Delta Tau Geo MACRO User Manual

Delta Tau Geo MACRO

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^1 USER MANUAL & REFERENCE

^2 Geo MACRO Drive

^3 Direct PWM Amplifier over MACRO

^4 500-603701-xUxx

^5 April 27, 2010

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. (818) 998-2095 Fax. (818) 998-7807 // www.deltatau.com

Table of Contents

Default Chapter3
- Operating Conditions3
- Safety Instructions3
- Table of Contents7
Introduction13
- User Interface13
- MACRO Defined14
- Feedback Devices15
- Compatible Motors15
Specifications19
- Part Number19
- Geo MACRO Feedback Options20
- Package Types20
- Electrical Specifications21
  - 230VAC Input Drives21
  - 480VAC Input Drives23
- Environmental Specifications25
- Recommended Fusing and Wire Gauge25
Receiving and Unpacking27
- Use of Equipment27
Mounting29
- Low Profile30
- Single Width31
- Double Width32
Connections33
- System (Power) Wiring33
- Wiring the Motors36
  - J2: Motor 1 Output Connector Pinout36
  - J3: Motor 2 Output Connector Pinout36
- Wiring the Motor Thermostats37
- Wiring the Regen (Shunt) Resistor, J537
- Bonding41
- Filtering42
- Connecting Main Feedback Sensors (X1 & X2)44
- Connecting Secondary Quad. Encoders (X8 & X9)50
- Connecting General Purpose I/O & Flags (X3)51
  - Sample Wiring the I/O51
  - Sample Wiring the Flags52
- Connecting MACRO Ring53
  - Fiber Optic MACRO Connections (X5)53
  - Copper MACRO Connections (X10 &X11)53
- Connecting Optional Analog Inputs (X6 & X7)54
Software Setup for Geo Macro Drives55
- Introduction55
- Establishing MACRO Communications with Turbo PMAC55
Setting up Primary Feedback79
- Device Selection Control79
- Setting up Digital Quadrature Encoders79
- Setting up SSI Encoders79
- Setting up Sinusoidal Encoders81
  - Principle of PMAC Interpolation Operation81
- Setting up Endat84
- Setting up Resolvers84
Setting up Secondary Encoders87
Setting up the Turbo Pmac Conversion Table89
Setting up Turbo Motor Operation91
- Turbo PMAC Basic Setup for Brushless Servo or Induction Motor91
  - Turbo PMAC Basic Setup for DC Brush Motors92
- Instructions for Direct-PWM Control of Brush Motors97
- Testing PWM and Current Feedback Operation98
- Setting up Hall Commutation Sensors100
- Setting I 2 T Protection108
- Calculating Minimum PWM Frequency109
Geo MACRO Drive User and Reference Manual91
Setting up Discrete Inputs and Outputs111
- Inputs and Outputs111
- Ring Break Output Indicator Ms{Node},Mi13112
- Setting up the Analog Inputs (X6 and X7)112
- Limit and Flag Circuit Wiring114
  - Connecting Limits/Flags to the Geo Drive114
- Setting up Position Compare (EQU) Outputs115
  - Setting up for a Single Pulse Output115
  - Setting up for Multiple Pulse Outputs116
Connectors117
- Connector Pinouts117
- MACRO Link Connectors123
  - X5: MACRO I/O, MACRO Fiber Optic Transceiver (Optional)123
  - X10 and X11 MACRO RJ-45 Copper Connectors123
- USB Connector123
  - X12: USB Universal Serial Bus Port124
Troubleshooting125
- Error Codes125
- Geo MACRO Drive Ring Status Error Codes128
Turbo Pmac2 Related I-Variable Reference131
- Ixx10: Motor XX Power-On Servo Position Address131
- Ixx25, Ixx24: Flag Address and Mode133
- Ixx70, Ixx71: Commutation Cycle Size135
- Ixx72: Commutation Phase Angle135
- Ixx75: Absolute Phase Position Offset135
- Ixx81: Motor XX Power-On Phase Position Address and Mode136
- Ixx82: Current Loop Feedback Address137
- Ixx83: Commutation Feedback Address138
- Ixx91: Motor XX Power-On Phase Position Format138
- Ixx95: Motor XX Power-On Servo Position Format141
- Ixx97 Motor XX Position Capture and Trigger Mode143
Geo Macro Drive MI-Variable Reference145
- Global MI-Variables145
- Primary Channel Node-Specific Gate Array MI-Variables154
Geo MACRO Drive User and Reference Manual160
- General Hardware Setup MI-Variables164
- Resolver Excitation Frequency Divider165
  - Ms{Anynode}, MI933165
- SSI Clock Frequency Divider165
ADC Strobe Word Channel 1* & 2166
- Ms{Node},Mi943 Encoder Power Control Bit166
- Ms{Node},Mi944-MI949 (Reserved for Future Use)166
- Global & 2-Axis Board I-Variables167
Absolute Power on Online Commands173
- Fiber Optic Cable Ordering Information178
- Mating Connector and Cable Kits178
Appendix A178
- Connector and Pins Part Numbers180
- Cable Drawings182
- Regenerative Resistor: GAR78/48188
- Type of Cable for Encoder Wiring189
- Schematics192
  - X3: Discrete I/O192
Appendix B192
- X6 and X7: Analog Inputs194
- X8 and X9 Secondary Encoders (3 and 4)195
- Communication to the Geo MACRO Via the USB Port196
Appendix C196
- MACRO Flag Transfer Location198
Appendix D198
- Turbo PMAC2 Node Addresses199
- ADC Register Table201
- Stepping through an Electrical Cycle202
Useful Notes205

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Delta Tau Geo MACRO Specifications

General

Brand	Delta Tau
Model	Geo MACRO
Category	DC Drives
Language	English

Summary

Geo MACRO Drive User Manual

Introduction to Geo MACRO Drive

Geo MACRO Drive Specifications

Electrical and Environmental Data

Installation and Connections

Wiring System Power and Feedback Sensors

Guidance on power, ground, and various feedback sensor connections.

Software Setup and Configuration

MACRO Communication Setup

Steps for configuring MACRO ring communication with Turbo PMAC controllers.

Using Turbo PMAC Setup Programs

Motor Operation and Tuning

Primary and Secondary Feedback Configuration

Setup for various encoder types, resolvers, and secondary feedback channels.

Turbo PMAC Conversion and Motor Setup

Configuring conversion tables and settings for Turbo PMAC motor control.

Troubleshooting and Status Monitoring

Error Codes and Troubleshooting

Diagnosing and resolving issues using error codes, status words, and LEDs.

Geo MACRO Drive MI-Variables

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