Delta Tau Brick Controller Users Manual HRM

2015-07-14

• Introduction
  • Documentation
  • Downloadable Turbo PMAC Script
• SPECIFICATIONS
  • Part Number
  • Options
    • CPU Options
    • Encoder Feedback
    • Axis Output
    • Encoder Input
    • Digital Inputs/Outputs
    • Analog Inputs, DAC Outputs, Brakes, and Relays
    • Communication
    • FieldBus Connectivity
  • Environmental Specifications
• Receiving and Unpacking
  • Use of Equipment
• Mounting
  • Connector Locations
  • Mounting Dimensions
• PinOuts and Software Setup
  • TB1: 24 VDC Logic Power
  • +5V ENC PWR (Alternate Encoder Power)
    • Wiring the Alternate (+5V) Encoder Power
    • Functionality, Safety Measures
  • X1-X8: Encoder Feedback, Digital A Quad B
    • Setting up Quadrature Encoders
    • Encoder Count Error (Mxx18)
    • Encoder Loss Detection, Quadrature
      • Encoder Loss Example PLC:
    • Step and Direction PFM Output (To External Stepper Amplifier)
  • X1-X8: Encoder Feedback, Sinusoidal
    • Setting up Sinusoidal Encoders
    • Counts per User Units
    • Encoder Count Error (Mxx18)
    • Encoder Loss Detection, Sinusoidal
  • X1-X8: Encoder Feedback, Resolver
    • Setting up Resolvers
    • Resolver Excitation Magnitude
    • Resolver Excitation Frequency
      • Resolver Data Registers
      • Encoder Conversion Table Processing
      • Calculating The Tracking Filter Gains
      • Motors 1-8 Resolver Encoder Conversion Table Setup Example
      • Position, Velocity Feedback Pointers
      • Resolver Power-On PLC Example
  • X1-X8: Encoder Feedback, HiperFace
    • Setting up HiperFace On-Going Position
      • Counts Per Revolution:
    • Setting up HiperFace Absolute Power-On Position
      • Global Control Registers
      • Channel Control Registers
      • HiperFace Data Registers
    • Setting up HiperFace Encoders Example
      • Using The Absolute Position Read Example PLC
    • Encoder Count Error (Mxx18), HiperFace
    • Encoder Loss Detection, Hiperface
  • X1-X8: Encoder Feedback, SSI
    • Configuring SSI
      • Global Control Registers
      • Channel Control Registers
      • SSI Data Registers
    • SSI Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • X1-X8: Encoder Feedback, EnDat 2.1/2.2
    • Configuring EnDat
      • Global Control Registers
      • Channel Control Registers
      • EnDat Data Registers
    • EnDat Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • X1-X8: Encoder Feedback, BiSS C/B
    • Configuring BiSS
      • Global Control Registers
      • Channel Control Registers
      • BiSS Data Registers
    • BiSS Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • Setting up SSI | EnDat | BiSS
    • Technique 1
    • Technique 2
    • Technique 3
    • Setup Summary
      • Encoder Conversion Table Processing:
      • Resolution Scale Factor (SF)
      • Position And Velocity Scale Factors, Position Error Limit
      • Absolute Power-On Position
    • Technique 1 Example
      • Encoder Conversion Table - for position (Technique 1)
      • Counts Per User Units (Technique 1)
      • Absolute Power-On Position Read (Technique 1)
    • Technique 2 Example
      • Encoder Conversion Table – for position (Technique 2)
      • Counts Per User Units (Technique 2)
      • Absolute Power-On Position Read (Technique 2)
    • Technique 3 Example
      • Encoder Conversion Table - for position (Technique 3)
      • Counts Per User Units (Technique 3)
      • Absolute Power-On Position Read (Technique 3)
  • X1-X8: Encoder Feedback, Yaskawa Sigma II & III
    • Global Control Registers
    • Channel Control Registers
    • Yaskawa Feedback Channel Control Power-On Example PLC (Motors 1-8)
    • Yaskawa Data Registers
    • Yaskawa Sigma II 16-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 16-bit)
    • Yaskawa Sigma II 17-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 17-bit)
    • Yaskawa Sigma III 20-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 20-bit)
    • Yaskawa Sigma II 13-Bit Incremental Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
    • Yaskawa Sigma II 17-Bit Incremental Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
    • Yaskawa Incremental Encoder Alarm Codes
    • Homing with Yaskawa Incremental Encoders
  • X9-X10: Analog Inputs/Outputs
  • X11-X12: Analog Inputs/Outputs
    • Setting up the Analog (ADC) Inputs
      • Analog Inputs Suggested M-Variables
      • Testing the Analog Inputs
    • Setting up the DAC Outputs
      • Analog Outputs Suggested M-Variables:
      • Testing the Analog Outputs
    • Setting up the General Purpose Relay, Brake
      • General Purpose Relay Suggested M-Variables
    • Setting up the External Amplifier Fault Input
      • External Amplifier Fault Input, Suggested M-Variables:
  • X13: USB 2.0 Connector
  • X14: RJ45, Ethernet Connector
  • X15: Watchdog & ABORT (TB2)
    • Wiring the Abort Input
    • Wiring the WatchDog (WD) Output
  • J4: Limits, Flags, EQU [Axis 1- 4]
  • J5: Limits, Flags, EQU [Axis 5- 8]
    • Wiring the Limits and Flags
    • Limits and Flags [Axis 1- 4] Suggested M-Variables
    • Limits and Flags [Axis 5- 8] Suggested M-Variables
  • J6: General Purpose Inputs/Outputs
  • J7: Additional General Purpose Inputs/Outputs
  • J8: Additional General Purpose Inputs/Outputs
    • About the Digital Inputs and Outputs
      • Inputs
      • Outputs
    • Wiring the Digital Inputs and Outputs
    • General Purpose I/Os (J6) Suggested M-Variables
    • General Purpose I/Os Additional (J7) Suggested M-Variables
    • General Purpose I/Os Additional (J8) Suggested M-Variables
  • J9: Handwheel Analog I/O
    • Setting up the Analog Inputs (J9)
      • J9 Analog Inputs Suggested M-Variables
      • Testing the J9 Analog Inputs
    • Setting up the Analog Output (J9)
      • J9 Analog Output Suggested M-Variable
      • Testing the J9 Analog Output
    • Setting up Pulse and Direction Output PFM (J9)
      • Testing the J9 PFM Output
    • Setting up the Handwheel Port (J9)
  • Serial Port (RS232)
  • AMP1-AMP8: Amplifier Connection
    • Wiring the DAC Output
    • Wiring the Amplifier Enable and Fault Signals
• Drive-Motor Setup
  • Filtered PWM Output (Analog ±10V)
    • Clock Settings, Output Mode, Command Limit
    • Flag Control, Ixx24
    • I2T Protection: Ixx57, Ixx58
    • Open Loop Test: Encoder/Decode
    • Position-Loop PID Gains: Ixx30…Ixx39
  • True DAC Output (±10V)
    • Clock Settings, Output Mode
    • Flag Control, Ixx24
    • I2T Protection: Ixx57, Ixx58
    • Open Loop Test: Encoder/Decode
    • Position-Loop PID Gains: Ixx30…Ixx39
  • Pulse and Direction Output (PFM)
    • PFM Clock Settings Example
    • PFM Setup Example
    • Writing directly to the PFM register
    • Issuing Open-Loop Commands
    • Issuing Closed-Loop Commands
• MACRO Connectivity
  • Introduction to MACRO
  • MACRO Configuration Examples
    • Review: MACRO Nodes and Addressing
    • Review: MACRO Auxiliary Commands
  • Configuration Example 1: Brick - Brick
    • Setting up the Slave
      • Note about Slave Motors’ I2T
    • Setting up the Master
  • Configuration Example 2: Brick - Geo MACRO Drive
  • Brick – Brick MACRO I/O Data Transfer
    • Transferring the Digital (Discrete) Input and Outputs
      • Slave Digital I/Os Transfer Example
      • Master Digital I/Os Transfer Example
      • Bitwise Assignments (downloaded onto the master)
    • Transferring the X9-X12 Analog Inputs/Outputs
    • Transferring the J9 Analog Inputs
  • MACRO Limits and Flags, Homing
    • Limits and Flags
    • Homing from Master
    • Homing from Slave
    • MACRO Suggested M-Variables
  • Absolute Position Reporting over MACRO
  • MACRO Configuration Power-Up Sequence
• Troubleshooting
  • Serial Number and Board Revisions Identification
  • 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)
  • Watchdog Timer
• Appendix A
  • DB- Connector Spacing Specifications
    • X1-8: DB-15 Connectors for encoder feedback
    • X9-12: DB-9 Connectors for Analog I/O
    • Screw Lock Size for all DB-connectors
• Appendix B
  • Schematics
    • AMP1-AMP8: Amplifier Fault / Amplifier Enable diagrams
    • FLT RET Jumpers
    • J6 and J7: General Purpose I/O
      • Inputs
      • Outputs: J6 & J7 (603793 – 109 and earlier)
      • Outputs: J6 & J7 (603793 – 10A and later)
    • J4: Limit Inputs for Axis 1-4
    • J5: Limit Inputs for Axis 5-8
• Appendix C
  • Absolute Serial Encoders Limitation with Turbo PMAC
    • Quick Comparison
    • Resolution Scale Factor (SF)
    • Maximum “Actual” Open-Loop Velocity
    • Maximum “Commanded” Closed-Loop Velocity
    • Maximum Motor Travel