Unpacking

    The Geo Drives may be operated only in a closed switchgear cabinet, taking into account the ambient conditions defined in the environmental specifications. Delta Tau guarantees the conformance of the Geo Drives with the standards for industrial areas stated in this manual, only if Delta Tau components (cables, controllers, etc.) are used.
  • Page 28 Geo MACRO Drive User Manual Receiving and Unpacking...

  • Page 29: Mounting

    Geo MACRO Drive User and Reference Manual MOUNTING The location of the controller is important. Installation should be in an area that is protected from direct sunlight, corrosives, harmful gases or liquids, dust, metallic particles, and other contaminants. Exposure to these can reduce the operating life and degrade the performance of the controller.

  • Page 30: Low Profile

    Geo MACRO Drive User Manual Low Profile Gxx012xx Width Height Depth Weight Mounting dimensions 3.30in./ 84mm 11.00in./ 280mm 5.79in./ 147.1mm 4.3lbs/ 1.95kgs MACRO Version, No Heatsink, No Fan (2.70) (5.79) (3.30) Mounting...

  • Page 31: Single Width

    Geo MACRO Drive User and Reference Manual Single Width Gxx051xx, Gxx101xx, Gxx151xx, Gxx032xx, Gxx052xx and GxL102xx Width Height Depth Weight Mounting dimensions 3.30in./ 84mm 11.00in./ 280mm 8.00in./ 203mm 5.5lbs/ 2.5kgs Mounting...

  • Page 32: Double Width

    Geo MACRO Drive User Manual Double Width Gxx201xx, Gxx301xx, GxH102xx and Gxx152xx Width Height Depth Weight Mounting dimensions 6.50in./ 165mm 11.00in./ 280mm 8.00in./ 203mm Call the factory Mounting...

  • Page 33: Connections

    Geo MACRO Drive User and Reference Manual CONNECTIONS System (Power) Wiring GARxx EARTH SHUNT BLOCK RESISTOR Motor 2 MAIN POWER W V U W V U MOTOR 2 MOTOR 1 Motor 1 SHUNT EARTH FRAME MACRO Encoders xt t LOGIC...
  • Page 34 Geo MACRO Drive User Manual installation practices must be followed. The use of inductor chokes in the output of the drive will help keep these leakage currents below breaker threshold levels. Transformer and Filter Sizing Incoming power design considerations for use with Geo Drives require some over rating. In general, it is recommended that all 3-phase systems using transformers and incoming filter chokes be allotted a 25% over size to keep the impedances of these inserted devices from affecting stated system performance.

  • Page 35: Wiring Ac Input, J1

    The AC connections from the fuse block to the Geo drive are made via a cable that is either purchased as an option from Delta Tau (CABKITxx) or made with the appropriate connector kit (CONKITxx). (Appendix A)

  • Page 36: Wiring 24 V Logic Control, J4

    The cable wiring must be shielded and have a separate conductor connecting the motor frame back to the drive amplifier. The cables are available in cable kits (CABKITxx) from Delta Tau. (See Appendix A.) Motor phases are conversed in one of three conventions. Motor manufacturers will call the motor phases A, B, or C.

  • Page 37: Wiring The Motor Thermostats

    Geo product series is designed for operation with external shunt resistors of 48 Ω for the 10 and 15 amp versions or 78 Ω for the 1.5, 3, and 5 amp versions. These are available directly from Delta Tau as GAR48 and GAR78, respectively.

  • Page 38: J5: External Shunt Connector Pinout

    Geo MACRO Drive User Manual Caution: The black wires are for the thermostat and the white wires are for the regen resistor on the external regen resistor (pictured below). These resistors can reach temperatures of up to 200 degrees C. These resistors must be mounted away from other devices and near the top of the cabinet.

  • Page 39: Shunt Regulation

    Geo MACRO Drive User and Reference Manual Shunt Regulation When the motor is used to slow the moving load, this is called regenerative deceleration. Under this operation, the motor is acting as a generator consuming energy from the load while passing the energy into the DC Bus storage capacitors.
  • Page 40 Geo MACRO Drive User Manual where: is the kinetic energy in joules (J) m is the mass in kilograms (kg) v is the linear velocity of the mass in meters/second (m/s) Here also, to get energy in Joules from English mechanical units, additional conversion factors are required.

  • Page 41: Bonding

    Geo MACRO Drive User and Reference Manual is the lost energy in joules (J) is the current required for the deceleration in amperes (A), equal to the required deceleration torque divided by the motor’s (rms) torque constant K is the phase-to-phase resistance of the motor, in ohms (Ω)

  • Page 42: Filtering

    Geo MACRO Drive User Manual panel. Power input wiring does not require shielding (screening) if the power is fed to the enclosure via metal conduit. If metal conduit is not used in the system, shielded cable is required on the power input wires along with proper bonding techniques.

  • Page 43: Input Power Filtering

    Geo MACRO Drive User and Reference Manual Input Power Filtering Caution: To avoid electric shock, do not touch filters for at least 10 seconds after removing the power supply. The Geo Drive electronic system components require EMI filtering in the input power leads to meet the conducted emission requirements for the industrial environment.

  • Page 44: Connecting Main Feedback Sensors (X1 & X2)

    Geo MACRO Drive User Manual Connecting Main Feedback Sensors (X1 & X2) X1 is for motor #1 and X2 for motor #2. Digital Quadrature Encoders Quadrature encoders provide two digital signals that are a function of the position of the encoder, each nominally with 50% duty cycle, and nominally one-quarter cycle apart.

  • Page 45: Digital Hall Commutation Sensors

    Geo MACRO Drive User and Reference Manual Digital Hall Commutation Sensors Many motor manufactures now give the consumer the option of placing both Hall effect sensors and quadrature encoders on the end shaft of brushless motors. This will allow the controller to estimate the rotor magnetic field orientation and adjusts the command among the motor phases properly without rotating the motor at power-up.

  • Page 46: Sinusoidal Encoders

    Geo MACRO Drive User Manual Sinusoidal Encoders The Geo Drive with the Interpolator option accepts inputs from two sinusoidal or quasi-sinusoidal encoders and provides encoder position data to the motion processor. This interpolator creates 4,096 steps per sine-wave cycle. User needs to order the option.

  • Page 47: Hiperface® Interface

    Geo MACRO Drive User and Reference Manual Hiperface® Interface The Geo Drive will read the absolute data from the Hiperface® interface only if the appropriate option is ordered. (Not yet released firmware). Hardware Setup Hiperface® Interface X1/X2 The differential format provides a means of using...

  • Page 48: Endat Interface

    Geo MACRO Drive User Manual EnDat Interface The Geo Drive will read the absolute data from the EnDat (Encoder Data) interface only if the appropriate option is ordered. (Not yet released firmware) Hardware Setup EnDat Interface X1/X2 The differential format provides a means of...

  • Page 49: Resolvers

    Geo MACRO Drive User and Reference Manual Resolvers The Geo Drive can interface to most industry standard resolvers if the appropriate option is ordered. Typical resolvers requiring 5 to 10 kHz excitation frequencies with voltages ranging from 5 to 10V peak- to-peak are compatible with this drive.

  • Page 50: Connecting Secondary Quad. Encoders (X8 & X9)

    Geo MACRO Drive User Manual Connecting Secondary Quad. Encoders (X8 & X9) Secondary encoders in the Geo MACRO Amplifier are standard since logic board revision -10A and above, and are found on Db-connectors X8 and X9. They must be Quadrature TTL encoders.

  • Page 51: Connecting General Purpose I/O & Flags (X3)

    Geo MACRO Drive User and Reference Manual Connecting General Purpose I/O & Flags (X3) X3 provides the connector for general purpose I/O (12-24VDC) and the input flags for each axis (Positive Limit, Negative Limit, Home Switch and USER flag input). The outputs are rated for 0.5A and have to be set up all sinking or all sourcing, no mixing topologies.

  • Page 52: Sample Wiring The Flags

    Geo MACRO Drive User Manual Sinking Inputs and Sinking Outputs Function Pin # Geo MACRO GP_OUT 1 COL Sinking Inputs GP_OUT 2 COL Sinking Outputs GP_OUT 3 COL 24V Supply GP_OUT 4 COL 24V 0V COM EMT GP IN 1...

  • Page 53: Connecting Macro Ring

    Geo MACRO Drive User and Reference Manual Connecting MACRO Ring Fiber Optic MACRO connections (X5) Geo MACRO Output Input Previous MACRO (X5) Input Output Next RJ-45 Copper MACRO connections (X10 &X11) Geo MACRO Input RJ45 Output Next (X11) RJ45 Output...

  • Page 54: Connecting Optional Analog Inputs (X6 & X7)

    The MACRO Geo Drive can be ordered with two analog to digital converters (option 3/4/5). These A/D converters are 16-bit devices that are ready to be used without any software setup. Delta Tau uses the Burr Brown ADS8343 for this circuit.

  • Page 55: Software Setup For Geo Macro Drives

    MACRO interface, to command devices over the MACRO ring. It is advisable to the user to use the Turbo Setup program to set up his Geo MACRO application(MACRO communications, feedback setup, commutation, and motor setup), or to use the MACRO Ring ASCII setup tool which comes with the PEWIN32PRO2 and sets up the MACRO communications, and displays to the user some useful information about his system.

  • Page 56: I6840: Macro Ic 0 Master Configuration

    I/O, or auxiliary communications, should have its node activation bit set to 1. When working with a Delta Tau MACRO Station, Node 15 of each MACRO IC on a Turbo PMAC2 must be activated to permit auxiliary communications, so bit 15 of this variable should always be set to 1 if the IC is used to communicate with a MACRO Station.

  • Page 57: I70/I72/I74/I76: Macro Ic 0/1/2/3 Node Auxiliary Function Enable

    Geo MACRO Drive User and Reference Manual Bits 20-23: Master Number. These four bits together form the master number (0 to 15) of the MACRO IC on the MACRO ring. Each MACRO IC acting as a master on the ring, whether on the same card or different cards, must have its own master number, and acts as a separate master station for the purposes of the ring protocol.

  • Page 58: I71/I73/I75/I77: Macro Ic 0/1/2/3 Node Protocol Type Control

    Geo MACRO Drive User Manual I76=$3333 ; Enabled for MACRO IC 3, Nodes 0,1,4,5,8,9,12,13 I71/I73/I75/I77: MACRO IC 0/1/2/3 Node Protocol Type Control I71, I73, I75, and I77 are 16-bit I-variables (bits 0 - 15) in which each bit controls whether PMAC uses...

  • Page 59: Macro Node Addresses

    Geo MACRO Drive User and Reference Manual been detected in this interval, Turbo PMAC will assume a major ring problem, and all motors will be shut down. Turbo PMAC will set the global status bit “Ring Error” (bit 4 of X:$000006) as an indication of this error.
  • Page 60 Geo MACRO Drive User Manual Register Addresses for MACRO IC 0 with I20=$078400 (default) Turbo PMAC2 Addresses: MACRO IC 0 Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3 Y:$078420 Y:$078421 Y:$078422 Y:$078423 Y:$078424 Y:$078425 Y:$078426 Y:$078427 X:$078420 X:$078421...
  • Page 61 Geo MACRO Drive User and Reference Manual Register Addresses for MACRO IC 2 with I22=$07A400 (default) Turbo PMAC2 Addresses: MACRO IC 2 Node # Reg. 0 Reg. 1 Reg. 2 Reg. 3 Y:$07A420 Y:$07A421 Y:$07A422 Y:$07A423 Y:$07A424 Y:$07A425 Y:$07A426 Y:$07A427...
  • Page 62 Geo MACRO Drive User Manual Note: With the MACRO station, only nodes that map into Turbo PMAC2 Y registers (0, 1, 4, 5, 8, 9, 12, and 13) can be used for servo control. These nodes are unshaded in the above table. The nodes that map into X registers (2, 3, 6, 7, 10, 11, and 14) can be used for I/O control.

  • Page 63: Using The Turbo Pmac Setup Program

    Setup shortcut on the desktop. So as to use the Geo MACRO drive: Turbo Ultralite, UMAC MACRO or QMAC with MACRO option needs to be used, and if they do then at the first pop up window, user needs to click Yes. If your system doesn’t use any of the above Controllers then Turbo Setup cannot be used, click No...
  • Page 64 Geo MACRO Drive User Manual Then the first step is to select the kind of communications you have established with your PMAC device that would be used as your Controller. • UMAC and QMAC controllers can communicate to the PC via Serial Port, USB and Ethernet •...
  • Page 65 (appropriate to your system) click the Next button. A pop up window will show asking you if your Geo MACRO drive is a 16-axis MACRO station. Geo MACRO drives are neither 16-axis nor 8-axis MACRO stations. Geo MACRO drives use special MACRO CPU.
  • Page 66 Geo MACRO Drive User Manual The next window that will appear is to set up your PWM frequency. After you select the dominant PWM frequency, click on Next. A new setup screen will appear to Assign your MACRO Master number to the MACRO IC’s. For most of the systems default values are good.
  • Page 67 The following screen of the Setup program selects which method to use to bind the MACRO stations to the MACRO controller. Geo MACRO drives are using the Ring Order Method. After clicking the Next button the program will use some time for its calculations.
  • Page 68 After setting the correct value to the MI996, click the Next button to move on. The Setup software will come up with a new pop-up window asking if it is a Geo MACRO drive. You should reply by clicking the Yes button.
  • Page 69 Geo MACRO Drive User and Reference Manual All the screens following are the Steps to setup your motors, so check the boxes and enter the correct data to the questions, to setup, phase and tune your motors. There are 23 steps.

  • Page 70: Using The Pewin32Pro 2 Macro Ring Ascii Feature

    Geo MACRO Drive User Manual Using the PEWIN32PRO 2 MACRO Ring ASCII Feature With the new PEWIN32PRO Suite2 a new configuration application has been added to initiate the MACRO Ring ASCII communication between the Ring Controller and other Slave stations and/or secondary Masters/Slaves.
  • Page 71 Geo MACRO Drive User and Reference Manual connected and powered up. Then if it is the first time he tries to setup his system, its advisable to click on the Setup Ring Controller and Click Yes on the pop-up window to do a global re-initialization of the Turbo PMAC controller.
  • Page 72 Geo MACRO Drive User Manual The user has to first setup his Ring Controller and save any changes and then Setup each of his MACRO stations. So select at the Stations Detected window the Ring Controller. The Application automatically gives the user a Description of his Motion Controller Card. The window below the description, are the online commands that the Application send to the controller.
  • Page 73 Geo MACRO Drive User and Reference Manual First the user needs to select which MACRO station to start with. Set the MI-variables (MI : MACRO Station I-variables), and enable the nodes with MI996. Note MI996 and I6841 need to comply Then the user should click on the Save Changes button.

  • Page 74: Pewin32Pro Suite 2 Macro Status Window

    So as to open it, the user needs to select the View Menu from the Menu Bar and click on the MACRO Status. A new window will open showing the Status at the Geo MACRO Station, which is the same with MS<node>,MI4...

  • Page 75: Ring Order Communications Method

    The Ring Order Method has been developed to allow MACRO Devices to be set up with software. Since the Geo MACRO drive has no hardware switches (SW1 and SW2) to activate nodes and assign it to a master, the ring order method is necessary. The Turbo Setup program can do this automatically for you;...

  • Page 76: Macro Ascii Communications

    MI11 set to zero. MACRO ASCII Communication global commands 1. VID Vendor ID (Delta Tau = 1, Range=1- 65535) 2. CID Vendor Card ID, Part Number, (Range=1- 4,294,967,295) 32 bit unsigned. Delta Tau: Turbo PMAC2 VME...
  • Page 77 Geo MACRO Drive User and Reference Manual Delta Tau: Turbo PMAC2 Ultralite = 603182 (MACRO Master) Delta Tau: UMAC Turbo = 603382 (MACRO Master) Delta Tau: UMAC MACRO 8 = 602804 (MACRO Slave) Delta Tau: UMAC MACRO 16 = 603719...
  • Page 78 Geo MACRO Drive User Manual Software Setup...

  • Page 79: Setting Up Primary Feedback

    Geo drives, and QMAC control boxes. User needs to set up his MS<node>, MI101 equal to 0 for channel #1 of his Geo MACRO drive for normal quadrature encoder with 5-bit shifting (1/T). If the user doesn’t want to use the 1/T shifting then he needs to set MS<node>, MI101 equal to 1.
  • Page 80 Geo MACRO Drive User Manual The user needs to set the control word MS<node>,MI930 (channel#1) and MS<node>,MI931 (channel#2) depending on the SSI encoder that the system uses, the control word specifies the mode that the data are coming back to the PMAC (binary or gray code) and the length of the word.

  • Page 81: Setting Up Sinusoidal Encoders

    This interpolator creates 4,096 steps per sine-wave cycle. The Geo MACRO drive so as to read the sinusoidal encoders needs the device control variable MS<node>, MI101 (for the first channel #1) or MS<node>, MI102 (for the second channel #2) equal to 6.
  • Page 82 Geo MACRO Drive User Manual 1/4096 of a line, so there are 4096 unique states per line, or 1024 states per hardware count. For historical reasons, PMAC expects the position it reads for its servo feedback software to have units of 1/32 of a count.
  • Page 83 Geo MACRO Drive User and Reference Manual The commutation uses the hardware counter. There are 8000 hardware counts per revolution, and two commutation cycles per revolution of the 4-pole motor. Therefore, Ixx70 will be set to 2, and Ixx71 will be set to 8000.

  • Page 84: Setting Up Endat

    Requires firmware version 1.009 or higher on the Geo MACRO. New variables: 1. MI111 and MI112 are the two new I variables that will be used on the Geo MACRO to setup the Endat power on position and phasing. These variables read the absolute position into MI920 for the respective node.

  • Page 85: Setting Up The Phase Shift (Mi941) Manually

    Geo MACRO Drive User and Reference Manual Phase Clock frequency of the PMAC set by I7m00 and I7m01. The user has the ability to select the excitation frequency to be equal with the Phase Clock frequency (default) by setting MS<node>,MI932 equal to 0.

  • Page 86: Scaling The Feedback Units

    R/D converter for absolute power on position, Ixx10 specifies the address of the register containing the position data from the Geo MACRO drive, which points to the ECT (See Appendix under Ixx95). And Ixx95 is set to $5B0000, Parallel X-register, unsigned value, 19 bits, Motor xx will do parallel data read of the Turbo PMAC memory at the address specified by Ixx10.

  • Page 87: Setting Up Secondary Encoders

    1 or 2 or any occupied by another motor node. For the Secondary encoders at the Geo MACRO drives the MI variables are a little different than the primary encoder channels. By setting MI910 equal to 0 (default) the encoder decode is x4 (cts.) or it can be set equal to 1 for an encoder decode x1 (cts.)
  • Page 88 Geo MACRO Drive User Manual Setting Up Secondary Encoders...

  • Page 89: Setting Up The Turbo Pmac Conversion Table

    This task is accomplished by conversion method “$2”: parallel read of a Y-register, no filtering. Typically, the data from the Geo MACRO drive has already been shifted the standard 5 bits, so the standard shifting in the ECT can be disabled by setting bit 19 of the first setup word (first I-variable of the entry) to 1.
  • Page 90 Geo MACRO Drive User Manual Setting Up Turbo PMAC Conversion Table...

  • Page 91: Setting Up Turbo Motor Operation

    Geo MACRO Drive User and Reference Manual SETTING UP TURBO MOTOR OPERATION Turbo PMAC Basic Setup for Brushless Servo or Induction Motor 1) Basic I-variable settings: • Ixx00 = 1 • Ixx01=3 ;setting for commutation across MACRO • Ixx02 = node address – base +0 – output address I102 $078420 MACRO IC 0 Node 0 Reg.

  • Page 92: Turbo Pmac Basic Setup For Dc Brush Motors

    Geo MACRO Drive User Manual • 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.
  • Page 93 Geo MACRO Drive User and Reference Manual • The two leads of the brush motor’s armature are connected to amplifier phases (half-bridges) that are driven by the A and C-phase PWM commands from Turbo PMAC. The amplifier may have an unused B-phase half-bridge, but this does not need to be present.
  • Page 94 This assumes that you are using the default 2.2kHz servo and 4.5 kHz PWM rate. Note that the max PWM rate for the Geo MACRO drive is 9 KHz. If you are using another PWM rate you will need to set the I68xx variables which deal with that.
  • Page 95 Geo MACRO Drive User and Reference Manual motor on the drive, and Mx54 in the watch window should be 1. If not, be sure that Ix00=0 for that motor and that there are no amp faults on the drive. If there is an amp fault then issue a “MS$$$n” for that drive where n is an active node on that drive.
  • Page 96 Geo MACRO Drive User Manual 5. The motor is now at electrical 0, so set Mx71=0 in order to force the phase position to zero. If you moved negative through the positions during this test them Ixx72 should be greater than 1024;...

  • Page 97: Instructions For Direct-Pwm Control Of Brush Motors

    Geo MACRO Drive User and Reference Manual Instructions for Direct-PWM Control of Brush Motors WARNING: Make sure before applying any PWM commands to the drive and motor in this fashion that the resulting current levels are within the continuous current rating of both drive and motor.

  • Page 98: Troubleshooting

    Geo MACRO Drive User Manual that these readings may appear noisy. Observe the base value underneath the noise.) If M105 is positive and M106 is negative, the sign of the PWM commands matches the sign of the ADC feedback values. In this case, the Turbo PMAC phase angle parameter I172 must be set to a value greater than 1024 (1365 for a 3-phase motor).

  • Page 99: Preparation

    Geo MACRO Drive User and Reference Manual • Determine proper current loop polarity • Confirm commutation cycle size • Determine proper commutation polarity Preparation First, define the M-Variables for the encoder counter; the three PWM output registers, the amplifier- enable output bit, and the two ADC input registers. Using the MACRO suggested definitions for Motor 1, utilizing MACRO IC 0, Node 0: M101->Y:$078420,0,24,S ;...

  • Page 100: Setting Up Hall Commutation Sensors

    Geo MACRO Drive User Manual usually by exchanging two of the motor phase leads at the drive. Note: Because I100 has been set to 0, and I103 may not yet have been set properly, any change of position will not be reflected in the motor position window.

  • Page 101: Using Hall Effect Sensors For Phase Reference

    Channel 1 U flag M127->X:$078420,3 M127->X:$003440,23 Channel 1 T flag M128->X:$078420,0,4 M128->X:$003440,20,4 Channel 1 TUVW as a 4-bit value M171->X:$00B4,0,24,S M171->X:$00B4,0,24,S Channel 1 Phase Position Register Note: Either addressing can be used with Geo MACRO drive. Setting Up Turbo Motor Operation...

  • Page 102: Calculating The Hall Effect Zero Point (Hez)

    M271->X:$0134,0,24,S Channel 2 Phase Position Register Note: Either addressing can be used with Geo MACRO drive. Make these definitions and add these variables to the Watch window (delete other variables that no longer need to be monitored). With the motor killed, move the motor slowly by hand to verify that the inputs that should change do change.
  • Page 103 Geo MACRO Drive User and Reference Manual Hall Sensors at 30 , 150 , and 270 P179=I179 P129=I129 ; store previous offsets before test #1o0 ; Open loop command of zero magnitude Six Step Method U (M126) V(M125) W(M124) I179=1500 I129=1500 ; -30 elec.

  • Page 104: Determining The Polarity Of The Hall Effects - Standard Or Reversed

    Geo MACRO Drive User Manual Offset = The offset computed here should be rounded to the nearest integer. In the example, this comes to: ∗ ∗ ≈ Offset Find the Hall Effect Zero and record it for use in setting up Ixx91.
  • Page 105 Bits 16-21 HEZ in Hexadecimal format, see section 5 above. Bits 0-15 Reserved Example: For a Geo MACRO drive on Axis 1 using Hall Effects with a HEZ of 60 e and reversed polarity the setting would be: ∗ ∗...
  • Page 106 Bits 16-21 HEZ in Hexadecimal format, see section 5 above. Bits 0-15 Reserved Example: For a Geo MACRO drive on Axis 1 using Hall Effects with a HEZ of 60 e and reversed polarity the setting would be: ∗ ∗...
  • Page 107 Geo MACRO Drive User and Reference Manual Ixx91=$CB0000 Hex ($) 23 22 21 20 17 16 14 13 12 10 9 Value Hall Effect Offset ($0B) Reserved Reversed Hall Sense (1) Hall Effect Type Phase (1) Setting Up Turbo Motor Operation...

  • Page 108: Setting I 2 T Protection

    Geo MACRO Drive User Manual Setting I T Protection It is important to set the I T protection for the amplifier/motor system for Turbo PMAC2 direct PWM commutation. Normally, an amplifier has internal I T protection because it is closing the current loop.

  • Page 109: Calculating Minimum Pwm Frequency

    Geo MACRO Drive User and Reference Manual Calculating Minimum PWM Frequency The minimum PWM frequency requirement for a system is based on the time constant of the motor. Calculate the minimum PWM frequency to determine if the amplifier will properly close the current loop.
  • Page 110 Geo MACRO Drive User Manual Setting Up Turbo Motor Operation...

  • Page 111: Setting Up Discrete Inputs And Outputs

    Inputs and Outputs For the I/O Geo MACRO drive, use the 24-bit node register of the activated node. Using the I/O is accomplished by writing to a node register to activate the desired outputs and reading the same node register to read the status of the inputs.

  • Page 112: Ring Break Output Indicator Ms{Node},Mi13

    Ring Break Output indicator MS{node},MI13 In case of a ring break error, MI13 controls the Geo MACRO output lines and only as a safety feature. Choose what the output state would be in a ring break situation, High (12-24V) or Low (GND) for each individual output, depending on sinking or sourcing setup.
  • Page 113 Geo MACRO Drive User and Reference Manual The following table lists the locations of the ADCs if using other node locations. User Node ADC0 (X6) ADC1(X7) X:$078421,8,16,S X:$078422,8,16,S X:$078425,8,16,S X:$078426,8,16,S X:$078429,8,16,S X:$07842A,8,16,S X:$07842D,8,16,S X:$07842E,8,16,S X:$078431,8,16,S X:$078432,8,16,S X:$078435,8,16,S X:$078436,8,16,S X:$079421,8,16,S X:$079422,8,16,S...

  • Page 114: Limit And Flag Circuit Wiring

    Geo MACRO Drive User Manual Limit and Flag Circuit Wiring The Geo PMAC allows the use of sinking or sourcing position limits and flags to the controller. The opto-isolator IC used is a PS2705-4NEC-ND quad phototransistor output type. This IC allows the current to flow from return to flag (sinking) or from flag to return (sourcing).

  • Page 115: Setting Up Position Compare (Equ) Outputs

    MS{node},MI926 Compare B Position Value MS{node},MI928 Compare-State Write Enable MS{node},MI929 Compare-Output Initial State For Geo MACRO drives, only MS{node},MI920 was set to point to the raw ENC 24-bit counter position register (sensor counts, version 1.005 and above). Setting up for a Single Pulse Output...

  • Page 116: Setting Up For Multiple Pulse Outputs

    Geo MACRO Drive User Manual MS0,MI926=1010 ; Set back end compare in B MS0,MI923=0 ; No auto-increment MS0,MI929=0 ; Prepare initial value of 0 MS0,MI928=1 ; Enable direct write (resets immediately to zero) {Command to start the move} Setting up for Multiple Pulse Outputs By using the auto-increment feature, it is possible to create multiple compare pulses with a single software setup operation.

  • Page 117: Connectors

    Geo MACRO Drive User and Reference Manual CONNECTORS Connector Pinouts X1: Encoder Input 1 The main encoder input channels for the Geo Drive, supports a variety of encoder feedback types. 5V supply to power the encoder is provided and also four digital Hall sensors (UVWT) for phasing.

  • Page 118: X2: Encoder Input 2

    Geo MACRO Drive User Manual X2: Encoder Input 2 The main encoder input channels for the Geo Drive, supports a variety of encoder feedback types. 5V supply to power the encoder is provided and also four digital Hall sensors (UVWT) for phasing.

  • Page 119: X3: General Purpose I/O

    Input User flag 2 The Geo MACRO Drive limit and flag circuits also give the flexibility to wire in standard 12V to 24V limits and flags or wire in 5V level limits and flags on a channel basis. The default is set for the standard 12V to 24V inputs but if the resistor pack is added to the circuit, the card can read 5V inputs.

  • Page 120: X4: Safety Relay (Optional)

    Geo MACRO Drive User Manual X4: Safety Relay (Optional) TB -4: 016-P L0F04-38P Pin # Symbol Function RELAY WA Safety Input 24V RELAY WB Safety Input Return RELAY COM Common RELAY N/O Relay Normally Open Part Type: MC 1, 5/4-ST-3, 81, PITCH 3.81MM PN: 1850686 If the Safety Relay option is installed, there is a dedicated Safety Input @24VDC (user supplied).

  • Page 121: X8: S. Encoder 1

    Geo MACRO Drive User and Reference Manual N.C. Not Connected ANALOG1- Input Command level +/-10v X8: S. Encoder 1 The Secondary Encoder channel #1 allows an external encoder to be fed back on the controller. A 5V supply is available for the encoder power at pin 4. The three differential signal channels are brought into the remaining pins as indicated.

  • Page 122: J1: Ac Input Connector Pinout

    This circuit will fire within 100 nsec of reaching the desired position. The position compare output port on the Geo MACRO drive has driver IC at component U1A and U1B. This IC gives a fast CMOS driver.

  • Page 123: Macro Link Connectors

    The input connector is tied to the MACRO output connector of the previous device on the link. The output connector connects to the input MACRO connector of the next device on the link. X5: MACRO I/O, MACRO Fiber Optic Transceiver (Optional) Order Geo MACRO drive GMxxxxFx (F stands for Fiber Optic Macro Link). GND_MAC FIBER...

  • Page 124: X12: Usb Universal Serial Bus Port

    Geo MACRO Drive User Manual X12: USB Universal Serial Bus Port Pin # Symbol Function N.C. DATA- DATA+ SHELL SHIELD SHELL SHIELD This connector is used only to change the operational firmware or to perform basic software diagnostic ® operations. The user can use a serial port terminal window such as Microsoft HyperTerminal to communicate with the MACRO Device.

  • Page 125: Troubleshooting

    Geo MACRO Drive User and Reference Manual TROUBLESHOOTING The Geo MACRO utilizes a scrolling single-digit 7-segment display. When control power is applied to the drive, the 7-segment display will have a blinking “.” (Period) ) (rate of 50% of the duty cycle) indicating that the software and hardware are running normally.

  • Page 126: Macro Network Errors

    Geo MACRO Drive User Manual Normally closed input on the front of the Geo drive amplifier connector X1. Motor over Temp is detected in open circuit. With firmware 1.006 Motor Over Temp - Axis 1 this function is not enabled default, to enable it user needs to set Warning MS{node}, MI100.

  • Page 127: Status Leds

    Geo MACRO Drive User and Reference Manual Status LEDs Function Color Description Enable Axis 1 Green/Red Green when first axis enabled. Red when drive is not enabled. (Unlit does not necessarily mean fault.) Enable Axis 2 Green/Red Green when second axis enabled.

  • Page 128: Geo Macro Drive Ring Status Error Codes

    Units: Bits This variable, when queried, reports the value of the current status word bits for the Geo MACRO Station. The value reported should be broken into bits. Each bit reports the presence or absence of a particular fault on the Station. If the bit is 0, the fault has not occurred since Station faults were last cleared. If the bit is 1, the fault has occurred since Station faults were last cleared.

  • Page 129: Ms{Node},Mi6 Status Word Control

    Geo MACRO Drive User and Reference Manual MS{node},MI6 Status Word Control Value Function MS{node},MI6 Ring Status Word MS{node},MI6 Bus Voltage value Status Word X-register via the 3d IO node, 16-bit register Value Description $0001 MTR1_OC Motor #1 Over current, display “E2” or “AE2”...
  • Page 130 Geo MACRO Drive User Manual Troubleshooting...

  • Page 131: Turbo Pmac2 Related I-Variable Reference

    Geo MACRO Drive User and Reference Manual TURBO PMAC2 RELATED I-VARIABLE REFERENCE Ixx10: Motor xx Power-On Servo Position Address Range: $000000 - $FFFFFF Units: Turbo PMAC or Multiplexer Port Addresses Default: Ixx10 controls whether Turbo PMAC reads an absolute position sensor for Motor xx on power-up/reset and/or with the $* or $$* commands.
  • Page 132 Geo MACRO Drive User Manual Ixx10 for Acc-8D Option 7 Resolver/Digital Converter (Ixx95=$000000 - $070000, $800000 - $870000) Addresses are Multiplexer Port Addresses Board Ixx10 Board Ixx10 Board Ixx10 Board Ixx10 Mux. Mux. Mux. Mux. Addr. Addr. Addr. Addr. $000100...

  • Page 133: Ixx25, Ixx24: Flag Address And Mode

    $00001D $00002D $00003D If obtaining the absolute position through a Delta Tau MACRO Station or equivalent, MACRO Station setup variable MI11x for the matching node must be set properly to obtain the type of information desired. Ixx25, Ixx24: Flag Address and Mode...
  • Page 134 Geo MACRO Drive User Manual Ixx24 specifies how the address in Ixx25 is to be used. Bit 0 of Ixx24 must be set to 1 to specify PMAC2-style flag arrangements, which are used in the MACRO protocol. Bit 18 of Ixx24 must be set to 1 to specify that the flags are sent and received across MACRO.

  • Page 135: Ixx70, Ixx71: Commutation Cycle Size

    The direct-PWM algorithms in the Turbo PMAC are optimized for 3-phase motors and will cause significant torque ripple when used with 2- or 4-phase motors. Delta Tau has created user-written phase algorithms for these motors; contact the factory if interested in obtaining these.

  • Page 136: Ixx81: Motor Xx Power-On Phase Position Address And Mode

    It is easier to specify this parameter in hexadecimal form ($ prefix). If I9 is set to 2 or 3, the value of this variable will be reported back to the host in hexadecimal form. Ixx81 for MACRO Absolute Position Reads using Geo MACRO Drive Turbo PMAC2 Related I-Variable Reference...

  • Page 137: Ixx82: Current Loop Feedback Address

    Geo MACRO Drive User and Reference Manual Ixx81 Value Register Ixx81 Value Register I181 $003440 MACRO Flag Register Set 0 I1781 $003460 MACRO Flag Register Set 32 I281 $003441 MACRO Flag Register Set 1 I1881 $003461 MACRO Flag Register Set 33...

  • Page 138: Ixx83: Commutation Feedback Address

    Geo MACRO Drive User Manual 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.
  • Page 139 Geo MACRO Drive User and Reference Manual Ixx91 Value Range Absolute Position Source Ixx81 Address Type $000000 - $070000 ACC-8D Opt 7 R/D Converter Multiplexer Port $080000 - $180000 Parallel Data Y-Register Turbo PMAC Memory-I/O $480000 - $580000 Parallel Data X-Register...
  • Page 140 Geo MACRO Drive User Manual Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000 (bit 23 set to 1), Motor xx will read bits 20 through 22 of the Turbo PMAC memory or I/O register at the address specified by Ixx81. It will expect these three bits to be encoded as the U, V, and W Hall Effect commutation signals with 120 spacing for the absolute power-on phase position.

  • Page 141: Ixx95: Motor Xx Power-On Servo Position Format

    Geo MACRO Drive User and Reference Manual The following table shows the values of Ixx81 used here. Turbo PMAC2 Ixx81 Typical Hall Phasing Settings (Ix91=$800000 - $FF0000) Servo Chan. 1 Chan. 2 Chan. 3 Chan. 4 Notes IC # $078000...
  • Page 142 MACRO Node Number Signed The following section provides details for Geo Macro Drive: Parallel Data Read: If Ixx95 contains a value from $080000 to $300000, from $480000 to $700000, from $880000 to $B00000, or from $C80000 to $F00000, Motor xx will do a parallel data read of the Turbo PMAC memory or I/O register at the address specified by Ixx10.

  • Page 143: Ixx97 Motor Xx Position Capture And Trigger Mode

    Y:$079E05. Geo MACRO Drive Example for Absolute Position Data If there are two Geo MACRO drives, the first one has two axis and axis 2 uses Resolver. The other Geo MACRO drive has only one axis, quadrature encoder feedback.
  • Page 144 Geo MACRO Drive User Manual feedback for Motor xx, as specified by Ixx03, and the conversion table, must be received through the encoder counter of the same hardware interface channel as used for the flag set (e.g. if flag set 2 is used, encoder 2 must be used for position-loop feedback).

  • Page 145: Geo Macro Drive Mi-Variable Reference

    Geo MACRO Drive User and Reference Manual GEO MACRO DRIVE MI-VARIABLE REFERENCE The Geo MACRO Station is set up through its own set of initialization I-variables, which are distinct from the I-variables on PMAC. Usually, they are referenced as MI-variables (e.g. MI900) to distinguish them from the PMAC’s own I-variables, although they can be referenced just as I-variables.

  • Page 146: Ms{Node},Mi4

    Units: Bits This variable, when queried, reports the value of the current status word bits for the Geo MACRO Station. The value reported should be broken into bits. Each bit reports the presence or absence of a particular fault on the Station. If the bit is 0, the fault has not occurred since Station faults were last cleared. If the bit is 1, the fault has occurred since Station faults were last cleared.

  • Page 147: Ms{Node},Mi6

    Geo MACRO ring failure or not. Every phase cycle, the Station checks the ring communications status. In MI8 phase cycles (or Geo MACRO ring cycles), the Station must receive at least MI10 “sync packets” and detect fewer than MI9 ring communications errors, to conclude that the ring is operating correctly.

  • Page 148: Ms{Node},Mi10 Geo Macro Sync Packet Shutdown Count

    “shutdown” state as defined by MS{node},MI13, but it will also turn itself into a master so it can report to other devices downstream on the ring. If MI9 is set to 0 at power-on/reset, the Geo MACRO Station will automatically set it to 4. MS{node},MI10...

  • Page 149: Ms{Node},Mi12 Card Identification (Read Only)

    Default: In case of a ring break error, MI13 controls the Geo MACRO output lines and only as a safety feature. Choose what the output state would be in a ring break situation, High (12-24V) or Low (GND) for each individual output, depending on sinking or sourcing setup.

  • Page 150: Ms{Node},Mi100

    If bit 0 (value of 1) is set to 1, this would indicate that the user wants to use only one motor node with his Geo MACRO drive. This is always the case with single axis Geo MACRO Drives. If bit 0 is set to 0, then both nodes are enabled (default).

  • Page 151: Ms{Node},Mi103 Sin Encoder/ Resolver #1 Bias

    Geo MACRO Drive User and Reference Manual Write the arctangent value of the Sin and Cos to the MS{node},MI101 MS{node},MI102 MACRO IO node (Resolver CW +8) Write the Sin and Cos values to the MACRO IO node MS{node},MI101 MS{node},MI102 (Sin enc.) For troubleshooting Check in the manual section “Setting up Encoders”...

  • Page 152: Ms{Node},Mi107 Motor 1 Encoder-Loss Mask

    Default: 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. Geo Macro Drive MI-Variable Reference...
  • Page 153 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.

  • Page 154: Primary Channel Node-Specific Gate Array Mi-Variables

    MI-variables MI910 through MI929 on the Geo MACRO Station control the hardware setup of the hardware interface channel on the station associated a Geo MACRO Node. The matching of hardware interface channels to Geo MACRO Nodes is determined by the setting of the Station Number via the MACRO ring method.

  • Page 155: Ms{Node},Mi911 Primary Enc. Position Compare N Channel Select

    If MI910 is set to 8, the decoder inputs the pulse and direction signal generated by Channel n’s pulse frequency modulator (PFM) output circuitry. This permits the GEO MACRO Station to create a phantom closed loop when driving an open-loop stepper system. No jumpers or cables are needed to do this; the connection is entirely within the ASIC.

  • Page 156: Ms{Node},Mi913 Primary Encoder Capture N Flag Select Control

    Capture on (Index low AND Flag low) The trigger is armed when the position capture register is read. After this, as soon as the GEO MACRO Station sees that the specified input lines are in the specified states, the trigger will occur -- it is level- trigger, not edge-triggered.

  • Page 157: Ms{Node},Mi915 Primary Encoder Index Gate State/Demux Control

    Geo MACRO Drive User and Reference Manual When MI914 is set to 1, the encoder index channel input (CHCn) is logically combined with (“gated by”) the quadrature signals of Encoder n before going to the position capture circuitry. The intent is to get a “gated index”...

  • Page 158: Ms{Node},Mi910 Secondary Encoder Decode Control

    Geo MACRO Drive User Manual Secondary encoder Channel Node-Specific Gate Array MI-variables MS{node},MI910 Secondary Encoder Decode Control Range: 0 - 15 Units: None Default: MI910 controls how the input signal for the secondary encoder mapped to the specified node is decoded into counts.

  • Page 159: Ms{Node},Mi912 Secondary Encoder Index Capture Control

    Capture on Index (CHCn) falling edge The trigger is armed when the position capture register is read. After this, as soon as the Geo MACRO Station sees that the specified input lines are in the specified states, the trigger will occur -- it is edge- trigger, not level-triggered.

  • Page 160: Ms{Node},Mi915 Secondary Encoder Capture Flag Select Control

    C output can be used as a supplemental (non-servo) output in either PWM or PFM form. For example, it can be used to excite an MLDT sensor (e.g. Temposonics ) in PFM form. Geo MACRO drives require PWM signals so MI916=0 MS{node},MI917 Output n Invert Control Range:...

  • Page 161: Ms{Node},Mi918 Output N Pfm Direction Signal Invert Control

    For DAC signals on Outputs A and B, non-inverted means that a 1 value to the DAC is high. DACs used on Delta Tau accessory boards, as well as all other known DACs always expect non-inverted inputs, so MI917 should always be set to 0 or 2 when using DACs on Channel n.

  • Page 162: Ms{Node},Mi921 Flag Capture Position (Read Only)

    MI922 reports the value of the serial ADC input register A for the machine interface channel mapped to the specified Geo MACRO Node number. The value is reported as a 24-bit number, even though there are a maximum of 18 real bits in the register (the most significant bits) and existing hardware provides 12 or 16 bits of true input.

  • Page 163: Ms{Node},Mi925 Compare A Position Value

    Geo MACRO Drive User and Reference Manual the specified Geo MACRO Node number. The value is reported as a 24-bit number, even though there are a maximum of 18 real bits in the register (the most significant bits) and existing hardware provides 12 or 16 bits of true input.

  • Page 164: General Hardware Setup Mi-Variables

    MI931 specifies the mode for interpreting data from the second SSI-encoder interface. In addition, it specifies the word length in bits from the second SSI-encoder interface. The following table lists the possible values of MI931 and the data formats they cause the Geo MACRO to expect:...

  • Page 165: Ms{Anynode}, Mi932

    Default: MI932 specifies the frequency of the AC excitation output created by the Geo MACRO for resolvers as a function of the phase clock frequency set by I7m00 and I7m01. The following table lists the possible values of MI932 and the excitation frequencies they produce: MI932 Excitation Freq.

  • Page 166: Ms{Anynode}, Mi941

    These encoders need to be power cycled so as to send the Hall sensor signals, and that is what MI943 does so the user does not have to power cycle the whole Geo MACRO drive, 24VDC. If MI943 is set equal to 0, both ENCPWR (#1 and #2) would be turned off (0V), if the value is equal to 1 then ENCPWR#1 is turned on (ENCPWR#2 is off).

  • Page 167: Global & 2-Axis Board I-Variables

    MI-Variables numbered in the MI990s control hardware aspects of the “DSPGATE2” ASIC. This IC controls operation of the Geo MACRO Ring on all Geo MACRO Stations. This IC also controls the frequency of the clock signals for the 2-axis piggyback board (machine interface channels 1 & 2).
  • Page 168 1.2288 MHz 611.44 kHz 305.72 kHz Very few Geo MACRO Station users will be required to change the setting of MI993 from the default value. The encoder sample clock signal SCLK controls how often 2-axis board’s digital hardware looks at the encoder inputs.

  • Page 169: Ms{Node},Mi994 Pwm Deadtime

    PFM Pulse Width = [1 / 9.8304 MHz] * 15 = 1.526 µsec (with default MI993) MI994 controls the deadtime period between top and bottom on-times in the Geo MACRO Station’s automatic PWM generation for machine interface handwheel channels 19 and 2. In conjunction with MI993, it also controls the pulse width for PMAC2’s automatic pulse-frequency modulation generation...

  • Page 170: Ms{Node},Mi996 Macro Node Activate Control

    Node 15 Master Address Check Disable A Geo MACRO Station is a slave on the ring in all normal operation, so configuration bits 4 and 5 are set to 0. It should synchronize itself to the sync node, so configuration bit 7 should be set to 1. In most applications, it will only accept packets from its own master so bits 8 to 15 are all set to 0.
  • Page 171 MACRO Station. This is always set to 15 ($F) on the Geo MACRO Station. Bits 20-23 specify the master number (0-15) for the Geo MACRO Station. At power-up/reset, these bits get the value set by SW2. The number must be specified whether the card is a master station or a slave station.

  • Page 172: Ms{Node},Mi997 Phase Clock Frequency Control

    PHASE Clock Frequency = 9.0346 kHz / 1 = 9.0346 kHz (with default value of MI992) MI997, in conjunction with MI992, determines the frequency of the PHASE clock on a Geo MACRO Station. Each cycle of the PHASE clock, a set of MACRO ring information is expected, and any data transfers between MACRO nodes and interface circuitry are performed.

  • Page 173: Absolute Power On Online Commands

    Geo MACRO Drive User and Reference Manual ABSOLUTE POWER ON ONLINE COMMANDS Function: Read motor absolute positions Scope: Coordinate system specific Syntax: The $$* command causes PMAC to perform a read of the absolute positions for all motors in the addressed coordinate system that require an absolute position read (Ixx10 >...
  • Page 174 Geo MACRO Drive User Manual With Ixx10 set to 0, the action of $* is very similar to that of the HOMEZ command. There are a few significant differences, however: $* always kills the motor; HOMEZ leaves the servo in its existing state.
  • Page 175 Geo MACRO Drive User and Reference Manual Absolute Power On Online Commands...
  • Page 176 Geo MACRO Drive User Manual Useful Notes...
  • Page 177 Geo MACRO Drive User and Reference Manual Appendix A...

  • Page 178: Fiber Optic Cable Ordering Information

    Motor Outputs. The user should purchase the appropriate Mating Connector and Cable Kits from Delta Tau Data Systems, Inc., or they can obtain the connectors and pins from other sources. Cable sets can be purchased directly from Delta Tau to make the wiring of the system easier. Available cable kits (CABKITxx) are listed below.
  • Page 179 Geo MACRO Drive User and Reference Manual CABKIT1C Includes Molex mating connectors pre-crimped for single axis drives up to 5- amp continuous rated (Gxx051xx). • 3 ft. AC Input Cable • 3 ft. 24VDC Power Cable • 10 ft. shielded Motor Cables...

  • Page 180: Connector And Pins Part Numbers

    Geo MACRO Drive User Manual Connector and pins Part numbers CONKIT1A Connector D/T part number D/T part number individuals Molex part number Housing: 014-000F02-HSG 44441-2002 24VDC & 200-000F02-HSG Shunt Resistor Pins: 014-043375-001 43375-0001 Housing: 014-000F03-HSG 44441-2003 Motor (x2) 200-000F03-HSG 3pins...
  • Page 181 Geo MACRO Drive User and Reference Manual CONKIT4A D/T part D/T part number Molex part number Connector number individuals Housing: 014-000F02-HSG 44441-2002 24VDC 200-000F02-HSG Pins: 014-043375-001 43375-0001 Housing: 014-H00F03-049 42816-0312 Shunt Resistor 200-H00F03-049 Pins: 014-042815-0031 42815-0031 Motor (x1) Housing: 014-H00F04-049...

  • Page 182: Cable Drawings

    Geo MACRO Drive User Manual Cable Drawings Appendix A...
  • Page 183 Geo MACRO Drive User and Reference Manual Appendix A...
  • Page 184 Geo MACRO Drive User Manual Appendix A...
  • Page 185 Geo MACRO Drive User and Reference Manual Appendix A...
  • Page 186 Geo MACRO Drive User Manual Appendix A...
  • Page 187 Geo MACRO Drive User and Reference Manual Appendix A...

  • Page 188: Regenerative Resistor: Gar78/48

    Geo MACRO Drive User Manual Regenerative Resistor: GAR78/48 Model Description 1.5/4.5A 3/9A 5/10A 10/20A 15/30A 20/40A 30/60A 300W 78 OHM regenerative resistor with Thermostat √ √ √ GAR78 protection. Includes 18 inch wire cable, single or dual axis 300W 48 OHM regenerative resistor with Thermostat √...

  • Page 189: Type Of Cable For Encoder Wiring

    Therefore, the following recommendations are based upon some experiences that we at Delta Tau Data Systems have acquired. If possible, the best cabling to use is a double-shielded twisted pair cable. Typically, there are four pairs used in a differential encoder's wiring.
  • Page 190 Geo MACRO Drive User Manual One possible cable type for encoders is Belden 8164 or ALPHA 6318. This is a 4-pair individually shielded cable that has an overall shield. This double-shielded cable has a relatively low capacitance and is a 100Ω impedance cable.
  • Page 191 Geo MACRO Drive User and Reference Manual Appendix A...

  • Page 192: Schematics

    Geo MACRO Drive User Manual APPENDIX B Schematics X3: Discrete I/O Channel #1 Flags RP24 home1 plus_limit1 minus_limit1 user1 flg_ret 4.7KSIP8I 4.7KSIP8I PS2705-4 x1KSIP8I (IN SOCKET) 1KSIP8I Channel #2 Flags RP23 home2 plus_limit2 minus_limit2 user2 flg_ret 4.7KSIP8I 4.7KSIP8I PS2705-4 x1KSIP8I...
  • Page 193 Geo MACRO Drive User and Reference Manual General Purpose Inputs 1-4 OPT_I/O_IN1 1.2K 1.2K OPT_I/O_IN2 1.2K 1.2K OPT_I/O_IN3 1.2K 1.2K OPT_I/O_IN4 1.2K 1.2K MMBZ5V6ALT1 MMBZ5V6ALT1 MMBZ5V6ALT1 MMBZ5V6ALT1 MMBZ33VALT1 MMBZ33VALT1 PS2705-4 .1uf .1uf MMBZ33VALT1 MMBZ33VALT1 I/ORTN General Purpose Outputs 1-4 COM_COL...

  • Page 194: X6 And X7: Analog Inputs

    Geo MACRO Drive User Manual X6 and X7: Analog Inputs Analog Input 1 +5V_AN C192 +2.5v 100 nf 3.01k 0.1% R106 ad_ref1 U46A AD824AR 24.0k, 1% (SO14) C203 R107 22 pf 3.01k, 0.1% pmac_gnd for amp fault pmac_+5 for amp fault...

  • Page 195: X8 And X9 Secondary Encoders (3 And 4)

    Geo MACRO Drive User and Reference Manual Analog Input 2 pmac_gnd for amp fault pmac_+5 for amp fault analog gnd for a/d 3.01k, 0.1% U46C AD824AR 24.0k, 1% R302 (SO14) 2_PMAC_5V 2_pmac_gnd C164 2_aena 2_amp_flt+ 22 pf 3.01k, 0.1% 2_amp_flt-...

  • Page 196: Communication To The Geo Macro Via The Usb Port

    The step by step procedure to communicate to the Geo MACRO via the HyperTerminal is as follows: 1. Power on the PC with the Geo Macro powered off. 2. With the Geo Macro still powered off plug in the USB cable to both the Geo Macro and the PC. 3. Power ON the Amplifier 4.
  • Page 197 Geo MACRO Drive User and Reference Manual Appendix C...

  • Page 198: Macro Flag Transfer Location

    Geo MACRO Drive User Manual APPENDIX D MACRO Flag Transfer Location For proper servo operations, the Master Controller must process information in real time. For MACRO systems, this information is brought to the Master via Ixx25. For Turbo systems, the locations are at $3440, $3441, $3444, $3445, $3448, $3449, $344C, $344D, etc.

  • Page 199: Turbo Pmac2 Node Addresses

    Geo MACRO Drive User and Reference Manual NodeCntrlCmd: (Sent by Master - Located in Turbo at: Y:$3440 .. Y:$347F / Y-portion of Flag Address) Bit Function * Position Capture (Triggered Event) Enable Flag Not Used Not Used Not Used Not Used...
  • Page 200 Geo MACRO Drive User Manual Turbo PMAC2 Node Addresses (Continued) MACRO Axis/IO User Node 24-bit Transfer Node 16-bit (upper 16 bits) IC Node Node Addresses Transfer Addresses (IC1) 3 X:$079424 X:$079425, X:$079426, X:$079427 (IC1) 4 Axis 11 Y:$079428 Y:$079429, Y:$07942A, Y:$07942B...

  • Page 201: Adc Register Table

    Geo MACRO Drive User and Reference Manual ADC Register Table Geo Drive Value MS0,MI101 1 (IC#0) 12 or 13 X:$78421,8,16,s X:$78422,8,16,s MS1,MI102 MS4,MI101 2 (IC#0) 12 or 13 X:$78429,8,16,s X:$7842A,8,16,s MS5,MI102 MS8,MI101 3 (IC#0) 12 or 13 X:$78431,8,16,s X:$78432,8,16,s MS9,MI102...

  • Page 202: Stepping Through An Electrical Cycle

    Geo MACRO Drive User Manual Stepping through an Electrical Cycle It is important to know what commands to use in order to force the motor into different locations of the electrical cycle. Two different cases will determine the command set that will be used based on the commutation phase angle.

  • Page 203: Example 1 Of Hall Effect Values

    Geo MACRO Drive User and Reference Manual Now that we know how to step through electrical cycle, we must determine the location and values of the Hall Effect Transitions. Typically, there are two different locations for the transitions: -120 -150...

  • Page 204: Example 2 Of Hall Effect Values

    Geo MACRO Drive User Manual Ixx79 Ixx29 Electrical The HEZ occurs at 60° electrical. If the Positive transition of V from 0 to 1 at the HEZ point Cycle U V W is in the negative direction (like this 3000...

  • Page 205: Useful Notes

    Geo MACRO Drive User and Reference Manual USEFUL NOTES • Geo MACRO drives are using 2-axis MACRO station CPU’s. They are not the same with the 8- axis or 16-axis MACRO CPU’s • Firmware 1.005 and newer can only be downloaded to Geo MACRO drives that use logic board (603542) revision -105 and above.

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