Delta Tau 5XX-603869-XUXX User Manual

^3 Programmable Multi-Axis Controller
^4 5XX-603869-XUXX
^5 December 14, 2012
^1 USER MANUAL
^2 Brick Controller
Single Source Machine Control Power // Flexibility // Ease of Use
21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Delta Tau 5XX-603869-XUXX Specifications

General

Category	Controller
Model	5XX-603869-XUXX
Input Voltage	24 VDC
Output Current	5A
Communication Interface	Ethernet, RS-232
Storage Temperature	-20°C to 70°C

Summary

USER MANUAL

Programmable Multi-Axis Controller

Describes the controller's function as a programmable multi-axis system.

Safety Instructions

INTRODUCTION

SPECIFICATIONS

Options

Lists available CPU, Encoder, Axis, and Communication options.

MOUNTING

CONNECTIONS AND SOFTWARE SETUP

X1-X8: Encoder Feedback, Digital A Quad B

Details the pinout and function for digital quadrature encoder feedback.

Setting up Quadrature Encoders

Guides on configuring digital quadrature encoders for operation.

Step and Direction PFM Output (To External Stepper Amplifier)

Details PFM output for stepper amplifier control.

X1-X8: Encoder Feedback, Sinusoidal

Details pinout for sinusoidal encoder feedback.

Setting up Sinusoidal Encoders

Guides on configuring sinusoidal encoders using the ECT.

X1-X8: Encoder Feedback, Resolver

Details pinout for resolver feedback devices.

Setting up Resolvers

Guides on configuring resolver feedback for optimal performance.

X1-X8: Encoder Feedback, HiperFace

Details pinout and setup for HiperFace encoder feedback.

Setting up HiperFace On-Going Position

Guides on configuring HiperFace for continuous position feedback.

Setting up HiperFace Encoders Example

Provides an example for setting up HiperFace encoders.

Setting up HiperFace Absolute Power-On Position

Guides on configuring HiperFace for absolute position on power-up.

X1-X8: Encoder Feedback, SSI

Details pinout and setup for SSI encoder feedback.

Configuring SSI

Guides on configuring the SSI protocol.

SSI Control Registers Setup Example

Provides an example for setting up SSI registers.

X1-X8: Encoder Feedback, EnDat 2.1/2.2

Details pinout and setup for EnDat encoder feedback.

Configuring EnDat

Guides on configuring the EnDat protocol.

EnDat Control Registers Setup Example

Provides an example for setting up EnDat registers.

Global Control Register

Explains programming of global control registers for EnDat.

Channel Control Register

Explains programming of channel control registers for EnDat.

X1-X8: Encoder Feedback, BiSS C/B

Details pinout and setup for BiSS C/B encoder feedback.

Configuring BiSS

Guides on configuring the BiSS protocol.

BiSS Control Registers Setup Example

Provides an example for setting up BiSS registers.

Setting up SSI | EnDat | BiSS

Guides on setting up serial encoders using SSI, EnDat, or BiSS.

Technique 1 Example

Provides an example of setting up serial encoders with Technique 1.

Absolute Power-On Position Read (Technique 1)

Guides on reading absolute position using Technique 1.

Technique 2 Example

Provides an example of setting up serial encoders with Technique 2.

Absolute Power-On Position Read (Technique 2)

Guides on reading absolute position using Technique 2.

Technique 3 Example

Provides an example of setting up serial encoders with Technique 3.

Absolute Power-On Position Read (Technique 3)

Guides on reading absolute position using Technique 3.

X1-X8: Encoder Feedback, Yaskawa Sigma II & III

Details pinout and setup for Yaskawa Sigma encoders.

Global Control Registers

Explains global control registers for Yaskawa encoders.

Channel Control Registers

Explains channel control registers for Yaskawa encoders.

Yaskawa Sigma II 16-Bit Absolute Encoder

Details setup for 16-bit Yaskawa Sigma II encoders.

Yaskawa Sigma II 17-Bit Absolute Encoder

Details setup for 17-bit Yaskawa Sigma II encoders.

Yaskawa Sigma III 20-Bit Absolute Encoder

Details setup for 20-bit Yaskawa Sigma III encoders.

Homing with Yaskawa Incremental Encoders

Guides on homing Yaskawa incremental encoders.

Setting up the Analog (ADC) Inputs

Guides on configuring analog inputs using ADCs.

Setting up the DAC Outputs

Guides on configuring analog outputs using DACs.

Setting up the General Purpose Relay, Brake

Guides on configuring general purpose relays/brakes.

Setting up the External Amplifier Fault Input

Guides on configuring external amplifier fault inputs.

X15: Watchdog & ABORT (TB2)

Explains the watchdog and abort functions.

J4: Limits, Flags, EQU [Axis 1- 4]

Details pinout for limit, flag, and EQU inputs for axes 1-4.

J5: Limits, Flags, EQU [Axis 5- 8]

Details pinout for limit, flag, and EQU inputs for axes 5-8.

J6: General Purpose Inputs/Outputs

Details pinout for general purpose I/Os on J6.

J7: Additional General Purpose Inputs/Outputs

Details pinout for additional general purpose I/Os on J7.

J8: Additional General Purpose Inputs/Outputs

Details pinout for additional general purpose I/Os on J8.

J9: Handwheel Analog I/O

Details pinout for handwheel analog I/O on J9.

Setting up the Analog Inputs (J9)

Guides on configuring analog inputs on J9.

Setting up the Analog Output (J9)

Guides on configuring analog outputs on J9.

Setting up Pulse and Direction Output PFM (J9)

Guides on configuring PFM output for J9.

Setting up the Handwheel Port (J9)

Guides on configuring the handwheel port on J9.

DRIVE-MOTOR SETUP

Filtered PWM Output (Analog ±10V)

Explains the ±10V analog output using filtered PWM.

Open-Loop Test: Encoder/Decode

Details the open-loop test for verifying encoder direction sense.

Position-Loop PID Gains: Ixx30…Ixx39

Pulse and Direction Output (PFM)

PFM Setup Example

Implementing PID gains, Ixx30..Ixx35

MACRO CONNECTIVITY

Configuration Example 1: Brick - Brick

Setting up the Slave

Setting up the Master

Configuration Example 2: Brick - Geo MACRO Drive

Setting up one Geo MACRO Drive slave

Brick – Brick MACRO I/O Data Transfer

Transferring the Digital (Discrete) Input and Outputs

Transferring the X9-X12 Analog Inputs/Outputs

Transferring the J9 Analog Inputs

TROUBLESHOOTING

Boot Switch SW (Firmware Reload) – Write-Protect Disable

Reloading PMAC firmware

Changing IP Address, Gateway IP, Gateway Mask

Enabling ModBus

Reloading Boot and Communication Firmware

Reset Switch SW (Factory Reset)

APPENDIX B

J6 and J7: General Purpose I/O

J4: Limit Inputs for Axis 1-4

J5: Limit Inputs for Axis 5-8

APPENDIX C

Absolute Serial Encoders Limitation with Turbo PMAC

Maximum “Actual” Open-Loop Velocity

Maximum “Commanded” Closed-Loop Velocity

Maximum Motor Travel