^1 USER MANUAL ^2 Geo Brick Drive ^3 Programmable Servo Amplifier ^4 5xx-603800-xUxx ^5 February 14, 2015 DELTA TAU Data Systems, Inc. NEW IDEAS IN MOTION … Single Source Machine Control ……………………………………………..…...………………. Power // Flexibility // Ease of Use 21314 Lassen St. Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.
Geo Brick Drive User Manual Copyright Information © 2015 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 every respect to former issues. To report errors or inconsistencies, call or email: Delta Tau Data Systems, Inc.
Geo Brick Drive User Manual Safety Instructions Qualified personnel must transport, assemble, install, and maintain this equipment. Properly qualified personnel are persons who are familiar with the transport, assembly, installation, and operation of equipment. The qualified personnel must know and observe the following standards and regulations: IEC364resp.
Geo Brick Drive User Manual MANUAL REVISION HISTORY REV DESCRIPTION DATE CHANGE APPROVED 10 MANUAL REFORMATTING. CORRECTIONS AVAILABLE UPON REQUEST. 8/10/11 R.N R.N 11 CORRECTED Ixx71 FOR QUADRATURE LINEAR 10/10/11 R.N R.N 12 UPDATED +5V ENC PWR SECTION 10/13/11 R.N R.N 13 UPDATED ABSOLUTE SERIAL ENCODER SECTION. GENERAL UPDATES. 4/15/12 R.N R.
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Geo Brick Drive User Manual TABLE OF CONTENTS INTRODUCTION ................................................................................................................... 12 Documentation ............................................................................................................................12 Downloadable Turbo PMAC Script ...............................................................................................13 SPECIFICATIONS ...............................................
Geo Brick Drive User Manual Wiring the Digital Inputs and Outputs .............................................................................................. 45 General Purpose I/Os (J6) Suggested M-Variables ........................................................................... 46 General Purpose I/Os Additional (J7) Suggested M-Variables .......................................................... 46 J8: PWM Amplifier Interface .......................................................................
Geo Brick Drive User Manual Yaskawa Sigma II 17-Bit Absolute Encoder .................................................................................... 131 Yaskawa Sigma III 20-Bit Absolute Encoder ................................................................................... 134 Yaskawa Sigma II 13-Bit Incremental Encoder ............................................................................... 137 Yaskawa Sigma II 17-Bit Incremental Encoder ...................................................
Geo Brick Drive User Manual Commutation Angle, Current Mask: Ixx72, Ixx84............................................................................ 198 PWM Scale Factor: Ixx66............................................................................................................... 198 Current Feedback Address: Ixx82 ................................................................................................... 198 Commutation Position Address, Commutation Enable: Ixx83, Ixx01 ...................
Geo Brick Drive User Manual Introduction to MACRO.............................................................................................................222 MACRO Configuration Examples ............................................................................................... 223 Review: MACRO Nodes and Addressing ......................................................................................... 224 Review: MACRO Auxiliary Commands ..........................................................
Geo Brick Drive User Manual Reloading Boot and Communication Firmware .............................................................................. 280 Reset Switch SW (Factory Reset) ................................................................................................ 281 LIST OF CHANGES AND UPDATES ................................................................................ 282 AMPVER Command, December 2007 .................................................................................
Geo Brick Drive User Manual INTRODUCTION The Geo Brick Drive combines the intelligence and capability of the Turbo PMAC2 motion controller with IGBT-based drive technology, resulting in a compact, smart 4-, 6- or 8-axis servo drive package. The flexibility of the Turbo PMAC2 enables the Geo Brick to drive Brush, Brushless or AC induction motors with unsurpassed pure digital DSP performance.
Geo Brick Drive User Manual Downloadable Turbo PMAC Script Caution Some code examples require the user to input specific information pertaining to their system hardware. When user information is required, a commentary ending with –User Input is inserted. This manual contains downloadable code samples in Turbo PMAC script. These examples can be copied and pasted into the editor area in the Pewin32pro2.
Geo Brick Drive User Manual SPECIFICATIONS Part Number A GB L 4 B C 0 - 5 - C D 0 AxesA GBLA-BB-CDD-EFGHHHI0 4 : Four Axes Silver Enclosure 6 : Six Axes Silver Enclosure 8 : Eight Axes Silver Enclosure E 0 - 0 F 0 0 H 0 ** I ** 0 0 ** 0 ** 0 B CPU Options – GBLA-BB-CDD-EFGHHHI0 Turbo PMAC 2 Processor C0: 80Mhz, 8Kx24 Internal, 256Kx24SRAM, 1MB Flash (Default) C3: 80Mhz, 8Kx24 Internal, 1Mx24SRAM, 4MB Flash F3: 240Mhz, 192Kx24 Internal, 1Mx24SRAM, 4MB Flash C Axes 1 to 4 Options G
Geo Brick Drive User Manual Communication Options GBLA-BB-CDD-EFGHHHI0 G USB2 and Eth100 are included Note: To use PMAC-NC software, DPRAM is required 0xxxxx: No Options, Default Dxxxxx: DPRAM option, size 8K x 16-bit wide Mxxxxx: ModBus Ethernet Communication Protocol (Software) option Sxxxxx: DPRAM and Modbus Options Combined R00000: E00000: N00000: T00000: RS232 port on 9-pin D-sub Connector* DPRAM & RS232 Options Combined* RS232 & ModBus Options Combined* Modbus, DPRAM & RS232 Combined* * If any o
Geo Brick Drive User Manual Geo Brick Drive Options CPU Options C0: C3: F3: 80MHz Turbo PMAC2 CPU (Standard, default) 8Kx24 internal memory, 256Kx24 SRAM, 1MB flash memory 80MHz Turbo PMAC2 CPU 8Kx24 internal memory, 1Mx24 SRAM, 4MB flash memory 240MHz Turbo PMAC2 CPU 192Kx24 internal memory, 1Mx24 SRAM, 4MB flash memory Encoder Feedback Digital Quadrature Sinusoidal HiperFace Resolver Note SSI EnDat 2.1 / 2.
Geo Brick Drive User Manual Environmental Specifications Description Specifications 0 to 45°C Above 40°C,de-rate current output by 2.5% per °C -25°C to +70°C 10% to 90% non-condensing ~3300 Feet (1000 m) De-rate current output by 1.1% per additional 330 feet (100m) ~3 inches (76.
Geo Brick Drive User Manual Electrical Specifications 4-Axis Geo Brick Drive GBL4-xx-5xx-xxx xxxxx GBL4-xx-8xx-xxx xxxxx Output Continuous Current (rms/axis) Output Peak Current for 2 seconds (rms/axis) Rated Input Current @240VAC 3-phase(all axes) Max ADC (I2T Settings) Output Power Per Axis [Watts] (Modulation depth of 60% RMS) Output Power Total [Watts] Power Dissipation [Watts] PWM Frequency Operating Range [KHz] AC Input Line Voltage [VAC rms] DC Input Line Voltage [VDC]- DC operation Logic Power [V
Geo Brick Drive User Manual 8-Axis Geo Brick Drive Axes GBL8-xx-552 1-4 5-8 GBL8-xx-882 1-4 GBL8-xx-582 5-8 1-4 5-8 GBL8-xx-852 1-4 5-8 Output Continuous Current (rms/axis) 5A 5A 8A 8A 5A 8A 8A 5A Output Peak Current for 2 sec (rms/axis) 10A 10A 16A 16A 10A 16A 16A 10A 16.26A 16.26A 26.02A 26.02A 16.02A 26.02A 26.02A 16.
Geo Brick Drive User Manual RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the Geo Brick Drive is received, there are several things to be done immediately: Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive. Remove the drive from the shipping container and remove all packing materials.
Geo Brick Drive User Manual MOUNTING The location of the Geo Brick Drive 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 performance of the drive.
Geo Brick Drive User Manual Connector Locations New Connector (October 2012) Top View Front View 24VDC Logic Power General Purpose I/O Shunt Resitor Motor #1 Encoder #1 Limits & Flags Encoder #2 Motor #2 USB MACRO Ethernet Status Display Abort & WD RS232 Motor Shield Connection Encoder #3 Encoder #4 Motor #3 Analog I/O Motor #4 PWM Interface AC/DC Bus Power Input Alt. Enc.
Geo Brick Drive User Manual 4-Axis Geo Brick Drive GBL4-xx-5xx-xxx-xxxx And GBL4-xx-8xx-xxx-xxxx Width Depth 114mm/4.50in 178mm/7.00in Height 391mm/15.40in Weight 4.4Kg/9.6lbs 3.00" (76.20 mm) 14.31" (363.52 mm) 15.40" (391.16 mm) 4 x M4 13.38" (339.73 mm) 7.00" (177.83 mm) 4.50" (114.
Geo Brick Drive User Manual 6-Axis Geo Brick Drive GBL6-xx-5xx-xxx-xxxx And GBL6-xx-8xx-xxx-xxxx Width Depth 203mm/8.00in 178mm/7.00in Height 391mm/15.40in Weight 6.50" (165.10 mm) 14.31" (363.52 mm) 15.40" (391.16 mm) 4 x M4 13.38" (339.73 mm) 8.00" (203.20 mm) Mounting 7.00" (177.
Geo Brick Drive User Manual 8-Axis Geo Brick Drive GBL8-xx-552-xxx-xxxx, GBL8-xx-582-xxx-xxxx, GBL8-xx-852-xxx-xxxx, GBL8-xx-882-xxx-xxxx Width Depth Height Weight 203mm/8.00in 178mm/7.00in 392mm/15.40in 9.0 Kg/19.9lbs 6.50" (165.10 mm) 14.31" (363.52 mm) 15.40" (391.16 mm) 4 x M4 13.38" (339.73 mm) 8.00" (203.20 mm) Mounting 7.00" (177.
Geo Brick Drive User Manual PINOUTS AND SOFTWARE SETUP Installation of electrical equipment is subject to many regulations including national, state, local, and industry guidelines and rules. The following are general recommendations but it is important that the integration be carried out in accordance with all regulations pertaining to the installation. WARNING J1: Main Bus Power Input J1 is used to bring the main AC/DC bus power into the Geo Brick Drive.
Geo Brick Drive User Manual Power On/Off Sequence The main bus power should NEVER be applied if the 24V logic power is NOT applied. Caution Caution Make sure that no motor commands (e.g. phasing, jogging, or open loop) are being executed by or sent repeatedly to the controller (PMAC) at the time of applying main bus power. Powering up a Geo Brick Drive must obey the following procedure: 1. Apply 24V logic power 2. Wait a minimum of ~3 seconds 3.
Geo Brick Drive User Manual Older Models of the Geo Brick Drive With the older models of the Geo Brick Drives, cycling main bus power must obey the following warning restrictions. A delay should be inserted in either software, hardware or both to ensure that these restrictions are conformed. With older models, it is strongly advised NOT to cycle main bus power frequently and rapidly within a few seconds.
Geo Brick Drive User Manual Recommended Main Bus Power Wiring/Protection Caution Main bus power lines should run in a separate duct (at least 12” or 30 cm away) from and should never be bundled with the I/O signal, communication, or encoder cables. Grounding, Bonding System grounding is crucial for proper performance of the Geo Brick Drive. Panel wiring requires that a central earth-ground (also known as ground bus bar) location be installed at one part of the panel.
Geo Brick Drive User Manual Three-Phase Main AC Power Wiring Diagram GND L1 L2 L3 EMC/EMI FILTER Shielded And Twisted L3 FUSE L2 FUSE PROTECTION EARTH GND L1 FUSE 3-PHASE TRANSFORMER 110-240 VAC MAGNETIC CONTACTOR Phase-Phase Voltage Suppressors Single-Phase Main AC Power Wiring Diagram Single Phase Source 110-240 VAC DELTA TAU DATA SYSTEMS, INC.
Geo Brick Drive User Manual Transformers Y-Y or Y- transformers should be used. - Transformers are NOT advised. They try to balance phases dynamically, creating instances of instability in the Geo Brick Drive’s rectifying circuitry. Note A line reactor should be installed if a transformer or reliable source of power is not available. Line reactors suppress harmonics bidirectionally, eliminating low frequency spikes.
Geo Brick Drive User Manual Magnetic Contactors SC-E series from Fuji Electric or similar contactor can be used. Line Filters Line filters eliminate electromagnetic noise in a bi-directional manner (from and into the system). T type filters are NOT recommended. PI type line filters are highly advised: Filter should be mounted on the same panel as the drive and power source. Filter should be mounted as close as possible to the power source.
Geo Brick Drive User Manual J2: 24VDC Logic Power and Safe Torque Off (STO) J2 is used to bring the 24VDC logic power into the Geo Brick Drive. This power can remain on, regardless of the main AC/DC bus power input, allowing the digital control electronics to be active while the main motor power control is passive. J2, in the newer models of the Geo Brick Drive, is also used to wire the Safe Torque Off (STO) input.
Geo Brick Drive User Manual Older Models GND J2: Molex 2-pin Female Mating: Molex 2-pin Male +24VDC Molex Mating Connector p/n: 0436450200 Molex Pins p/n: 0430300008 Molex Crimper Tool p/n: 11-01-0185 Delta Tau Mating Connector p/n: 014-043645-200 (for internal use) Delta Tau pins p/n: 014-043030-008 (for internal use) Pin # Symbol Function Description Notes 1 24VDC RET Common Logic power return Control power return 2 +24VDC Input Logic power input ±5 % Newer Models 1 432 1 2 3 4 J2: Ph
Geo Brick Drive User Manual Disabling the STO (Backward compatibility) Disabling the STO maintains full backward compatibility with existing systems, pre-STO installations. This is done by simply tying STO IN (pin #1) to +24V (pin #3): J2 +24 VDC 24 VDC Power Supply COM 1 STO IN 2 STO OUT 3 +24V 4 24V RET Wiring and Using the STO J2 N.
Geo Brick Drive User Manual J3: External Shunt Resistor J3 is used to wire an external shunt resistor to expel the excess power during demanding deceleration profiles. The GAR10 and GAR15 resistors are designed to drain excess bus energy very quickly. The 4and 8-axis Geo Brick Drives are designed for operation with external shunt resistors of 15 Ohms, 6-axis units requiring 10 Ohms. Delta Tau provides these resistors with pre-terminated cables that plug directly into connector J3.
Geo Brick Drive User Manual Caution The external shunt resistors can reach temperatures of up to 200°C. They must be mounted away from other devices and ideally near the top of the cabinet, also ensure they are enclosed and cannot be touched during operation or anytime they are hot. Sufficient warning labels should be placed prominently nearby. The black wires are for the thermostat and the white wires are for the shunt resistor.
Geo Brick Drive User Manual J4: Limits, Flags, EQU [Axis 1- 4] J4 is used to wire axis/channels 1 through 4 over travel limit switches, home and user flags, and EQU output. The limits and flags can be ordered either 5V or 12-24V. The EQU output is always 5V. Per axis/channel, there are 2 limit inputs, 2 flag inputs, and 1 EQU output: - Positive limit. Negative limit - Home flag.
Geo Brick Drive User Manual J5: Limits, Flags, EQU [Axis 5- 8] J5 is used to wire axis/channels 5 through 8 over travel limit switches, home, user flags, and EQU output. The limits and flags can be ordered either 5V or 12-24V. The EQU output is always 5V. Per axis/channel, there are 2 limit inputs, 2 flag inputs, and 1 EQU output: - Positive limit. Negative limit - Home flag.
Geo Brick Drive User Manual Wiring the Limits and Flags The Geo Brick Drive’s limits and flags can be wired to be either sinking or sourcing. 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 or from flag to return.
Geo Brick Drive User Manual Limits and Flags [Axis 1- 4] Suggested M-Variables M115->X:$078000,19 M116->X:$078000,9 M120->X:$078000,16 M121->X:$078000,17 M122->X:$078000,18 ; ; ; ; ; User 1 flag input status EQU1, ENC1 compare output value Home flag 1 input status Positive Limit 1 flag input status Negative Limit 1 flag input status M215->X:$078008,19 M216->X:$078008,9 M220->X:$078008,16 M221->X:$078008,17 M222->X:$078008,18 ; ; ; ; ; User 2 flag input status EQU2, ENC2 compare output value Home flag
Geo Brick Drive User Manual J6: General Purpose Inputs/Outputs J6 is used to wire general purpose digital inputs/outputs to the Geo Brick Drive.
Geo Brick Drive User Manual J7: General Purpose Inputs/Outputs (Additional) J7 is used to wire the additional (optional) general purpose digital Inputs/Outputs to the Geo Brick.
Geo Brick Drive User Manual About the Digital Inputs and Outputs All general purpose inputs and outputs are optically isolated. They operate in the 12–24 VDC range, and can be wired to be either sinking into or sourcing from the Geo Brick Drive. Inputs The inputs use the PS2505L-1NEC photocoupler. For sourcing inputs, connect the input common pin(s) to the 12–24V line of the power supply.
Geo Brick Drive User Manual Wiring the Digital Inputs and Outputs The inputs and outputs can be wired to be either sourcing out of or sinking into the Geo Brick Drive: Sourcing Inputs / Outputs Sinking Inputs / Outputs Pinouts and Software Setup 20 1 21 2 22 3 23 4 24 5 25 6 26 27 29 30 31 32 13 33 14 37 18 36 17 35 16 34 15 14 13 12 30 31 32 33 34 OUTPUT 8 / 16 11 29 10 28 22 23 24 25 26 7 8 20 21 2 3 4 5 6 7 8 11 OUTPUT 7 / 15 12 OUTPUT 6 / 14 19 OUTPUT 8 / 16 35 OUT
Geo Brick Drive User Manual General Purpose I/Os (J6) Suggested M-Variables // Inputs: M1->Y:$78800,0,1 M2->Y:$78800,1,1 M3->Y:$78800,2,1 M4->Y:$78800,3,1 M5->Y:$78800,4,1 M6->Y:$78800,5,1 M7->Y:$78800,6,1 M8->Y:$78800,7,1 M9->Y:$78801,0,1 M10->Y:$78801,1,1 M11->Y:$78801,2,1 M12->Y:$78801,3,1 M13->Y:$78801,4,1 M14->Y:$78801,5,1 M15->Y:$78801,6,1 M16->Y:$78801,7,1 ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input 01 02 03 04 05
Geo Brick Drive User Manual J8: PWM Amplifier Interface J8 is used to connect to third party PWM amplifiers. This is a limited option, contact technical support for setup details.
Geo Brick Drive User Manual J9: Handwheel and Analog I/O J9 is used to wire the additional analog inputs, handwheel encoder, analog output, and PFM output.
Geo Brick Drive User Manual Setting up the Analog Inputs (J9) AGND ADC5 AGND ADC6 AGND ADC7 AGND ADC8 14 ADC4 15 AGND 16 ADC3 17 AGND 2 ADC2 3 AGND 21 22 Unipolar Mode Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar I5081=$000000 I5082=$000001 I5083=$000002 I5084=$000003 I5085=$000004 I5086=$000005 I5087=$000006 I5088=$000007 ; ; ; ; ; ; ; ; ADC1 ADC2 ADC3 ADC4 ADC5 ADC6 ADC7 ADC8 Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar 23 ADC1 ADC
Geo Brick Drive User Manual J9 Analog Inputs Suggested M-Variables Bipolar Mode (Signed) M6991->Y:$003400,12,12,S M6992->Y:$003402,12,12,S M6993->Y:$003404,12,12,S M6994->Y:$003406,12,12,S M6995->Y:$003408,12,12,S M6996->Y:$00340A,12,12,S M6997->Y:$00340C,12,12,S M6998->Y:$00340E,12,12,S ; ; ; ; ; ; ; ; Unipolar Mode (Unsigned) ADC1 ADC2 ADC3 ADC4 ADC5 ADC6 ADC7 ADC8 M6991->Y:$003400,12,12,U M6992->Y:$003402,12,12,U M6993->Y:$003404,12,12,U M6994->Y:$003406,12,12,U M6995->Y:$003408,12,12,U M6996->Y:$003
1 2 14 14 1 3 3 15 15 2 Geo Brick Drive User Manual 16 4 Single-Ended Output 19 DAC Output ±10VDC 20 7 Analog DAC Device COM 9 9 21 21 8 8 20 DAC Output ±10VDC 7 Analog DAC+ Device DAC- 19 6 6 18 18 5 5 17 17 4 Differential Output 16 Setting up the Analog Output (J9) 23 23 10 10 22 22 The analog output out of J9 is a (12-bit) filtered PWM signal, therefore a PWM frequency in the range of 30-36 KHz and a PWM deadtime of zero are suggested for a good qualit
Geo Brick Drive User Manual Note These MACRO IC0 Clock settings are optimized for a good Analog Output signal. If the Brick is a MACRO Ring Controller then the analog output signal quality is compromised with a much lower PWM frequency, or should not be used at all.
3 15 15 2 4 16 16 3 17 4 5 Single Ended Pulse And Direction 20 21 8 PULSE+ DIR+ COM 22 25 24 12 11 24 23 11 10 23 22 10 9 21 8 PULSE+ PULSE FREQUENCY PULSEDEVICE/ DIR+ AMPLIFIER DIR- PULSE FREQUENCY DEVICE/ AMPLIFIER 9 20 7 7 19 6 19 6 18 5 Differential Pulse And Direction 17 Setting up Pulse And Direction Output PFM (J9) 18 Geo Brick Drive User Manual 13 25 13 12 Using the Delta Tau Calculator or referring to the Turbo Software Reference Manual, the desired
Geo Brick Drive User Manual The output frequency control Ixx69 specifies the maximum command output value that corresponds to the maximum PFM Frequency. I6826=3 ; MACRO IC Channel2 Output Mode Select. C PFM M8000->Y:$7841C,8,16,S ; Supplementary Channel 2* Output C Command Value ; Min=0, Max= Calculated Ixx69 M8001->X:$7841D,21 ; Invert C Output Control. 0=no inversion, 1=invert Testing The J9 PFM Output Writing, directly to the suggested M-variable (i.e.
1 2 14 14 1 3 15 15 2 16 16 3 Geo Brick Drive User Manual 17 17 4 4 Setting up the Handwheel Port (J9) 20 7 19 +5V External +5V COM Power Supply 23 10 24 CHB+ 11 Quadrature Encoder CHC+ 25 +5V PWR 12 CHB- 13 CHC- 13 CHC+ GND 24 CHB+ 25 Quadrature Encoder 12 GND 11 CHA+5V PWR CHA+ 23 CHA+ 10 22 22 9 9 21 8 20 21 8 +5V External +5V COM Power Supply Single ended Handwheel 7 Differential Handwheel 19 6 6 18 18 5 5 A quadrature encoder type device
Geo Brick Drive User Manual X1-X8: Encoder Feedback, Digital A Quad B 8 X1-X8: D-sub DA-15F Mating: D-sub DA-15M 7 15 6 14 5 13 4 12 3 11 2 10 1 9 Pin# Symbol Function Description 1 CHA+ Input Encoder A+ 2 CHB+ Input Encoder B+ 3 CHC+ / AENA+ Input Encoder Index+ / Stepper amp enable + 4 ENCPWR Output Encoder Power 5V 5 CHU+ / DIR+ In/Out Halls U+ / Direction Output + for Stepper 6 CHW+/ PUL+ In/Out Halls W+ / Pulse Output + for Stepper 7 2.5V Output 2.
Geo Brick Drive User Manual Channel A Channel B Typically, these signals are 5V TTL/CMOS level whether they are single-ended or differential. Differential signals can enhance noise immunity by providing common mode noise rejection. Modern design standards virtually mandate their use in industrial systems.
Geo Brick Drive User Manual Setting up Quadrature Encoders Digital Quadrature Encoders use the 1/T incremental entry in the encoder conversion table. Position and velocity pointers should, by default, be valid and in most cases no software setup is required, activating (Ixx00=1) the corresponding channel is sufficient to see encoder counts in the position window when the motor/encoder shaft is moved by hand.
Geo Brick Drive User Manual Encoder Loss Detection, Quadrature Designed for use with differential line-driver outputs (encoders), the encoder loss circuitry monitors each quadrature input pair with an exclusive-or XOR gate. In normal operation mode, the two quadrature inputs should be in opposite logical states – that is one high and one low – yielding a true output from the XOR gate. Single-Ended Quadrature Encoders are not supported for encoder loss.
Geo Brick Drive User Manual Encoder Loss Example PLC: A 4-axis Geo Brick is setup to kill all motors upon the detection of one or more encoder loss.
Geo Brick Drive User Manual Step and Direction PFM Output (To External Stepper Amplifier) The Geo Brick Drive has the capability of generating step and direction (Pulse Frequency Modulation) output signals to external stepper amplifiers. These signals are accessible at the encoder connectors. The step and direction outputs are RS422 compatible and could be connected in either differential or singleended configuration for 5V (input signal) amplifiers.
Geo Brick Drive User Manual Using the Delta Tau Calculator or referring to the Turbo Software Reference Manual, the desired maximum PFM Frequency and pulse width can be chosen. DT Calculator Step2 Step1 Results Step 1: Choose Max PFM clock by changing the PFM clock divider. Press calculate to see results. Step 2: Choose PFM pulse width by changing I7m04. Press calculate to see results.
Geo Brick Drive User Manual The position-Loop PID Gains can be calculated using the following equations: ( ) // Position-Loop PID Gains: I530,4,100=11190 ; Motors I531,4,100=0 ; Motors I532,4,100=15038 ; Motors I533,4,100=0 ; Motors I534,4,100=0 ; Motors I535,4,100=0 ; Motors 5-8 5-8 5-8 5-8 5-8 5-8 Proportional Gain Derivative Gain Velocity FeedForward Gain Integral Gain Integral Mode Acceleration FeedForward Gain Testing the PFM Output (using example settings): Command Output Mxx07 (Ixx69) PFM [KHz]
Geo Brick Drive User Manual X1-X8: Encoder Feedback, Sinusoidal 8 X1-X8: D-sub DA-15F Mating: D-sub DA-15M 7 15 6 14 5 13 Pin # Symbol Function Notes 1 Sin+ Input Sine+ 2 Cos+ Input Cosine+ 3 CHC+ Input Index+ 4 EncPwr Output Encoder Power 5 Volts 5 CHU+ In/Out U Hall 6 CHW+ In/Out W Hall 7 2.5 Volts Output Reference Power 2.
Geo Brick Drive User Manual Setting up Sinusoidal Encoders The Sinusoidal position feedback is set up through the Encoder Conversion Table (ECT) as a high resolution interpolation entry. Encoder Conversion Table Setup Example, Channel 1 1. 2. 3. 4. Channel # 1 2 3 4 Conversion Type: High res.
Geo Brick Drive User Manual The equivalent Turbo PMAC script code for 8-channel entries // Channel 1 I8000=$FF8000 I8001=$078B00 I8002=$000000 // Channel 2 I8003=$FF8008 I8004=$078B02 I8005=$000000 // Channel 3 I8006=$FF8010 I8007=$078B04 I8008=$000000 // Channel 4 I8009=$FF8018 I8010=$078B06 I8011=$000000 // Channel 5 I8012=$FF8100 I8013=$078B08 I8014=$000000 // Channel 6 I8015=$FF8108 I8016=$078B0A I8017=$000000 // Channel 7 I8018=$FF8110 I8019=$078B0C I8020=$000000 // Channel 8 I8021=$FF8118 I8022=$078B
Geo Brick Drive User Manual Encoder Count Error (Mxx18) The Geo Brick Drive has an encoder count error detection feature. If both the A and B channels of the quadrature encoder change state at the decode circuitry (post-filter) in the same hardware sampling clock (SCLK) cycle, an unrecoverable error to the counter value will result (lost counts). Suggested M-Variable Mxx18 for this channel is then set and latched to 1 (until reset or cleared).
Geo Brick Drive User Manual Encoder Loss Detection, Sinusoidal Encoder loss detection with Sinusoidal encoders can be performed using the encoder conversion table. The ECT can be set up to compute the sum of the squares of the sine and cosine terms (including user introduced biases).
Geo Brick Drive User Manual X1-X8: Encoder Feedback, Resolver 8 X1-X8: D-sub DA-15F Mating: D-sub DA-15M 15 Pin # Symbol Function Notes 1 Sin+ Input Sine+ 2 Cos+ Input Cosine+ 3 CHC+ Input Index+ 4 EncPwr Output Unused 6 Unused 2.5 Volts Output 8 14 5 13 4 12 3 11 2 10 1 9 Reference Power 2.
Geo Brick Drive User Manual Resolver Excitation Magnitude Revolvers’ excitation magnitude is a global setting used for all available Resolver channels. It has 15 possible settings: #define ResExcMag M8000 ResExcMag->Y:$78B11,0,4 ; Resolver Excitation Magnitude MACRO definition ; Resolver Excitation Magnitude register Excitation Peak-Peak Magnitude [Volts] 1 1.6 2 2.5 3 3.3 4 4.2 5 5.0 6 6.0 7 6.9 8 7.7 Excitation Peak-Peak Magnitude [Volts] 9 8.5 10 9.5 11 10.4 12 11.
Geo Brick Drive User Manual Resolver Data Registers The Resolver raw data is found in the Resolver Data registers Channel 1 2 3 4 Register Y:$78B00 Y:$78B02 Y:$78B04 Y:$78B06 Channel 5 6 7 8 Register Y:$78B08 Y:$78B0A Y:$78B0C Y:$78B0E Encoder Conversion Table Processing A dedicated 3-line Encoder Conversion Table entry is used for Resolver feedback. Due to the noisy nature of Resolvers, implementing a tracking filter to the result is highly recommended.
Geo Brick Drive User Manual Calculating The Tracking Filter Gains The tracking filter gains are system dependent, and need to be fine-tuned. This can be done by gathering and plotting filtered versus unfiltered data while moving the motor shaft manually. Best case scenario is super-imposing the filtered data on top of the unfiltered with minimum ripple and overshoot.
Geo Brick Drive User Manual I8041=$478B10 ; I8042=$000000 ; I8043=$D8352B ; I8044=$400 ; I8045=$80000 ; I8046=$0 ; I8047=$1 ; // Channel 7 I8048=$F78B0C ; I8049=$478B10 ; I8050=$000000 ; I8051=$D83533 ; I8052=$400 ; I8053=$80000 ; I8054=$0 ; I8055=$1 ; // Channel 8 I8056=$F78B0E ; I8057=$478B10 ; I8058=$000000 ; I8059=$D8353B ; I8060=$400 ; I8061=$80000 ; I8062=$0 ; I8063=$1 ; // End Of Table I8064=$000000 ; Excitation address SIN/COS Bias word Tracking filter from conversion location $352B Maximum change
Geo Brick Drive User Manual Resolver Power-On PLC Example Setting up a resolver with 10V excitation magnitude and 10 KHz excitation frequency: // Clock Settings: 10KHz Phase & Servo I7100=5895 ; Servo IC1 I7101=0 I7102=0 I6800=5895 ; MACRO IC0 I6801=0 I6802=0 I7000=5895 ; Servo IC0 I7001=0 I7002=0 I10=838613 ; Servo Time Interrupt #define ResExcMag M8000 #define ResExcFreq M8001 ResExcMag->Y:$78B11,0,4 ResExcFreq->Y:$78B13,0,4 ResExcMag=11 ResExcFreq=0 ; Excitation Magnitude ; Excitation Frequency ; Excit
Geo Brick Drive User Manual X1-X8: Encoder Feedback, HiperFace Caution The majority of HiperFace devices requires 7-12VDC power. This has to be supplied externally and NOT wired into the brick unit. Pins#4 and #12 are unused in this case, leave floating.
Geo Brick Drive User Manual Setting up HiperFace On-Going Position The HiperFace on-going position is set up through the Encoder Conversion Table as a high resolution interpolation entry Encoder Conversion Table Setup Example, Channel 1 1. 2. 3. 4. Channel # 1 2 3 4 Conversion Type: High res.
Geo Brick Drive User Manual And the equivalent Turbo PMAC code for setting up all 8 channels: // Channel 1 I8000=$FF8000 I8001=$078B00 I8002=$000000 // Channel 2 I8003=$FF8008 I8004=$078B02 I8005=$000000 // Channel 3 I8006=$FF8010 I8007=$078B04 I8008=$000000 // Channel 4 I8009=$FF8018 I8010=$078B06 I8011=$000000 // Channel 5 I8012=$FF8100 I8013=$078B08 I8014=$000000 // Channel 6 I8015=$FF8108 I8016=$078B0A I8017=$000000 // Channel 7 I8018=$FF8110 I8019=$078B0C I8020=$000000 // Channel 8 I8021=$FF8118 I8022
Geo Brick Drive User Manual Setting up HiperFace Absolute Power-On Position Setting up the absolute position read with HiperFace requires the programming of two essential control registers: Global Control Registers Channel Control Registers The resulting data is found in: HiperFace Data Registers Pinouts and Software Setup 78
Geo Brick Drive User Manual Global Control Registers X:$78BnF (default value: $812004) where n=2 for axes 1-4 n=3 for axes 5-8 Axes 1-4 Axes 5-8 Global Control Register X:$78B2F X:$78B3F The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock. SER_Clock is generated from a two-stage divider clocked at 100 MHz as follows: M N SER_Clock [KHz] Baud Rate Global Register Setting 129 2 192.
Geo Brick Drive User Manual Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC Channel 1 Channel 2 Channel 3 Channel 4 where: n=2 for axes 1-4 n=3 for axes 5-8 X:$78B20 X:$78B24 X:$78B28 X:$78B2C Channel 5 Channel 6 Channel 7 Channel 8 X:$78B30 X:$78B34 X:$78B38 X:$78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters.
Geo Brick Drive User Manual HiperFace Data Registers The HiperFace absolute power-on data is conveyed into 4 memory locations; Serial Encoder Data A, B, C, and D. The Serial Encoder Data A register holds the 24 bits of the encoder position data. If the data exceeds the 24 available bits in this register, the upper overflow bits are LSB justified and readable in the Serial Encoder Data B, which also holds status and error bits. Serial Encoder Data C, and D registers are reserved and always read zero.
Geo Brick Drive User Manual Setting up HiperFace Encoders Example An 8-axis Geo Brick Drive is connected to eight HiperFace encoders, serial data is programmed to 9600 (M=129, N=2) baud rate for all eight channels: =0 Rising Edge =1 Falling Edge =0 Trigger on Phase =1 Trigger on Servo 0 clock Edge 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 0 0 0 0 Description: Bit #: Binary: M Divisor 1 0 Hex ($): 0 0 0 N Divisor 0 8 0 1 0 0 1 1 0 0 0 0 2 $4 for HiperFace Typical
Geo Brick Drive User Manual The Global and Channel Control registers have to be initialized on power-up. Following, is an example PLC showing the initialization of all eight channels: //=========================== NOTES ABOUT THIS PLC EXAMPLE ================================// // This PLC example utilizes: - M5990 through M5999 // - Coordinate system 1 Timer 1 // Make sure that current and/or future configurations do not create conflicts with // these parameters.
Geo Brick Drive User Manual Channels 1 through 4 are driving HiperFace encoders with 12-bit (4096) single-turn resolution and 12bit (4096) multi-turn resolution for a total number of data bits of 24 (12+12).
Geo Brick Drive User Manual #define #define #define #define #define Ch4STRes Ch5STRes Ch6STRes Ch7STRes Ch8STRes Ch1STRes=12 Ch2STRes=12 Ch3STRes=12 Ch4STRes=12 Ch5STRes=16 Ch6STRes=16 Ch7STRes=16 Ch8STRes=16 P7006 P7008 P7010 P7012 P7014 #define #define #define #define #define Ch1MTRes=12 Ch2MTRes=12 Ch3MTRes=12 Ch4MTRes=12 Ch5MTRes=12 Ch6MTRes=12 Ch7MTRes=12 Ch8MTRes=12 #define ChAbsSel ChAbsSel=$FF P7016 ; ; ; ; ; ; ; ; Ch1 Ch2 Ch3 Ch4 Ch5 Ch6 Ch7 Ch8 Ch4MTRes Ch5MTRes Ch6MTRes Ch7MTRes Ch8MTR
Geo Brick Drive User Manual STData=0 MTData=0 If (STRes!>24) ; Single Turn Res<=24 //===========SINGLE TURN DATA===========// Two2STDec=exp(STRes*ln(2)) Two2STHex=Two2STDec-1 STData=SerialRegA&Two2STHex //===========MULTI TURN DATA============// Two2MTDec=exp(MTRes*ln(2)) Two2MTHex=Two2MTDec-1 If (MTRes=0) LowerMTBits=0 UpperMTBits=0 Two2MTDec=0 Two2MTHex=0 MTData=0 Else LowerMTBits=24-STRes STTemp1=exp(LowerMTBits*ln(2)) STTemp2=0 UpperMTBits=MTRes-LowerMTBits MTTemp1=exp(LowerMTBits*ln(2)) MTTemp2=exp(Up
Geo Brick Drive User Manual Encoder Count Error (Mxx18) The Geo Brick Drive has an encoder count error detection feature. If both the A and B channels of the quadrature encoder change state at the decode circuitry (post-filter) in the same hardware sampling clock (SCLK) cycle, an unrecoverable error to the counter value will result (lost counts). Suggested M-Variable Mxx18 for this channel is then set and latched to 1 (until reset or cleared).
Geo Brick Drive User Manual Encoder Loss Detection, HiperFace Encoder loss detection with HiperFace encoders can be performed using the encoder conversion table. The ECT can be set up to compute the sum of the squares of the sine and cosine terms (including user introduced biases).
Geo Brick Drive User Manual X1-X8: Encoder Feedback, SSI 8 X1-X8: D-sub DA-15F Mating: D-sub DA-15M Pin # Symbol Function 15 Unused 2 Unused 3 Unused EncPwr Output 5 Data- Input 6 Clock- Output Unused 9 Unused 10 Unused 11 Unused 13 Clock+ Output 14 Data+ Input 15 12 3 11 2 10 1 9 Serial Encoder Clock- 8 Common 13 4 Data- packet Unused GND 14 5 Encoder Power 5 Volts only 7 12 6 Notes 1 4 7 Common Ground Serial Encoder Clock+ Data+ Packet Unused Note S
Geo Brick Drive User Manual Global Control Registers X:$78BnF (Default value: $630002) where: n=2 for axes 1-4 n=3 for axes 5-8 Global Control Register X:$78B2F X:$78B3F Axes 1-4 Axes 5-8 The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock. SER_Clock is generated from a two-stage divider clocked at 100 MHz: M N Clock Frequency 49 0 2.0 MHz 99 0 1.0 MHz 99 1 500.0 KHz 99 2 250.
Geo Brick Drive User Manual Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC Channel 1 Channel 2 Channel 3 Channel 4 where: n=2 for axes 1-4 n=3 for axes 5-8 X:$78B20 X:$78B24 X:$78B28 X:$78B2C Channel 5 Channel 6 Channel 7 Channel 8 X:$78B30 X:$78B34 X:$78B38 X:$78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters.
Geo Brick Drive User Manual SSI Data Registers The SSI data is conveyed into 4 memory locations; Serial Encoder Data A, B, C, and D. The Serial Encoder Data A register holds the 24 bits of the encoder position data. If the data exceeds the 24 available bits in this register, the upper overflow bits are LSB justified and readable in the Serial Encoder Data B, which also holds the parity error flag. Serial Encoder Data C, and D registers are reserved and always read zero.
Geo Brick Drive User Manual SSI Control Registers Setup Example Channel 1 is driving a 25-bit (13-bit Singleturn, 12-bit Multiturn) SSI encoder. The encoder outputs binary data with no parity, and requires a 1 MHz serial clock.
Geo Brick Drive User Manual Field Parity Type Trigger Mode Trigger Enable Gray / Binary Data Ready / Senc Mode Protocol Bits Value =0 =0 =1 =0 =1 =25 Notes Channel Control Word Hex 0x00 Continuous trigger (typical) Enable Binary Enable serial driver Hex 0x19 $001419 Control Registers Power-On PLC The global and channel control words have to be executed once on power-up: //=========================== NOTES ABOUT THIS PLC EXAMPLE ================================// // This PLC example utilizes: - M5990
Geo Brick Drive User Manual X1-X8: Encoder Feedback, EnDat 2.1/2.
Geo Brick Drive User Manual Global Control Registers X:$78BnF (default value: $002003) where n=2 for axes 1-4 n=3 for axes 5-8 Axes 1-4 Axes 5-8 Global Control Register X:$78B2F X:$78B3F The Global Control register is used to program the serial encoder interface clock frequency. SENC_CLK is the serial data clock transmitted from the Brick to the encoder. It is used by the encoder to clock in data transmitted from the Brick, and clock out data from the encoder: M N Serial Clock Frequency 0 0 4.
Geo Brick Drive User Manual Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC Channel 1 Channel 2 Channel 3 Channel 4 where: n=2 for axes 1-4 n=3 for axes 5-8 X:$78B20 X:$78B24 X:$78B28 X:$78B2C Channel 5 Channel 6 Channel 7 Channel 8 X:$78B30 X:$78B34 X:$78B38 X:$78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters.
Geo Brick Drive User Manual EnDat Data Registers The EnDat data is conveyed into 4 memory locations; EnDat Data A, B, C, and D. The EnDat Data A register holds the 24 bits of the encoder position data. If the data exceeds the 24 available bits in this register, the upper overflow bits are LSB justified and readable in the EnDat Data B register, which also holds error flags. The error bit flag is always returned by the encoder, except for a Reset command.
Geo Brick Drive User Manual EnDat Control Registers Setup Example Channel 1 is driving a 37-bit (25-bit Singleturn, 12-bit Multiturn) EnDat 2.2 encoder. The encoder requires a 4 MHz serial clock.
Geo Brick Drive User Manual Field Value Notes Command code =$38 Hex 0x38 for EnDat 2.
Geo Brick Drive User Manual X1-X8: Encoder Feedback, BiSS C/B 8 X1-X8: D-sub DA-15F Mating: D-Sub DA-15M Pin # Symbol Function 15 Unused 2 Unused 3 Unused EncPwr Output 5 Data- Input/Output 6 Clock- Output Unused 9 Unused 10 Unused 11 Unused 13 Clock+ Output 14 Data+ Input/Output 15 12 3 11 2 10 1 9 Serial Encoder Clock-, MO- 8 Common 13 4 Data- packet, SLOUnused GND 14 5 Encoder Power 5 Volts 7 12 6 Notes 1 4 7 Common Ground Serial Encoder Clock+ , MO+ D
Geo Brick Drive User Manual Global Control Registers X:$78BnF (default value: $18000B) where n=2 for axes 1-4 n=3 for axes 5-8 Global Control Register X:$78B2F X:$78B3F Axes 1-4 Axes 5-8 The Global Control register is used to program the serial encoder interface clock frequency SER_Clock and configure the serial encoder interface trigger clock. SER_Clock is generated from a two-stage divider clocked at 100 MHz as follows: M N Clock Frequency 49 0 2.0 MHz 99 0 1.0 MHz 99 1 500.0 KHz 99 2 250.
Geo Brick Drive User Manual Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC Channel 1 Channel 2 Channel 3 Channel 4 where: n=2 for axes 1-4 n=3 for axes 5-8 X:$78B20 X:$78B24 X:$78B28 X:$78B2C Channel 5 Channel 6 Channel 7 Channel 8 X:$78B30 X:$78B34 X:$78B38 X:$78B3C Each channel has its own Serial Encoder Command Control Register defining functionality parameters.
Geo Brick Drive User Manual W [09] [08:06] [05:00] 0 0x0 R/W W This write-only bit is used to enable the output drivers for SENC_MODE the SENC_SDO, SENC_CLK, SENC_ENA pins for each respective channel. Reserved Reserved and always reads zero. Status Bits 000 0x00 Position Bits This bit field is used to define the number of status bits in the encoder data. The valid range of settings is 0 – 6 (000 – 110). The status bits are assumed to always follow after the position data and before the CRC.
Geo Brick Drive User Manual BiSS Control Registers Setup Example Channel 1 is driving an 18-bit Renishaw resolute BiSS-C encoder. The encoder requires a 1 MHz serial clock, and has 2 status bits.
Geo Brick Drive User Manual Field CRC Mask BiSS Type Trigger Mode Trigger Enable Data Ready / Senc Mode Status Bits Protocol Bits Value =33 =0 =0 =1 =1 =2 =18 Notes Channel Control Word Hex 0x21 typical for Renishaw for BiSS-C Continuous trigger (typical) Enable $211492 Enable serial driver Binary 010 Binary 010010 Control Registers Power-On PLC The Global and Channel Control words have to be executed once on power-up //=========================== NOTES ABOUT THIS PLC EXAMPLE ===========================
Geo Brick Drive User Manual Setting up SSI | EnDat | BiSS In Turbo PMAC (i.e. Brick family), the absolute serial encoder data is brought in as an unfiltered parallel Y-word into the Encoder Conversion Table (ECT) where it is processed for the PMAC to use for ongoing position in the motor servo-loop, power-on absolute position, and (power-on/on-going) phase referencing. In general, encoder data is left-shifted 5 bits in the ECT to provide fractional data.
Geo Brick Drive User Manual Setup Summary Encoder Conversion Table Processing: Process Technique 1 Technique 2 Technique 3 ECT for Position From serial register A, 5-bit shift From serial register A, no shift From serial register A, 5-bit shift ECT for Commutation N/A From serial register A, 18 bits, no shift, Offset=ST-18 From serial register A, 18 bits, no shift, Offset=ST-18 ST is the Singleturn resolution (in bits) for rotary encoders.
Geo Brick Drive User Manual Resolution Scale Factor (SF) Parameter Resolution Scale Factor SF Where ST: RES: Encoder Type Technique 1/3 Technique 2 Rotary [counts/rev] = 2ST = 2ST-5 = 2ST/32 Linear [counts/user units] = 1/RES = 1/(32*RES) is the rotary encoder Singleturn resolution in bits is the linear scale resolution, in user units (e.g.
Geo Brick Drive User Manual Technique 1 Example Channel 1 is driving a 25-bit (13-bit Singleturn, 12-bit Multiturn) rotary serial encoder, or a linear scale with similar protocol resolution (13 bits, 1 micron). Encoder Conversion Table - for position (Technique 1) Conversion Type: Parallel pos from Y word with no filtering Width in Bits: Singleturn/absolute resolution in bits (e.g.
Geo Brick Drive User Manual Counts Per User Units (Technique 1) With technique 1, the user should expect to see 2ST counts per revolution for rotary encoders, and 1/Resolution counts per user unit for linear scales in the motor position window. 25-bit rotary encoder (13-bit Singleturn): 213= 8,192 cts/rev 1-micron linear scale: 1/0.
Geo Brick Drive User Manual In this mode, PMAC reads and reports 18 bits from the first serial data register: Serial Data Register B (Ch1 Y:$78B21) 47 Serial Data Register A (Ch1 Y:$78B20) 18 bits 23 0 With this setting of Ixx80=2, the actual position is reported automatically on Power-up. Otherwise, a #1$* command is necessary to read and report the absolute position. With absolute serial encoders (no multi-turn data), the power-on position format is set up for unsigned operation.
Geo Brick Drive User Manual Technique 2 Example Channel 1 is driving a 37-bit (25-bit Singleturn, 12-bit Multiturn) rotary serial encoder, or a linear scale with similar protocol resolution (25 bits, 10 nanometer). Encoder Conversion Table – for position (Technique 2) Conversion Type: Parallel pos from Y word with no filtering Width in Bits: Singleturn/absolute resolution in bits (e.g.
Geo Brick Drive User Manual At this point, you should be able to move the motor/encoder shaft by hand and see ‘motor’ counts in the position window Note Counts Per User Units (Technique 2) With technique 2, the user should expect to see 2ST-5= 2ST/32 counts per revolution for rotary encoders, and 1/(32*Resolution) counts per user unit for linear scales in the motor position window. Examples: 37-bit rotary encoder (25-bit Singleturn): 225/32= 1,048,576 cts/rev 10-nanometer linear scale: 1/(32*0.
Geo Brick Drive User Manual Encoder Conversion Table - for commutation (Technique 2) Commutation with Turbo PMAC does not require high resolution data. With Technique 2, it is recommended to fix it at 18 bits. This will also eliminate quantization noise. It is recommended to insert the commutation ECT entries after all of the position ECT entries have been configured.
Geo Brick Drive User Manual Absolute Power-On Position Read (Technique 2) With technique 2, the absolute power-on position can be read directly from the serial data registers. But, proper scaling (5-bit right shift, in a PLC) is required to conform to the unshifted on-going position.
Geo Brick Drive User Manual With absolute serial encoders (no multi-turn data), the power-on position format is set up for unsigned operation. Note The upper two fields in Ixx95 are the only relevant ones. Bits 0 through 15 are reserved and should always be set to 0.
Geo Brick Drive User Manual Technique 3 Example Channel 1 is driving a 32-bit (20-bit Singleturn, 12-bit Multiturn) rotary serial encoder, or a linear scale with similar protocol resolution (20 bits, 0.1 micron). Encoder Conversion Table - for position (Technique 3) Conversion Type: Parallel pos from Y word with no filtering Width in Bits: Singleturn/absolute resolution in bits (e.g.
Geo Brick Drive User Manual At this point, you should be able to move the motor/encoder shaft by hand and see ‘motor’ counts in the position window. Note Counts Per User Units (Technique 3) With technique 3, the user should expect to see 2ST counts per revolution for rotary encoders, and 1/Resolution counts per user unit for linear scales in the motor position window. Examples: 32-bit rotary encoder (20-bit Singleturn): 220= 1,048,576 cts/rev 0.1-micron linear scale: 1/0.
Geo Brick Drive User Manual Encoder Conversion Table - for commutation (Technique 3) Commutation with Turbo PMAC does not require high resolution data. With Technique 3, it is recommended to fix it at 18 bits. This will also eliminate quantization noise. It is recommended to insert the commutation ECT entries after all of the position ECT entries have been configured.
Geo Brick Drive User Manual Absolute Power-On Position Read (Technique 3) With Technique 3, the absolute power-on read can be performed using PMAC’s automatic settings (Ixx80, Ixx10 and Ixx95).
Geo Brick Drive User Manual With absolute serial encoders (no multi-turn data), the power-on position format is set up for unsigned operation. Note The upper two fields in Ixx95 are the only relevant ones. Bits 0 through 15 are reserved and should always be set to 0. Note Note Some serial encoders use an external (not from the Brick) source for power. Make sure that this power is applied prior to performing an absolute read on power-up.
Geo Brick Drive User Manual X1-X8: Encoder Feedback, Yaskawa Sigma II & III X1-X8: D-sub DA-15F Mating: D-sub DA-15M Pin # Symbol Function 4 EncPwr Output 5 SDI Input GND Common SDO Output 8 7 15 6 14 5 13 4 12 3 11 2 10 1 9 Notes 1 2 3 Encoder Power 5 Volts Serial Data In 6 7 8 9 10 11 12 Common Ground 13 14 Serial Data Out 15 2 10 6 8 15 7 14 2 4 6 13 5 12 4 11 3 1 3 5 9 1 If you prefer to keep the original Molex connector on the Yaskawa encoder cable, the follow
Geo Brick Drive User Manual Molex 2.00 mm (.079") Pitch Serial I/O Connector, Receptacle Kit, Wire-to-Wire. Part Number: 0542800609 Pin # Function Wire Color code 1 +5VDC RED 2 GND BLACK 3 BAT+ Orange 4 BATOrange/Black (Orange/White) 5 SDO Blue 6 SDI Blue/Black (Blue/White) All Yaskawa Sigma II & Sigma III protocols, whether incremental or absolute and regardless of the resolution, are supported. Note This option allows the Brick to connect to up to eight Yaskawa devices.
Geo Brick Drive User Manual Global Control Registers X:$78BnF (default value: $002003) where n=2 for axes 1-4 n=3 for axes 5-8 Global Control Register X:$78B2F X:$78B3F Axes 1-4 Axes 5-8 With the Yaskawa option, the Global Control Register is pre-set and need not be changed.
Geo Brick Drive User Manual Channel Control Registers X:$78Bn0, X:$78Bn4, X:$78Bn8, X:$78BnC Channel 1 Channel 2 Channel 3 Channel 4 where: n=2 for axes 1-4 n=3 for axes 5-8 X:$78B20 X:$78B24 X:$78B28 X:$78B2C Channel 5 Channel 6 Channel 7 Channel 8 X:$78B20 X:$78B34 X:$78B38 X:$78B3C Bits 10, 12, and 13 are the only fields to be configured in the Channel Control Registers with the Yaskawa option. The rest is protocol information. This has to be done in a startup PLC to execute once on power up.
Geo Brick Drive User Manual Yaskawa Feedback Channel Control Power-On Example PLC (Motors 1-8) This code statement can be added to your existing initialization PLC.
Geo Brick Drive User Manual Yaskawa Sigma II 16-Bit Absolute Encoder Y:$78B21 [23-12] [11-0] [23-20] Multi-Turn Position (16-bits) Channel 1 Channel 2 Channel 3 Channel 4 Y:$78B20 [19-4] Absolute Single Turn Data (16-bits) Yaskawa Data Registers Y:$78B20 Channel 5 Y:$78B24 Channel 6 Y:$78B28 Channel 7 Y:$78B2C Channel 8 [3:0] Y:$78B30 Y:$78B34 Y:$78B38 Y:$78B3C The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder Conversion Table.
Geo Brick Drive User Manual I8006=$278B2C I8007=$020004 ; Entry 4 Unfiltered parallel pos of location Y:$78B2C ; Width and Bias, total of 32-bits LSB starting at bit#4 I8008=$278B30 I8009=$020004 ; Entry 5 Unfiltered parallel pos of location Y:$78B30 ; Width and Bias, total of 32-bits LSB starting at bit#4 I8010=$278B34 I8011=$020004 ; Entry 6 Unfiltered parallel pos of location Y:$78B34 ; Width and Bias, total of 32-bits LSB starting at bit#4 I8012=$278B38 I8013=$020004 ; Entry 7 Unfiltered paralle
Geo Brick Drive User Manual Absolute Power-On Position Read (Yaskawa 16-bit) Channel 1 example PLC, 16-bit Absolute Sigma II Encoder End Gat Del Gat Close #define #define #define #define STD0_15 MTD0_3 MTD4_15 MTD0_15 M7000 M7001 M7002 M7003 ; ; ; ; Single-turn Data 0-15 (16-bits) Multi-Turn Data 0-3 (4-bits) Multi-Turn Data 4-15 (12-bits) Multi-Turn Data 0-15 (16-bits) STD0_15->Y:$78B20,4,16 MTD0_3->Y:$78B20,20,4 MTD4_15->Y:$78B21,0,12 MTD0_15->* #define Mtr1ActPos M162 Mtr1ActPos->D:$00008B ; #1 Act
Geo Brick Drive User Manual Yaskawa Sigma II 17-Bit Absolute Encoder Y:$78B21 [23-13] [12-0] [23-21] Multi-Turn Position (16-bits) Channel 1 Channel 2 Channel 3 Channel 4 Y:$78B20 [20-4] Absolute Single Turn Data (17-bits) Yaskawa Data Registers Y:$78B20 Channel 5 Y:$78B24 Channel 6 Y:$78B28 Channel 7 Y:$78B2C Channel 8 [3:0] Y:$78B30 Y:$78B34 Y:$78B38 Y:$78B3C The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder Conversion Table.
Geo Brick Drive User Manual Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8000=$278B20 I8001=$021004 ; Entry 1 Unfiltered parallel pos of location Y:$78B20 ; Width and Bias, total of 33-bits LSB starting at bit#4 I8002=$278B24 I8003=$021004 ; Entry 2 Unfiltered parallel pos of location Y:$78B24 ; Width and Bias, total of 33-bits LSB starting at bit#4 I8004=$278B28 I8005=$021004 ; Entry 3 Unfiltered parallel pos of location Y:$78B28 ; Width and Bias, total of 33
Geo Brick Drive User Manual Absolute Power-On Position Read (Yaskawa 17-bit) Channel 1 example PLC, 17-bit Absolute Sigma II Encoder End Gat Del Gat Close #define #define #define #define FirstWord SecondWord STD0_16 MTD0_15 M7000 M7001 M7002 M7003 ; ; ; ; Yaskawa Data Register1, 1st word Yaskawa Data Register1, 2nd word Single-Turn Data 0-16 (17-bits) Multi-Turn Data 0-15 (16-bits) FirstWord->Y:$78B20,0,24 SecondWord->Y:$78B21,0,4 STD0_16->* MTD0_15->* #define Mtr1ActPos M162 Mtr1ActPos->D:$00008B ; #
Geo Brick Drive User Manual Yaskawa Sigma III 20-Bit Absolute Encoder [23-16] Y:$78B21 [15-0] Multi-Turn Position (16-bits) Channel 1 Channel 2 Channel 3 Channel 4 Y:$78B20 [23-4] Absolute Single Turn Data (20-bits) Yaskawa Data Registers Y:$78B20 Channel 5 Y:$78B24 Channel 6 Y:$78B28 Channel 7 Y:$78B2C Channel 8 [3:0] Y:$78B30 Y:$78B34 Y:$78B38 Y:$78B3C The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder Conversion Table.
Geo Brick Drive User Manual Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8000=$278B20 I8001=$024004 ; Entry 1 Unfiltered parallel pos of location Y:$78B20 ; Width and Bias, total of 36-bits LSB starting at bit#4 I8002=$278B24 I8003=$024004 ; Entry 2 Unfiltered parallel pos of location Y:$78B24 ; Width and Bias, total of 36-bits LSB starting at bit#4 I8004=$278B28 I8005=$024004 ; Entry 3 Unfiltered parallel pos of location Y:$78B28 ; Width and Bias, total of 36
Geo Brick Drive User Manual Absolute Power-On Position Read (Yaskawa 20-bit) Channel 1 example PLC, 20-bit Absolute Sigma III Encoder End Gat Del Gat Close #define #define #define #define FirstWord SecondWord STD0_19 MTD0_15 M1000 M1001 M1002 M1003 ; ; ; ; Yaskawa Data Register1, 1st word Yaskawa Data Register1, 2nd word Single-Turn Data 0-19 (20-bits) Multi-Turn Data 0-15 (16-bits) FirstWord->Y:$78B20,0,24 SecondWord->Y:$78B21,0,4 STD0_19->* MTD0_15->* #define Mtr1ActPos M162 Mtr1ActPos->D:$00008B ;
Geo Brick Drive User Manual Yaskawa Sigma II 13-Bit Incremental Encoder [23-11] Y:$78B21 [10-0] 23 Incremental Compensation (11-bits) Channel 1 Channel 2 Channel 3 Channel 4 Y:$78B20 [22-11] [10:4] Incremental Position in Single Turn (13-bits) Yaskawa Data Registers Y:$78B20 Channel 5 Y:$78B24 Channel 6 Y:$78B28 Channel 7 Y:$78B2C Channel 8 3 2 1 0 U V W Z Y:$78B30 Y:$78B34 Y:$78B38 Y:$78B3C The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder Conver
Geo Brick Drive User Manual Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8000=$278B20 I8001=$00D006 ; Entry 1 Unfiltered parallel pos of location Y:$78B20 ; Width and Bias, total of 13-bits LSB starting at bit#6 I8002=$278B24 I8003=$00D006 ; Entry 2 Unfiltered parallel pos of location Y:$78B24 ; Width and Bias, total of 13-bits LSB starting at bit#6 I8004=$278B28 I8005=$00D006 ; Entry 3 Unfiltered parallel pos of location Y:$78B28 ; Width and Bias, total of 13
Geo Brick Drive User Manual Yaskawa Sigma II 17-Bit Incremental Encoder [23-11] Y:$78B21 [10-0] 23 Incremental Compensation (11-bits) Channel 1 Channel 2 Channel 3 Channel 4 Y:$78B20 [22-6] [5:4] Incremental Position in Single Turn (17-bits) Yaskawa Data Registers Y:$78B20 Channel 5 Y:$78B24 Channel 6 Y:$78B28 Channel 7 Y:$78B2C Channel 8 3 2 1 0 U V W Z Y:$78B30 Y:$78B34 Y:$78B38 Y:$78B3C The on-going servo and commutation position data is setup using a 2-line Entry in the Encoder Conversi
Geo Brick Drive User Manual Encoder Conversion Table Setup (Motors 1-8) The ECT automatic entry is equivalent to: I8000=$278B20 I8001=$011006 ; Entry 1 Unfiltered parallel pos of location Y:$78B20 ; Width and Bias, total of 17-bits LSB starting at bit#6 I8002=$278B24 I8003=$011006 ; Entry 2 Unfiltered parallel pos of location Y:$78B24 ; Width and Bias, total of 17-bits LSB starting at bit#6 I8004=$278B28 I8005=$011006 ; Entry 3 Unfiltered parallel pos of location Y:$78B28 ; Width and Bias, total of 17
Geo Brick Drive User Manual Yaskawa Incremental Encoder Alarm Codes Yaskawa Incremental encoder Alarm Registers Channel 1 Y:$78B22,8,8 Channel 5 Y:$78B32,8,8 Channel 2 Y:$78B26,8,8 Channel 6 Y:$78B36,8,8 Channel 3 Y:$78B2A,8,8 Channel 7 Y:$78B3A,8,8 Channel 4 Y:$78B2E,8,8 Channel 8 Y:$78B3E,8,8 Bit# Error Name Type 8 Fixed at “1” - 9 Encoder Error 10 Fixed at “0” 11 Position Error 12 13 Fixed at “0” Fixed at “0” Origin not passed Warning flag Fixed at “0” 14 15 Pinouts and Software Setup Al
Geo Brick Drive User Manual Homing with Yaskawa Incremental Encoders Hardware capture is not available with serial data encoders, software capture (Ixx97=1) is required. Setting Ixx97 to 1 tells Turbo PMAC to use the register whose address is specified by Ixx03 for the trigger position. The disadvantage is that the software capture can have up to 1 background cycle delay (typically 2-3 msec), which limits the accuracy of the capture.
Geo Brick Drive User Manual X9-X10: Analog Inputs/Outputs 5 X9-X10: D-Sub DE-9F Mating: D-Sub DE-9M Pin # 1 2 3 4 5 6 7 8 9 Symbol AGND ADC+ DAC+ BR-NC AMPFLT ADCDACBRCOM BR-NO Function Ground Input Output Output Input Input Output Common Output 4 9 3 8 1 2 7 6 Notes Analog Ground 16-bit Analog Input, channel 5/6+ 12-bit filtered PWM analog output, channel 5/6+ Brake 5-6 / Relay Normally Closed Amplifier fault Input 5/6 16-bit Analog Input, channel 5/612-bit filtered PWM analog output, channel 5/6
Geo Brick Drive User Manual Setting up the Analog (ADC) Inputs 1 AGND Single Ended Analog Input Signal ADC+ 4 8 5 ±10VDC Input Signal ±10VDC Input Signal 9 9 ADC- 5 4 8 3 3 ADC+ 7 7 2 2 6 6 AGND 1 Differential Analog Input Signal For single-ended connections, tie the negative ADC pin to ground. Note The analog inputs use the ADS8321 Converter device Note Note Full (16-bit) resolution is available for bipolar signals only.
Geo Brick Drive User Manual Analog Inputs Suggested M-Variables With 4-axis units, the ADC strobe word of Servo IC 1 should be set to $1FFFFF.
Geo Brick Drive User Manual Setting up the Analog (DAC) Outputs 7 2 8 8 9 5 5 9 4 DACAnalog Device 4 DAC+ Analog Device 3 DAC+ 3 7 2 6 AGND 6 AGND Single Ended DAC Output Signal 1 1 Differential DAC Output Signal The analog outputs on X9 through X12 are (12-bit) filtered PWM signals, therefore a PWM frequency in the range of 30-40 KHz and a PWM deadtime of zero are suggested for a good quality analog output signal (minimized ripple).
Geo Brick Drive User Manual With Servo IC 0 sourcing the clock at its enhanced settings (9.0 KHz PWM), the following are suggested Servo IC 1 clock settings which would provide a good analog output signal: Servo IC 0 Clock Settings Resulting Frequencies KHz I7000=3275 I7001=0 I7002=3 I10=1863964 PWM PHASE SERVO Note Servo IC 1 Clock Settings I7100=816 I7101=3 I7102=3 I7104=0 Note that n=4 in this case 9.0 18 4.5 Resulting Frequencies KHz PWM PHASE SERVO PWMDeadtime 36 18 4.
Geo Brick Drive User Manual Setting up the General Purpose Relay, Brake This option provides either a general purpose relay (which can be toggled in software) OR a dedicated brake relay output tied to its’ corresponding channel amplifier-enable line. This option is built to order and is jumper configurable at the factory (E6, E7, E8 and E9). The brake relay is commonly used in synchronizing (in hardware) external events such as automatically releasing a motor brake upon enabling it (i.e. vertical axis).
Geo Brick Drive User Manual High True Brake Output Sourcing Sinking 6 7 2 8 9 4 5 5 9 4 8 3 Logic device / BRAKE RET Brake BRAKE 3 BRAKE Logic device / Brake BRAKE RET 7 2 6 1 DC Power Supply COM 12-24V 1 DC Power Supply 12-24VDC COM Low True Brake Output Sourcing Sinking DC Power Supply 12-24VDC COM 7 5 5 9 9 4 4 8 8 3 7 Logic device / BRAKE RET Brake BRAKE 3 BRAKE Logic device / Brake BRAKE RET 2 2 6 6 1 1 DC Power Supply COM 12-24V The brake relays on X9, X10, X
Geo Brick Drive User Manual Setting up the External Amplifier Fault Input The amplifier fault minus signal is internally tied to the brake/relay common (pin #8). Caution The amplifier fault signal is a bidirectional single-ended input. Its’ minus end is tied internally to the brake/relay common (pin #8) which dictates how the amplifier fault input should be connected. If the amplifier fault signal is not used, it can be treated and used as a general purpose +12~24V input by setting bit 20 of Ixx24 to 1.
Geo Brick Drive User Manual X13: USB 2.0 Connection This connector is used to establish USB (A-B type cable) communication between the host PC and the Geo Brick Drive. This type of USB cable can be purchased at any local electronics or computer store. It may be ordered from Delta Tau as well. Pin # Symbol Function 1 VCC N.C. 2 DData3 D+ Data+ 4 Gnd GND 5 Shell Shield 6 Shell Shield Caution The electrical ground plane of the host PC connected through USB must be at the same level as the Geo Brick drive.
Geo Brick Drive User Manual X15: Watchdog and ABORT (TB2) X15 has two essential functions: A 24VDC Abort Input (mandatory for normal operation) which can be used in various applications to halt motion when necessary (i.e. opening machine door, replacing tool). A watchdog relay output allowing the user to bring the machine to a stop in a safe manner in the occurrence of a watchdog. 1 X15: Phoenix 5-pin TB Female Mating: Phoenix 5-pin TB Male Pin # 1 2 3 4 5 Symbol ABORTABORT+ WD N.O. WD N.C.
Geo Brick Drive User Manual Killed axes are not affected by the triggering of the abort. They do not get enabled (unlike the software abort command). Note There are no software configurable parameters to enable or disable the hardware Abort Input functionality.
Geo Brick Drive User Manual RS232: Serial Communication Port An optional serial RS-232 communication port is available on the Geo Brick Drives. This port can be used as a primary communication mean or employed as a secondary port that allows simultaneous communication. Pin# 1 2 3 4 5 6 7 8 9 N.C. DTR TXD CTS RXD RTS DSR N.C. GND RS-232: D-Sub DE-9F Mating: D-Sub DE-9M 5 4 9 3 8 2 7 1 6 Symbol Function Description Notes N.C.
Geo Brick Drive User Manual A1 - A8: Motor Wiring Low (5/10A) – Medium (8/16A) power Axes: U V W GND A1 - A8: Molex 4-pin Female Mating: Molex 4-pin Male Pin # Symbol Function Description 1 GND 2 W Output Axis 1-8 Phase 3 3 V Output Axis 1-8 Phase 2 4 U Output Axis 1-8 Phase 1 Tie cable shield to shield stud or chassis ground.
Geo Brick Drive User Manual Note The Geo Brick Drive endorses U, V, and W nomenclature for phases 1 through 3 respectively. Some motor manufacturers will call them A, B, and C. Others may call them L1, L2, and L3. For wiring DC brush motors, use phases U and W, and leave V floating: U Tie cable shield to shield stud or chassis ground.
Geo Brick Drive User Manual Motor Cable Cable shield Cable shield Motor Side Geo Brick Side The motor cable should have a separate conductor (drain wire) tying the motor frame to the Geo Brick drive. Keep the motor cable as short as possible to maintain lower capacitance (desirable). A capacitance of up to 50 PicoFarads per foot (0.3048 m), and runs of up to 200 feet (60 m) are acceptable with 240VAC.
Geo Brick Drive User Manual Motor Selection The Geo Brick Drive interfaces with a wide variety of motors. It supports virtually any kind of threephase AC/DC rotary, linear brushless, or induction motors. Using two out of the three phases, it is also possible to drive permanent magnet DC brush motors. Motor Inductance Digital direct PWM control requires a significant amount of motor inductance to drive the on-off voltage signals resulting smooth current flow with minimal ripple.
Geo Brick Drive User Manual Required Bus Voltage for Speed and Torque For a required motor Speed, and continuous Torque, the minimum DC Bus Voltage (VDC) can be estimated by looking at the equivalent single phase circuit: R L + BEMF - Motor - + The vector sum of back EMF, voltage across resistor and inductor should be less than VDC / 6 .
Geo Brick Drive User Manual +5V ENC PWR (Alternate Encoder Power) Typically, feedback devices are powered up through the X1-X8 connectors on the Geo Brick Drive using the internal +5VDC power supply. In some cases, feedback devices consume power excessively and risk of surpassing the internal power supply limitation. This connector provides an alternate mean to power-up the feedback devices (+5V only) if the budget exceeds the specified thresholds.
Geo Brick Drive User Manual Wiring the Alternate (+5V) Encoder Power Pin# Symbol Description Note 1 5VEXT Input 5V from external power supply 2 5VINT Output Tie to pin#1 to use internal power supply 3 GND Common Mating Connector: Adam-Tech part number 25CH-E-03 Pins part number 25CTE-R Crimping tool: Molex EDP #11-01-0208 Only two of the three available pins should be used at one time. Do not daisy-chain the internal 5V power supply with an external one.
Geo Brick Drive User Manual Functionality, Safety Measures There are a couple of safety and functionality measures to take into account when an external encoder power supply is utilized: Power sequence: encoders versus controller/drive It is highly recommended to power up the encoders before applying power to the Geo Brick Drive Encoder Power Loss (i.e.
Geo Brick Drive User Manual MOTOR SETUP This section describes manual (step by step) instructions for setting up AC/DC brushless, AC induction, and brush motors. Motor Setup Flow Chart The following, is a comprehensive diagram showing the basic steps to follow for successfully setting up a motor with the Geo Brick Drive: Encoder / Motor wiring Factory Default Reset $$$***, Save, $$$ (recommended) Encoder Software Setup. Verify Feedback. Rotate Motor Shaft by Hand Dominant Clock Settings.
Geo Brick Drive User Manual Dominant Clock Settings The choice of clock settings usually relies on the system requirements, and type of application. Minimum PWM Frequency The minimum PWM frequency of a system is based on the time constant of the motor. In general, the lower the time constant, the higher the PWM frequency should be. The motor time constant is calculated dividing the motor inductance by the resistance (phase-phase).
Geo Brick Drive User Manual Hardware Clock: The hardware clock is directly related to sampling rates of encoders, digital /analog converters, and pulse frequency modulation PFM clock. With the Geo Brick Drive, the hardware clock setting (I7m03) is mostly used to set PFM clock frequencies. Also, for increasing the encoder sampling rate for high speed/resolution digital quadrature encoders. The following, are recommended clock settings for enhanced performance.
Geo Brick Drive User Manual Condition If I4900=$1 and I4902=$0 If I4900=$3 and I4902=$0 If I4900=$1 and I4902=$1 If I4900=$3 and I4902=$1 Note Use/Download I7000s I7100s and I7000s I6800s and I7000s I6800s, I7100s and I7000s Description Servo IC 0 present Servo IC 0, 1 present Servo IC 0 and Macro IC 0 present Servo IC 0, 1 and Macro IC 0 present Certain clock settings can be alternatively changed for specific functions (i.e. Filtered PWM output). This is explained in each pertaining section.
Geo Brick Drive User Manual AC/DC Brushless (Rotary/Linear) Motor Setup Before you start At this point of the setup process it is assumed that the encoder has been wired and configured correctly in the Encoder Feedback section. And that moving the motor/encoder shaft by hand shows encoder counts in the position window. Parameters with comments ending with -User Input require the user to enter information pertaining to their system/hardware.
Geo Brick Drive User Manual Commutation Position Address, Commutation Enable: Ixx83, Ixx01 Quadrature / Sinusoidal / HiperFace For these types of feedback devices, it is recommended to use the quadrature data for commutation.
Geo Brick Drive User Manual Resolver With resolvers, it is recommended to use the unfiltered data processed in the Encoder Conversion Table: // these addresses can I183=$3503 ; Motor I283=$350B ; Motor I383=$3513 ; Motor I483=$351B ; Motor I583=$3523 ; Motor I683=$352B ; Motor I783=$3533 ; Motor I883=$353B ; Motor I101,8,100=1 differ depending on the encoder 1 On-going Commutation Position 2 On-going Commutation Position 3 On-going Commutation Position 4 On-going Commutation Position 5 On-going Commutatio
Geo Brick Drive User Manual I2T Protection: Ixx57, Ixx58, Ixx69 The lower values (tighter specifications) of the continuous/instantaneous current ratings between the Geo Brick Drive and motor are chosen to setup I2T protection. If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then the time allowed at peak current is set to 2 seconds. If the peak current limit chosen is that of the Motor, then the time allowed at peak is that of the motor (see spec sheet).
Geo Brick Drive User Manual Commutation Cycle Size: Ixx70, Ixx71 The ratio of Ixx70/Ixx71 represents the number of encoder counts per electrical cycle. These parameters are typically set up with respect to the motor, encoder type, resolution, and processing method: For a rotary motor: the number of commutation cycles Ixx70 should be equal to the number of pole pairs: Ixx70= {Number of pole pairs}.
Geo Brick Drive User Manual Note The Singleturn (ST) data bits for rotary encoders, as well as the serial protocol bit-length for linear scales can be found in the encoder manufacturer’s spec sheet. The Electrical Cycle Length (ECL) or pole-pair pitch (in user units) can be found in the motor manufacturer’s spec sheet. Note Ixx71 Saturation High resolution encoders could saturate the Ixx71 register, which is a signed 24-bit register. Thus, the maximum value writeable to it is 2^24-1signbit= 16,777,215.
Geo Brick Drive User Manual Current-Loop Tuning: Ixx61, Ixx62, Ixx76 The current-loop tuning is done as in any Turbo PMAC digital current loop setup. The PMACTuningPro2 automatic or interactive utility can be used to fine-tune the Current-Loop. An acceptable Current-Loop step response would look like: Note Motor Setup Current-Loop Natural Frequencies in the range of 200-500 Hz are good enough for most applications.
Geo Brick Drive User Manual Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91 The Geo Brick Drive supports a variety of phasing procedures for commutated (brushless) motors.
Geo Brick Drive User Manual Manual | Custom Phasing Manual phasing can be used with virtually any type of feedback. It is ideal for: Quick Phasing Troubleshooting phasing difficulties Finding a “good” phase finding output value to use in the 2-guess or stepper phasing Manual phasing consists of locking the motor tightly onto one of its phases, then zeroing the phase position register (suggested M-Variable Mxx71).
Geo Brick Drive User Manual Alternately, a more refined manual phasing method can be implemented.
Geo Brick Drive User Manual 2-Guess Phasing Method The 2-guess is a rough phasing method for motors with relatively small loads. It is not ideal for high torque requirements. It can be used with any type of feedback.
Geo Brick Drive User Manual Hall Effect Phasing: Digital quadrature encoders Digital hall sensors can be used for rough phasing on power-up without the need for a phasing search operation such as the manual, 2-guess, or stepper phasing methods. It provides absolute information about where the motor is positioned with respect to its commutation cycle. It is highly desirable due to the fact that it allows phasing the motor without any movement.
Geo Brick Drive User Manual Plotting the phase position (Mxx71) The scale factor is used to scale the phase position to 0 - 360°. It is = 360 / Ixx71 Plotting the hall sensors (Mxx28) $700000 Masking enables reading W, V, and U in bits 20, 21, and 22 respectively 5. Gathering, and plotting data for a short positive travel of the motor should look like: Motor #1: Hall Sensors Vs.
Geo Brick Drive User Manual With positive movement of the motor, if the halls state transition is from 1 to 3 (as seen in the example plot) then use the following set of equations: I181=$78000 #define HallsTrans1_3 M7025 #define Mtr1HEZ P7025 #define Mtr1HEZTemp P7026 HallsTrans1_3->* HallsTrans1_3=$800000 Mtr1HEZ=180 Mtr1HEZTemp = INT(((Mtr1HEZ%360)/360)*64) I191=(Mtr1HEZTemp*65536)+HallsTrans1_3 ; ; ; ; ; ; ; ; ; Channel 1 power-on phase address (see table below) Standard direction, 1 to 3 Hall effect
Geo Brick Drive User Manual Fine Phasing Correcting for hall sensors’ error (torque loss) can be implemented using the following procedure (performed once per installation): 1. Phase the motor manually (as tight as possible). See manual phasing section. 2. Home motor to machine zero location (e.g. most commonly using flag and C-index), with or without home offset, similarly to how the motor would home after the machine has been commissioned. 3.
Geo Brick Drive User Manual Hall Effect Phasing: Yaskawa Incremental encoders Hall-effect sensors can be used for rough phasing on power-up without the need for a phasing search move. This initial phasing provides reasonable torque. With a hall sensors’ error of about ±30° resulting a loss in torque of about 15%, it will need to be corrected for top operation. Hall-effect sensors usually map out 6 zones of 60° electrical each.
Geo Brick Drive User Manual #define #define #define #define #define #define #define #define Ch1YasIncBits0_3 Ch2YasIncBits0_3 Ch3YasIncBits0_3 Ch4YasIncBits0_3 Ch5YasIncBits0_3 Ch6YasIncBits0_3 Ch7YasIncBits0_3 Ch8YasIncBits0_3 M127 M227 M327 M427 M527 M627 M727 M827 ; ; ; ; ; ; ; ; Channel Channel Channel Channel Channel Channel Channel Channel 1 2 3 4 5 6 7 8 Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Yaskawa Inc. Inc. Inc. Inc. Inc. Inc. Inc. Inc.
Geo Brick Drive User Manual Example: Channel 1 is driving a Yaskawa Incremental Encoder, with the test procedure above resulting in zone-1 definitions.
Geo Brick Drive User Manual Absolute Power-On Phasing: HiperFace With HiperFace, the absolute serial data can be used to establish a phase reference position on power-up without moving the motor. A custom PLC is suggested for reading the absolute power-on position directly from the raw serial HiperFace data registers.
Geo Brick Drive User Manual Channel# ChPhaseSel (Binary) ChPhaseSel (Hex) 8 7 6 5 4 3 2 1 0 0 0 0 1 1 1 1 => ChPhaseSel =$0F 0 F Channel# Absolute Power-On Phasing, channels ChPhaseSel (Binary) 1,3,5,7 ChPhaseSel (Hex) 8 7 6 5 4 3 2 1 0 1 0 1 0 1 0 1 => ChPhaseSel =$55 5 5 Absolute Power-On Phasing, channels 1 through 4 //=========================== NOTES ABOUT THIS PLC EXAMPLE ================================// // This PLC example utilizes: - P7050 through P7079 // - Suggested M-Variables (make sure
Geo Brick Drive User Manual Ixx08=108+(ChNo-1)*100 Mxx71=171+(ChNo-1)*100 PhaseErrBit=148+(ChNo-1)*100 I5111= 100*8388608/I10 while(I5111>0) endw // Compute position offset from user force phase test input PhaseOffset=P(PhaseTest)%P(MtrSF) PhaseOffset=PhaseOffset*I(Ixx70) PhaseOffset=PhaseOffset%I(Ixx71) I5111= 100*8388608/I10 while(I5111>0) endw // Compute present phase position PresPhasePos=M(ActPos)/(I(Ixx08)*32) PresPhasePos=PresPhasePos%P(MtrSF) PresPhasePos=PresPhasePos*I(Ixx70) PresPhasePos=PresPhas
Geo Brick Drive User Manual Absolute Power-On Phasing: EnDat | SSI | BiSS With absolute serial encoders, the absolute serial data can be used to establish a phase reference position on power-up without moving the motor or executing a phase search move. The automatic setup of power-on phasing with PMAC is established through finding the motor’s phase offset (a one-time test per installation) and storing the result (scaled properly) in the phase position offset register (Ixx75).
Geo Brick Drive User Manual Finding the Phase Offset The phase offset is found experimentally by performing a one-time phase force test on an uncoupled/unloaded (preferably) motor: 1. Read/update the absolute position (must be read correctly for the phasing to work). Issue a #n$* command, or enable the corresponding absolute position read PLC. 2. Record Ixx29, and Ixx79 (if non zero).These should be restored at the end of the test 3.
Geo Brick Drive User Manual Setting up Ixx91, the power-on phase position format: Technique 1 For Ixx01= 3 For Ixx01= 1 = Unsigned, Y-register = Unsigned, X-register, ST bits (ST + 5bit-shift) bits Technique 2/3 (Ixx01=1) = Unsigned, X-register, 18 bits The following diagram displays how Ixx91 is set up: Bit 22: =1 X-Register =0 Y-Register Bit 23: =1 Signed =0 Unsigned Ixx91 Bits16-21: Number of Bits to read Bits 0-15: reserved (always 0) Binary: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Hex($):
Geo Brick Drive User Manual Setting up Ixx75, the phase position offset The Phase position offset is set up using the following equation: Where: PhaseOffset is the recorded value (found earlier) from the phase force test. In this mode, and upon issuing a #n$ command, PMAC will compute the correct phase position then close the loop on the motor (motor must be tuned to hold position). It is imperative that the absolute position read is performed successfully prior to issuing a phase command.
Geo Brick Drive User Manual Absolute Power-On Phasing: Yaskawa absolute encoders With absolute encoders, the single turn data is used to find an absolute phase position offset per electrical cycle thus an absolute phase reference position. Note Prior to implementing a power-on phasing routine you should try and be able to phase the motor manually, successfully execute open-loop moves (output and encoder direction matching), and jog commands (require PID tuning).
Geo Brick Drive User Manual Absolute Power-On Phasing Example PLCs (Yaskawa): With the motor phase position offset established, the phase position register can now be modified on power-up to compensate for the calculated offset. This allows the user to issue jog commands or close the loop and run a motion program on power-up or reset.
Geo Brick Drive User Manual Open-Loop Test, Encoder Decode: I7mn0 Having phased the motor successfully, it is now possible to execute an open loop test. The open-loop test is critical to verify that the direction sense of the encoder is the same as the command output. A positive command should create a velocity and position counting in the positive direction; a negative command should create a velocity and position counting in the negative direction.
Geo Brick Drive User Manual A failed open-loop test would either move the motor in the opposite direction of the command or lock it onto a phase, one the following plots may apply: General recommendation for troubleshooting unsuccessful open loop tests: 1. Re-phase motor and try again 2. An inverted saw tooth response, most times, indicate that the direction sense of the encoder is opposite to that of the command output.
Geo Brick Drive User Manual Position-Loop PID Tuning: Ixx30…Ixx39 The position-loop tuning is done as in any Turbo PMAC PID-Loop setup. The PMACTuningPro2 automatic or interactive utility can be used for fine tuning. WARNING Remember to perform an Open Loop Test after phasing and before trying to close the loop on the motor to make sure that the encoder decode (I7mn0) is correct. A positive open loop command should result in positive direction (of the encoder) motion and vice-versa.
Geo Brick Drive User Manual High Speed Motors With Geo Brick Drives, motors conceived to operate at higher speeds (e.g. greater than 15,000 rpm) require the implementation of commutation delay compensation Ixx56. This is also known as phase advance. It only applies to motors commutated (synchronous or asynchronous) by PMAC.
Geo Brick Drive User Manual AC Induction (Asynchronous) Motor Setup – With Encoder Before you start This section assumes that the encoder has been wired and configured correctly in the Encoder Feedback section. And that moving the motor/encoder shaft by hand shows encoder counts in the position window. The AC Induction Motor Setup section is conceived for Motor#4, which is most commonly used in Geo Brick Drive applications as a Spindle.
Geo Brick Drive User Manual Commutation Position Address, Commutation Enable: Ixx83, Ixx01 Digital Quadrature Feedback (Default) I483=$078019 I401=1 ; Motor #4 On-going Commutation Position Address ; Motor #4 Commutation Enabled, from X-register Note AC Induction Motors are not generally used for (high precision) positioning; it is assumed that a quadrature feedback type device is being used. For setting up other feedback devices, the commutation position address (Ixx83) would have to change.
Geo Brick Drive User Manual I2T Protection: Ixx57, Ixx58, Ixx69 The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo Brick Drive and motor are chosen to setup I2T protection. If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then the time allowed at peak current is set to 2 seconds. If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at peak current.
Geo Brick Drive User Manual Commutation Cycle Size: Ixx70, Ixx71 The ratio of Ixx70/Ixx71 represents the number of encoder counts per electrical cycle. For an AC Induction Motor, we will limit the explanation for digital quadrature feedback devices since they are the most widely used for this type of motor.
Geo Brick Drive User Manual Open-Loop Test, Encoder Decode: I7mn0 Having calculated the Slip Gain Ixx78 and performed a satisfactory current-loop tuning, an open-loop test can now be performed to verify the direction sense of the encoder counting versus the command output. A positive command should create a positive velocity and a position counting in the positive direction; a negative command should create a negative velocity and a position counting in the negative direction.
Geo Brick Drive User Manual Automatic Open-loop test, 20% magnitude and 300 milliseconds move time, showing incorrect encoder decode. AC Induction Motors, with incorrect encoder decode, generally show erratic data in the OpenLoop test (as opposed to a nice inverted saw-tooth shape curve with DC Brushless motors). In either cases, I7mn0 for motor #4 (i.e. I7040) needs to be changed from 3 to 7 or vice-versa.
Geo Brick Drive User Manual Position-Loop PID Tuning: Ixx30…Ixx39 The position-loop tuning is done as in any Turbo PMAC PID-Loop setup. The PMACTuningPro2 automatic or interactive utility can be used for tuning. 2000 counts (~1/2 rev) Step Move for 1000 milliseconds (1 sec) 16000 counts (~4 revs) Parabolic Move for 2000 milliseconds (2sec) Note Motor Setup Due to the slow response nature of AC Induction Motors, allow relatively longer move times.
Geo Brick Drive User Manual Optimizing Magnetization Current Ixx77, Slip Gain Ixx78 Magnetization current During the optimization procedure, the motor will rotate up to its maximum velocity. Make sure that the motor is well mounted/clamped and uncoupled from any rotating inertia. Caution Always be ready to issue a Kill if the motor exceeds its maximum specified speed.
Geo Brick Drive User Manual Ixx77 Optimization Procedure: Issue a 25% Open Loop Command (i.e. #4O25) and monitor the motor velocity in the position window (scaled to rpm). The motor should reach and run steadily at a speed that is less than or equal to the motor base speed. The goal of this first step is to achieve a smooth run at a constant speed. If the motor reaches a speed that is greater than the rated base speed, Kill the motor, increase Ixx77 and redo the open-loop test again.
Geo Brick Drive User Manual Optimization procedure (optional): Gather velocity versus time data while issuing an open loop command (i.e. #4O25) Increase the slip gain gradually (small increments~0.00001) until you reach a satisfactory rise time. Of course, the time constant of the motor should not be violated. Slip Gain Optimization, Experimental Data: High slip gain values can cause the motor to hunt and lose smoothness.
Geo Brick Drive User Manual Field Weakening Field weakening consists of decreasing the stator current component (lowering the magnetization current Ixx77) in order to allow AC induction motors to achieve speeds superior to the specified base speed (name plate). The lower the magnetization current, the higher is the speed that can be achieved.
Geo Brick Drive User Manual High Speed Spindles With Geo Brick Drives, spindles conceived to operate at higher speeds (e.g. greater than 15,000 rpm) require the implementation of commutation delay compensation Ixx56. This is also known as phase advance. It only applies to motors commutated by PMAC. Ixx56 permits the PMAC to compensate lags in the electrical circuits of the motor phases, and/or for calculation delays in the commutation, therefore improving high-velocity performance.
Geo Brick Drive User Manual AC Induction (Asynchronous) Motor Setup – Without Encoder, Direct Micro-Stepping Before you start The AC Induction Motor Setup section is conceived for Motor#4, which is most commonly used in Geo Brick Drive applications as a Spindle. Parameters with comments ending with -User Input require the user to enter information pertaining to their system/hardware.
Geo Brick Drive User Manual Motor Quadrature/Torque Command Value Registers Address Address Motor # Motor # (X-Memory) (X-Memory) 1 $0000BF 5 $0002BF 2 $00013F 6 $00033F 3 $0001BF 7 $0003BF 4 $00023F 8 $00043F Motor Activation, Position, Velocity Pointers: Ixx03, Ixx04 The position and velocity pointers (no external encoder used) will be set to the integration result: I400=1 I403=$350B I404=$350B ; Motor #4 Active ; Motor #4 position and velocity feedback Address Commutation Angle, Current Mask, Flag M
Geo Brick Drive User Manual Maximum Achievable Motor Speed, Output Command Limit: Ixx69 In Micro-Stepping, the maximum achievable speed is proportional to the Servo clock and electrical cycle length. A faster Servo Clock results in higher achievable motor speeds. The smaller value of the Theoretical versus Calculated output command limit Ixx69 is chosen. Theoretical Ixx69 Sine Table: 2048 Electrical Length = 2048*32 (5-bit shift) = 65536 Max Electrical Length/Servo Cycle = Electrical Length/6 = 10922.
Geo Brick Drive User Manual I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77 The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo Brick Drive and motor are chosen to setup I2T protection. If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then the time allowed at peak current is set to 2 seconds.
Geo Brick Drive User Manual Motor Slip Gain: Ixx78 Ixx78 controls the relationship between the torque command and the slip frequency of magnetic field on the rotor of an AC Induction (Asynchronous) motor. While it is usually set experimentally, The Motor Slip Gain Ixx78 can be calculated either from Motor Name Plate, or Rotor Time Constant. Calculating Slip Gain From Name Plate Data.
Geo Brick Drive User Manual Current-Loop Tuning: Ixx61, Ixx62, Ixx76 The current-loop tuning is done as in any Turbo PMAC digital current loop setup. The PMACTuningPro2 automatic or interactive utility can be used to fine-tune the Current-Loop. An acceptable Current-Loop step response would look like: Note Current-Loop Natural Frequencies in the range of 200-500 Hz are good enough for most applications.
Geo Brick Drive User Manual Moving the Motor In Direct Micro-Stepping of AC Induction motors, the pseudo closed-loop allows the use of Jog commands for positioning, rotating at a pre-specified speed, or indefinite rotation in either direction. In this mode, the AC Induction motor is commanded exactly the same as a DC Brushless (Servo) motor.
Geo Brick Drive User Manual DC Brush Motor Setup Before you start At this point of the setup process it is assumed that the encoder has been wired and configured correctly in the Encoder Feedback section. And that moving the motor/encoder shaft by hand shows encoder counts in the position window. Parameters with Comments ending with -User Input require the user to enter information pertaining to their system/hardware. Downloading and using the suggested M-variables is highly recommended.
Geo Brick Drive User Manual PWM Scale Factor: Ixx66 If Motor Rated Voltage > Bus Voltage: I166=1.10*I7000 ; Motor #4 PWM Scale Factor. Set to 10% above PWM Count. I266=I166 I366=I166 I466=I166 I566=I166 ; Assuming same motor(s) as motor #1 I666=I166 I766=I166 I866=I166 ; Assuming same motor(s) as motor #1 If Bus Voltage > Motor Rated Voltage: Ixx66 acts as a voltage limiter (command from PMAC to power block).
Geo Brick Drive User Manual I2T Protection: Ixx57, Ixx58, Ixx69 The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo Brick Drive and motor are chosen to setup I2T protection. If the peak current limit chosen is that of the Geo Brick Drive (possible values 10, 16, or 30 Amps) then the time allowed at peak current is set to 2 seconds. If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at peak current.
Geo Brick Drive User Manual ADC Offsets: Ixx29, Ixx79 The ADC offsets importance may vary from one system to another, depending on the motor(s) type and application requirements. They can be left at default of zero especially if a motor setup is to be reproduced on multiple machines by copying the configuration file of the first time integration.
Geo Brick Drive User Manual Position-Loop PID Gains: Ixx30…Ixx39 The position-loop tuning is done as in any Turbo PMAC PID-Loop setup. The PMACTuningPro2 automatic or interactive utility can be used to fine-tune the PID-Loop.
Geo Brick Drive User Manual MACRO CONNECTIVITY Introduction to MACRO MACRO Ring for Distributed Motion Control - www.macro.org MACRO stands for Motion and Control Ring Optical. It is a high bandwidth non-proprietary digital interface industrialized by Delta Tau Data Systems for distributed multi-axis systems. MACRO can be connected using either fiber optic or twisted copper pair RJ45 cables.
Geo Brick Drive User Manual MACRO Configuration Examples The Geo Brick Drive, with the optional MACRO interface, supports a wide variety of MACRO ring formations.
Geo Brick Drive User Manual Review: MACRO Nodes and Addressing Each MACRO IC consists of 16 nodes: 2 auxiliary, 8 servo and 6 I/O nodes: Auxiliary nodes are reserved for master/slave setting and internal firmware use Servo nodes are used for motor control carrying feedback, commands, and flag information I/O nodes are user configurable for transferring general purpose data I/ O Nodes Node 15 14 13 12 11 10 9 8 Auxiliary Nodes 7 6 5 4 3 2 1 0 Servo Nodes Each I/O node consists of
Geo Brick Drive User Manual Review: MACRO Auxiliary Commands In MACRO Auxiliary mode (Brick-Brick), master and slave data exchange (i.e. reads, writes) can be done using Macro Auxiliary MX commands. For simplicity, the following examples describe syntax commands intended to communicate with a slave unit associated with node 0. But ultimately, these commands can be used with any enabled node on the addressed slave. MACRO auxiliary commands are only valid from the master side.
Geo Brick Drive User Manual Configuration Example 1: Brick - Brick MACRO Ring Master MACRO Ring Slave This configuration supports two modes: Torque Mode: Most commonly used and highly recommended due to setup simplicity and computational load sharing between Master and Slave. In this mode, the Master closes strictly the position loop and sends torque commands to the Slave. The Slave closes the current loop and handles the commutation of the motor.
Geo Brick Drive User Manual Setting up the Slave in Torque Mode 1. Establish communication to Slave unit using USB, Ethernet, or Serial. 2. Consider starting from factory default settings. This can be done by issuing a $$$*** followed by a Save, and a $$$. 3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software. 4. Set up motors per the motor setup section described in this manual. I2T settings (Ixx57, and Ixx58) should be set for these motors on the master side.
Geo Brick Drive User Manual 8. MACRO ring settings I80, I81 and I82 enable the ring error check function. I85 specifies a station number which the slave unit is assigned to (e.g. multiple slave stations). I6840 specifies whether this is a master or a slave. I6841 specifies which MACRO nodes are enabled. Note, that it is not advised to enable nodes which will not be used.
Geo Brick Drive User Manual The slave motors should be phased before setting Ixx44. This can be done through a handshaking PLC and using MACRO auxiliary MX commands to trigger the phase routine.
Geo Brick Drive User Manual Setting up the Master in Torque Mode 1. Establish communication to the master using USB, Ethernet, or Serial. 2. Consider starting from factory default settings. This can be done by issuing a $$$*** followed by a Save, and a reset $$$. 3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software. 4. The master’s motors can now be set up as described in the motor setup section of this manual. Typically, these are motors #1 through #4 (or #8). 5.
Geo Brick Drive User Manual 9.
Geo Brick Drive User Manual Servo Node Addresses MACRO motor Motor # Address 1st 5 or 9 $78420 2 nd 3 rd th 4 6 or 10 7 or 11 8 or 12 Note $78424 $78428 $7842C Register MACRO motor Motor # Servo Node 0 5th Servo Node 1 th th th Servo Node 4 Servo Node 5 6 7 8 Address Register 9 or 13 $78430 Servo Node 8 10 or 14 $78434 Servo Node 9 11 or 15 $78438 Servo Node 12 12 or 16 $7843C Servo Node 13 At this point of the setup, you should be able to move the motor/encoder shaft b
Geo Brick Drive User Manual Setting up the Slave in PWM Mode 1. Establish communication to the slave using USB, Ethernet, or Serial. 2. Consider starting from factory default settings. This can be done by issuing a $$$*** followed by a Save, and a reset $$$. 3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software. 4. Clock settings considerations The MACRO ring is synchronized at phase rate.
Geo Brick Drive User Manual Setting up the Master in PWM Mode 1. Establish communication to the Geo Brick Drive using USB, Ethernet, or Serial. 2. Consider starting from factory default settings. This can be done by issuing a $$$*** followed by a Save, and a reset ($$$). 3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software. 4. The master’s motors can now be set up as described in the motor setup section of this manual.
Geo Brick Drive User Manual 8. Activating MACRO motors, Flag Control The master Geo Brick Drive can be fitted with 1 or 2 servo ICs to service local channels (4 or 8). The next available channel will be the first macro/slave motor. This allows taking advantage of some of the default MACRO settings set by the firmware upon detecting a MACRO IC.
Geo Brick Drive User Manual Servo Node Addresses MACRO Motor # Address motor 1st 2 nd 3 rd 4 th 5 or 9 6 or 10 7 or 11 8 or 12 Note Macro Connectivity $78420 $78424 $78428 $7842C Register MACRO Motor # motor Address Register Servo Node 0 5th 9 or 13 $78430 Servo Node 8 Servo Node 1 th 10 or 14 $78434 Servo Node 9 th 11 or 15 $78438 Servo Node 12 th 12 or 16 $7843C Servo Node 13 Servo Node 4 Servo Node 5 6 7 8 At this point of the setup, you should be able to move the motor
Geo Brick Drive User Manual 10. The flag address Ixx25 for MACRO motors is initiated by default in the firmware. MACRO Register MACRO Ixx25 Motor # Ixx25 Motor # motor motor 1st 2 nd rd 3 th 4 5 or 9 6 or 10 7 or 11 8 or 12 $3440 $3441 $3444 $3445 Register Servo Node 0 5th 9 or 13 $3448 Servo Node 8 Servo Node 1 th 10 or 14 $3449 Servo Node 9 th 11 or 15 $344C Servo Node 12 th 12 or 16 $344D Servo Node 13 Servo Node 4 Servo Node 5 6 7 8 11.
Geo Brick Drive User Manual 16. The current feedback mask Ixx84 should be set to $FFF000. 17. Commutation Cycle Size Ixx70 = {Number of pair poles} Ixx71 = {Number of counts per revolution * 32} 18. I2T Settings (example for motor #9): I15=0 #define MaxPhaseFreq P7000 #define PWMClk P7001 #define PhaseClk P7002 #define ServoClk P7003 MaxPhaseFreq=117964.8/(2*I6800+3) PWMClk=117964.
Geo Brick Drive User Manual 20. Motor Phasing, Open-Loop Test Motor phasing is performed in the same manner as it would be for any digitally commutated motor. The following is a satisfactory open loop test: An erratic or inverted saw tooth response is typically (with quadrature, or sinusoidal encoders) an indication of reversed encoder direction –with respect to the output command- The encoder decode parameter can then be changed from 7 to 3 or vice versa.
Geo Brick Drive User Manual Configuration Example 2: Brick – Geo MACRO Drive This configuration example discusses the necessary steps for setting up a MACRO ring with an 8-axis Geo Brick Drive as a master and up to 4 x dual axes Geo MACRO drives as slaves. Geo MACRO Drive (Slave #4) For simplicity, we will cover guidelines for setting up one Geo MACRO drive in detail. The others can be configured similarly.
Geo Brick Drive User Manual The following steps are guidelines for setting up one Geo Macro Drive slave: 1. Establish communication to the Geo Brick Drive using USB, Ethernet, or Serial. 2. Consider starting from factory default settings. This can be done by issuing a $$$*** followed by a Save, and a reset ($$$). 3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software. 4. The master’s motors can now be set up as described in the motor setup section of this manual.
Geo Brick Drive User Manual 8. If the Geo MACRO Drive has been configured prior to this setup, then it may have been assigned a station number and/or may have some enabled nodes. You would need to know what the station number is in order to perform ASCII communication, or which nodes are enabled in order to issue MS commands.
Geo Brick Drive User Manual 16. Activating MACRO Motors Variable I4900 reports how many servo ICs is the Geo Brick Drive populated with. Knowing that each Servo IC services 4 axes, querying I4900 will reveal how many local channels are occupied and thus the number of the 1st available motor on the Macro Ring: If I4900= $1 $3 Local Motors 1–4 1–8 Servo ICs present IC0 only (4-axis) IC0, and IC1(8-axis) First Motor# On The Ring 5 9 Activation 2-axis Slave I500,2,100=1 I900,2,100=1 17.
Geo Brick Drive User Manual Servo Node Addresses MACRO motor Motor # Address 1st 5 or 9 $78420 Register MACRO motor Motor # Address Register Servo Node 0 5th th 9 or 13 $78430 Servo Node 8 nd 6 or 10 $78424 Servo Node 1 6 10 or 14 $78434 Servo Node 9 3rd 7 or 11 $78428 Servo Node 4 7th 11 or 15 $78438 Servo Node 12 Servo Node 5 th 12 or 16 $7843C Servo Node 13 2 th 4 8 or 12 Note Macro Connectivity $7842C 8 At this point of the setup, you should be able to move
Geo Brick Drive User Manual 18.
Geo Brick Drive User Manual The current loop feedback address Ixx82 should be set per the following table: MACRO motor Motor # Ixx82 Register MACRO motor Motor # Ixx82 Register 1st 5 or 9 $078422 Servo Node 0 5th 9 or 13 $078432 Servo Node 8 th nd 6 or 10 $078426 Servo Node 1 6 10 or 14 $078436 Servo Node 9 3rd 7 or 11 $07842A Servo Node 4 7th 11 or 15 $07843A Servo Node 12 Servo Node 5 th 12 or 16 $07843E Servo Node 13 2 4 th 8 or 12 $07842E Commutation Cy
Geo Brick Drive User Manual 20. Motor Phasing, Open-Loop Test Motor phasing is performed in the same manner as it would be for any digitally commutated motor. The following is a satisfactory open loop test: An erratic or inverted saw tooth response is typically (with quadrature, or sinusoidal encoders) an indication of reversed encoder direction –with respect to the output command- The encoder decode parameter MS{node},I910 can then be changed from 7 to 3 or vice versa.
Geo Brick Drive User Manual Brick – Brick MACRO I/O Data Transfer This section describes the handling of inputs and outputs data transfer over the MACRO ring. That is transferring I/O data from the Brick slave to the Brick master.
Geo Brick Drive User Manual Transferring the Digital (Discrete) Input and Outputs A Geo Brick Drive can be populated with up to 32 digital inputs and 16 digital outputs (connectors J6 and J7) for a total of 48 I/O points (bits) mapped as follows: Inputs st 1 byte 2nd byte 3rd Byte 4th Byte Address Connector Outputs st Y:$78800,0,8 Y:$78801,0,8 Y:$78803,0,8 Y:$78804,0,8 1 byte 2nd byte J6 Address Connector Y:$78802,0,8 Y:$78805,0,8 J6 J7 J7 For the digital inputs and outputs, we will use the I/
Geo Brick Drive User Manual The proposed transfer mechanism establishes the reading of inputs and writing to outputs through bitwise assignments (single-bit definitions) from the master side. Outputs: At the master side, the user would write the desired outputs’ state (using the bitwise definitions) to pre-defined open memory registers which are copied, using a PLC code, into the 24-bit register of MACRO I/O node 2.
Geo Brick Drive User Manual Slave Digital I/Os Transfer Example I6841=I6841|$000004 // Digital Outputs #define OutByte1 M7000 #define OutByte2 M7001 OutByte1->Y:$078802,0,8,U OutByte2->Y:$078805,0,8,U // Digital Inputs #define InByte1 M7003 #define InByte2 M7004 #define InByte3 M7005 #define InByte4 M7006 InByte1->Y:$078800,0,8,U InByte2->Y:$078801,0,8,U InByte3->Y:$078803,0,8,U InByte4->Y:$078804,0,8,U ; Make sure that I/O node 2 is active ; 1st Byte of Outputs J6 ; 2nd Byte of Outputs J7 ; ; ; ; 1st 2
Geo Brick Drive User Manual Master Digital I/Os Transfer Example I6841=I6841|$000004 ; Make sure that I/O node 2 is active // Open Memory Registers #define OpenReg16Y M7000 #define OpenReg16X M7001 #define OpenReg15Y M7002 OpenReg16Y->Y:$10FF,0,24,U OpenReg16X->X:$10FF,8,16,U OpenReg15Y->Y:$10FE,8,16,U M7000..
Geo Brick Drive User Manual Bitwise Assignments (downloaded onto the master) // J6 Outputs #define Output1 #define Output2 #define Output3 #define Output4 #define Output5 #define Output6 #define Output7 #define Output8 M7101 M7102 M7103 M7104 M7105 M7106 M7107 M7108 Output1->Y:$10FF,0,1 Output2->Y:$10FF,1,1 Output3->Y:$10FF,2,1 Output4->Y:$10FF,3,1 Output5->Y:$10FF,4,1 Output6->Y:$10FF,5,1 Output7->Y:$10FF,6,1 Output8->Y:$10FF,7,1 ; ; ; ; ; ; ; ; Output Output Output Output Output Output Output Output
Geo Brick Drive User Manual Transferring the X9-X12 Analog Inputs/Outputs A Geo Brick Drive MACRO slave can be populated with up to: 4 x 16-bit analog inputs (connectors X9 through X12) 4 x 12-bit filtered PWM ±10V analog outputs (connectors X9 through X12) These inputs and outputs are typically mapped using suggested or pre-defined M-Variables at the following addresses: Analog Inputs, connectors X9-X12 M505->Y:$078105,8,16,S M605->Y:$07810D,8,16,S M705->Y:$078115,8,16,S M805->Y:$07811D,8,16,S Not
Geo Brick Drive User Manual Slave Settings I6841=I6841|$3300 ; Enable servo nodes 8,9,12,13 I544=$078433 I644=$078437 I744=$07843B I844=$07843F ; ; ; ; MacroIC0 MacroIC0 MacroIC0 MacroIC0 Node 8 Node 9 Node12 Node13 Command Command Command Command Address. Address. Address. Address.
Geo Brick Drive User Manual Transferring the J9 Analog Inputs A Geo Brick Drive MACRO slave with option 12 offers 8 x 12-bit analog inputs on connector J9.
Geo Brick Drive User Manual MACRO Limits, Flags and Homing Limits and Flags MACRO Motors’ Limits and Flags are automatically copied by the Firmware. They can be accessed from the Ring Controller using the MACRO Suggested M-Variables. Note In a Brick – Brick MACRO configuration, the over-travel limits should be disabled on the slave side (Ixx24=Ixx24|$20001). They are only enabled on the master side.
Geo Brick Drive User Manual MACRO Suggested M-Variables // Macro IC 0 Node 0 Flag Registers M150->X:$003440,0,24 ; Macro IC 0 M151->Y:$003440,0,24 ; Macro IC 0 M153->X:$003440,20,4 ; Macro IC 0 M154->Y:$003440,14,1 ; Macro IC 0 M155->X:$003440,15,1 ; Macro IC 0 M156->X:$003440,16,1 ; Macro IC 0 M157->X:$003440,17,1 ; Macro IC 0 M158->X:$003440,18,1 ; Macro IC 0 M159->X:$003440,19,1 ; Macro IC 0 Node Node Node Node Node Node Node Node Node 0 0 0 0 0 0 0 0 0 flag status flag command TUVW flags amplifier e
Geo Brick Drive User Manual M754->Y:$00344C,14,1 M755->X:$00344C,15,1 M756->X:$00344C,16,1 M757->X:$00344C,17,1 M758->X:$00344C,18,1 M759->X:$00344C,19,1 // Macro IC 0 Node 13 M850->X:$00344D,0,24 M851->Y:$00344D,0,24 M853->X:$00344D,20,4 M854->Y:$00344D,14,1 M855->X:$00344D,15,1 M856->X:$00344D,16,1 M857->X:$00344D,17,1 M858->X:$00344D,18,1 M859->X:$00344D,19,1 Macro Connectivity ; ; ; ; ; ; Macro Macro Macro Macro Macro Macro IC IC IC IC IC IC 0 0 0 0 0 0 Node Node Node Node Node Node 12 12 12 12
Geo Brick Drive User Manual Absolute Position Reporting over MACRO Writing to the motor actual position (Mxx62) should only be done when the motor is killed. Caution The Geo Brick Drive supports a wide variety of absolute encoders. When used as a MACRO slave, the simplest way to report the absolute position to the master (ring controller) is to use the MACRO auxiliary communication (read/write).
Geo Brick Drive User Manual DRIVE STRUCTURE AND TROUBLESHOOTING Geo Brick Drive Structure The Geo Brick Drive is a multilayer of digital and power electronic boards: Add-in Board (603910) Add-in Board (603910) Control Board (603793- up to109) Control Board (603793- 10B) Amplifiers (603800, 603803) Amplifiers (603967, 603968) Older Models Newer Models Note Newer models of the Geo Brick Drive were introduced in October of 2012.
Geo Brick Drive User Manual Serial Number and Board Revisions Identification The following Serial Number Page provides the users with information about their Geo Brick Drive without having to open the enclosure by simply inserting the serial number and pressing the enter key: This page will display: Description and part number of the top assembly (Geo Brick Drive) Part numbers and revision numbers of the sub-assembly boards Top assembly original ship date Top assembly last ship date (e.g.
Geo Brick Drive User Manual Default Mode, Strobe Word (I7m06) Setting In this mode, the Geo Brick amplifier block returns phases A and B current feedback as well as global and axis faults to the Controls Section. The ADC Strobe Word in this mode has to be set (saved) to $3FFFFF. Caution The ADC Strobe Word (I7m06) has been masked, in PMAC firmware version 1.944 and above, to avoid bad user settings and drive damage. The Geo Brick Drive will reject wrong settings automatically.
Geo Brick Drive User Manual Enhanced Mode (Reading IGBT Temperature and Bus Voltage) Enhanced mode enables the controls section (thus the user) to access information on the amplifier side normally not available directly to the user, information such as IGBT temperature and Bus Voltage. Default Mode Enhanced Mode Global Faults √ √ Axis Faults √ √ IGBT Temperature Bus Voltage N/A N/A √ √ This information can be useful to display on the operator interface, and troubleshooting exercises.
Geo Brick Drive User Manual Error Codes The Global and Axis faults are interpreted by the Amplifier processor(s) and sent to the 7segment 3-character scrolling display (D1 amp status). The scrolling display begins with a number indicating the faulted axis number (1-8) or the letter A indicating a Global Fault, followed by the letter F indicating a fault, followed by the specific Fault Code. The blinking dot is the heartbeat of the drive processor(s) and is always active in normal mode operation.
Geo Brick Drive User Manual Global Faults Display AF1 Bit Description Code $04 PWM Over Frequency Fault: Indicates that the PWM has exceeded the specified limit. This can occur if clock settings are incorrect, or in some cases if main bus power is not applied. Safe Torque Off, STO Fault: The +24V is not applied to STO IN (J2 pin #1). No power output to the motors is allowed in this mode. AF2 AF3 $0D EEPROM Communication Fault: Indicates that the memory has been corrupted.
Geo Brick Drive User Manual Reading IGBT Temperature and Bus Voltage IGBT Temperature reading: The baseline IGBT temperature is set at 25°C (77°F), with ADC bits [11-4] value of $21 (Hexadecimal). Above the baseline temperature, every additional 2.13°C (3.834°F) correspond to $1 hexadecimal ADC count. The maximum IGBT temperature for the Geo Brick Drive is about 125°C (257°F), or $5B Hexadecimal ADC counts. Bus Voltage reading: Every ADC $1 Hexadecimal count corresponds to 5.875 Volts DC.
Geo Brick Drive User Manual Calculating Motor Current Output Example Channel 1 on a 5/10A Geo Brick Drive is driving a commutated brushless motor. The instantaneous current output can be calculated as follows: // Substitutions and definitions #define MaxADC P7055 #define MaxOutput P7056 #define Mtr1ActQuadCurrent M175 #define Mtr1ActDirectCurrent M176 #define GlobalVar1 P7057 #define GlobalVar2 P7058 #define Axis1CurrentOutput P7059 ; ; ; ; ; ; ; Max ADC reading.
Geo Brick Drive User Manual LED Status Symbol Function(s) State Light Description RLY X9 Axis#5 Status Brake/Relay#5 Status On Off Green Unlit Green when Axis#5 Enabled or Brake/Relay#5 output is true RLY X10 Axis#6 Status Brake/Relay#6 Status On Off Green Unlit Green when Axis#6 Enabled or Brake/Relay#6 output is true RLY X11 Axis#3 Status Brake/Relay#3 Status On Off Green Unlit Green when Axis#3 Enabled or Brake/Relay#3 output is true RLY X12 Axis#4 Status Brake/Relay#4 Status On Of
Geo Brick Drive User Manual Error 18 (Erro18) Error 18 “Attempt to perform phase reference during move, move during phase reference, or enabling with phase clock error” is highlighted in red in the terminal window: This error occurs if any of the following is true: The addressed motor is not phased. In this mode, the phasing search error bit is highlighted in the Motor Status window. No Phase Clock (internal). In this mode, the Phase Clock Missing bit is highlighted in the Global Status window.
Geo Brick Drive User Manual Watchdog Timer Trip On a Geo Brick Drive, the watchdog timer trigger illuminates the red WD LED and interrupts communication. It occurs if any of the following is true: PMAC CPU over-clocked In this mode, the CPU signals that is has been overloaded with computation and cannot accomplish tasks in a timely manner. i.e. bad programming such as an infinite loop, or too much computation (Kinematics) requiring faster CPU option.
Geo Brick Drive User Manual Geo Brick Drive Specific Online Commands Type Function: Scope: Syntax: Report type of Turbo PMAC Global TYPE TYP Caution A Geo Brick Drive is malfunctioning or damaged hence unsafe to use, and may result in equipment damage if AMP is not reported in the TYPE command (TURBO2, X4) This command causes Turbo PMAC to return a string reporting the configuration of the board(s).
Geo Brick Drive User Manual Ampversion Function: Scope: Syntax: Report Amplifier Processor Firmware Version Number Global AMPVERSION AMPVER Caution The AMPVER command will kill all enabled motors, which can be hazardous in some systems (i.e. enabled vertical axis without an automatic software or hardware braking mechanism) This command causes the Geo Brick Drive to report the firmware version of the amplifier processor. The response is a 6-digit hex value.
Geo Brick Drive User Manual Ampsid Function: Scope: Syntax: Report Serial Electronic Identification Number Global AMPSID Caution The AMPSID command will kill all enabled motors, which can be hazardous in some systems (i.e. enabled vertical axis without an automatic software or hardware braking mechanism) This command causes the Geo Brick Drive to report the electronic identification number of the amplifier module.
Geo Brick Drive User Manual Boot Switch SW (Firmware Reload) – Write-Protect Disable This momentary button switch has two essential functions: 1. Putting the Geo Brick Drive in Boostrap Mode for reloading PMAC firmware. 2.
Geo Brick Drive User Manual Reloading PMAC firmware The following steps ensure proper firmware reload/upgrade. Step1: Power up the unit while holding the BOOT SW switch down. Step2: Release the BOOT SW switch approximately 2-3 seconds after power-up. Step3: Launch the Pewin32Pro2. Run the PMAC Devices window under Setup > Force All Windows To Device Number. Click Test for the corresponding communication method.
Geo Brick Drive User Manual Step4: The download utility will prompt for a .BIN file. MAKE SURE you open the correct file. The PMAC firmware file for Geo Brick Drives MUST ALWAYS be TURBO2A.BIN. Note Step4: Wait until download is finished, and click done. Step5: Close all PMAC applications (i.e. Pewin32Pro2), and recycle power.
Geo Brick Drive User Manual Changing IP Address, Gateway IP, Gateway Mask In order to change any of these addresses, the BOOT SW switch has to be held down prior to pressing the corresponding Store button.
Geo Brick Drive User Manual Enabling ModBus A Brick unit ordered initially with the ModBus option is normally enabled by factory. However, ModBus is a field upgradeable option. The user needs to provide Delta Tau (or their local distributor) with the MAC ID of the Brick unit. This is found in the lower left hand side of the Ethernet 100 Base T utility. Upon purchase of the ModBus Option, a .BIN file is obtained from Delta Tau for this purpose.
Geo Brick Drive User Manual Reloading Boot and Communication Firmware The boot and firmware .IIC files are required for this procedure. They are normally obtained directly from Delta Tau, or downloaded from the PMAC forum Webpage. The following steps ensure proper configuration: Downloading the wrong boot or communication files will severely corrupt the functionality of the communication processor.
Geo Brick Drive User Manual Reset Switch SW (Factory Reset) This momentary switch button is used to reset the Geo Brick Drive back to factory default settings, global reset. Issuing a SAVE after power up (with the reset switch held down) will permanently erase any user configured parameters. Caution Reset SW instructions: Power down the unit then power back up while holding the Reset SW switch down. Release the Reset SW once the unit is powered up.
Geo Brick Drive User Manual LIST OF CHANGES AND UPDATES This is a list of significant changes and user related updates: AMPVER Command, December 2007 Failure to execute the AMPVER command on power-up for firmware 1.943 and earlier can result in equipment damage. Caution Geo Brick Drives, firmware version 1.943 and earlier, require a minimum delay of 500 milliseconds and the issuing of AMPVER command on power up.
Geo Brick Drive User Manual External Encoder Power Supply Connector, April 2010 The introduction of special feedback devices (i.e. Sinusoidal, Serial, and Resolver) and MACRO Fieldbus connectivity onto the Geo Brick controller/drive series has amplified the 5-volt power budget significantly. For encoder power requirements exceeding 4 Amperes, an external 5-volt power supply must be used to drive the encoders. A new connector (+5V ENC PWR) is introduced to support this scheme.
Geo Brick Drive User Manual AMPVER Fail-Safe Mechanism. Configuration Error, May 2010 In firmware version 1.947 and later, the Servo/Macro IC config. Error bit is set (highlighted) in the Global Status window if the ampver command has internally failed on power-up. In this scenario, the PMAC does not recognize that it is connected to a Geo Brick power block, and the amplifier status is not reported properly making the application unsafe. Motors are not allowed to be enabled in this mode.
Geo Brick Drive User Manual Modifications and Improvements, October 2012 The following modifications are included in Geo Brick Drive units shipped in October 2012 and later. These units can be recognized by the new 24V logic connector which includes the Safe Torque Off (STO) pins.
Geo Brick Drive User Manual APPENDIX A Schematic Samples Watchdog: X15 Inputs: J6 & J7 Appendix A 286
Geo Brick Drive User Manual Outputs: J6 & J7 (603793 – 109 and earlier) Outputs: J6 & J7 (603793 – 10A and later) Appendix A 287
Geo Brick Drive User Manual Limits & Flags: J4 Appendix A 288
Geo Brick Drive User Manual APPENDIX B DB Connector Spacing Specifications X1-8: DB-15 Connectors for encoder feedback 3.115±.05 1.541±.015 8 7 6 15 14 5 4 13 12 3 2 11 10 8 1 9 7 15 6 14 5 13 4 12 3 11 2 10 1 9 X9-12: DB-9 Connectors for Analog I/O 2.45±.05 1.213+.015 5 4 9 3 8 2 7 1 6 5 4 9 3 8 2 7 1 6 Screw Lock Size for all DB-connectors .18 7 #4-40 FEMALE SCREWLOCK QTY 2 per connector Steel, Zinc Plated Appendix B .235 DIA .
Geo Brick Drive User Manual APPENDIX C Control Board Jumpers (For Internal Use) E6 – E9: AENA/GPIO Selection Jumper E-Point E6 2 1 1 Jump pins 1 to 2 for GPIO1 on X9 Jump Pins 2 to 3 for AENA5 on X9 See Part Number 3 Jump pins 1 to 2 for GPIO2 on X10 Jump Pins 2 to 3 for AENA6 on X10 See Part Number 3 Jump pins 1 to 2 for GPIO3 on X11 Jump Pins 2 to 3 for AENA3 on X11 See Part Number 3 Jump pins 1 to 2 for GPIO4 on X12 Jump Pins 2 to 3 for AENA4 on X12 See Part Number E8 2 1 E9 2 1 Def
Geo Brick Drive User Manual E13: Firmware Reload Enable (BOOT SW) E-Point E13 1 2 Description Install E13 to reload firmware through the communications port. Remove jumper for normal operations. Default No Jumper E14: Watchdog Disable Jumper E-Point E14 1 2 Description Jump 1 to 2 to disable Watchdog timer (for test purposes only, can be hazardous). Remove jumper to enable Watchdog timer.
Geo Brick Drive User Manual APPENDIX D Absolute Serial Encoders Limitation With Turbo PMAC The following is a summary of certain limitations which could be encountered with higher resolution absolute serial encoders, and a description of related registers with respect to the proposed setup techniques. Note that techniques 1 and 3 are processed in the Encoder Conversion Table (ECT) using the standard 5-bit shift, whereas technique 2 is processed with no shift.
Geo Brick Drive User Manual Maximum “Actual” Open-Loop Velocity In open-loop mode, the actual velocity register is limited by the Encoder Conversion Table to 24 bits. Furthermore, it requires two samples (servo cycles) to compute the velocity. Therefore, the maximum value which the actual velocity register can withhold is: When performing an open-loop move/test with higher resolution serial encoders, care must be taken not to exceed this threshold.
Geo Brick Drive User Manual Maximum “Commanded” Closed-Loop Velocity In closed-loop mode, the commanded (desired) velocity register is limited to: In terms of motor counts per millisecond, the maximum commanded velocity will be the same with or without shifting but since the number of counts per revolution “unshifted” is 32 times less, then the maximum programmable velocity is 32 times greater.
