Delta Tau Geo Brick Lv Users Manual User
2015-07-14
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^1 USER MANUAL
^2 Geo Brick LV
^3 Low Voltage Programmable Servo Amplifier
^4 5XX-603814-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.com
Geo Brick LV 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. Technical Support
Phone:
(818) 717-5656
Fax:
(818) 998-7807
Email:
support@deltatau.com
Website:
http://www.deltatau.com
Operating Conditions
All Delta Tau Data Systems, Inc. motion controller, accessory, and amplifier products contain static
sensitive components that can be damaged by incorrect handling. When installing or handling Delta Tau
Data Systems, Inc. products, avoid contact with highly insulated materials. Only qualified personnel
should be allowed to handle this equipment.
In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment, install
them into an industrial electrical cabinet to protect them from excessive or corrosive moisture, abnormal
ambient temperatures, and conductive materials. If Delta Tau Data Systems, Inc. products are directly
exposed to hazardous or conductive materials and/or environments, we cannot guarantee their operation.
Geo Brick LV 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.CENELEC HD 384 or DIN VDE 0100
IEC report 664 or DIN VDE 0110
National regulations for safety and accident prevention or VBG 4
Incorrect handling of products can result in injury and damage to persons and machinery. Strictly adhere
to the installation instructions. Electrical safety is provided through a low-resistance earth connection. It
is vital to ensure that all system components are connected to earth ground.
This product contains components that are sensitive to static electricity and can be damaged by incorrect
handling. Avoid contact with high insulating materials (artificial fabrics, plastic film, etc.). Place the
product on a conductive surface. Discharge any possible static electricity build-up by touching an
unpainted, metal, grounded surface before touching the equipment.
Keep all covers and cabinet doors shut during operation. Be aware that during operation, the product has
electrically charged components and hot surfaces. Control and power cables can carry a high voltage,
even when the motor is not rotating. Never disconnect or connect the product while the power source is
energized to avoid electric arcing.
A Warning identifies hazards that could result in personal injury
or death. It precedes the discussion of interest.
WARNING
!
A Caution identifies hazards that could result in equipment damage. It
precedes the discussion of interest.
Caution
A Note identifies information critical to the user’s understanding or
use of the equipment. It follows the discussion of interest.
Note
Geo Brick LV User Manual
MANUAL REVISION HISTORY
REV
DESCRIPTION
DATE
CHANGE
APPROVED
9
CONTROL BOARD PINOUTS AND SETUP
STROBE WORD PLCS, ADC STATUS BITS
MOTOR SETUP SECTION
TROUBLESHOOTING SECTION
10/11/11
R.N
R.N
10
UPDATED +5V ENC PWR SECTION
10/13/11
R.N
R.N
11
CORRECTED IXX30 FOR PFM
11/01/11
M.Y
M.Y
12
GENERAL UPDATES
04/15/12
R.N
R.N
13
CORRECTIONS AND UPDATES
12/11/12
R.N
R.N
14
- UPDATED PART NUMBER TREE
- ADDED POWER ON/OFF SEQUENCE
- UPDATED LOGIC POWER INPUT SECTION
- ADDED STO INFORMATION
- UPDATED X9-X12 SECTION
- UPDATED MACRO CONNECTIVITY SECTION
- ADDED SERIAL N0 AND BOARD IDENTIFICATION
- CORRECTED IXX81 TABLE IN HALLS
- GENERAL FORMATTING, CORRECTIONS, AND UPDATES
12/14/12
R.N
R.N
15
RE-ADDED PLC DISABLING AND MOTOR KILL IN INITILIAZATION PLC
03/20/13
R.N
R.N
16
MISCELLANEOUS CORRECTIONS.
02/24/14
R.N
R.N
17
- CORRECTED ENCODER LOSS FOR SINUSOIDAL ENCODERS
- UPDATED GP IO, LIMITS EQU SECTIONS
- CORRECTED HALLS SCALE FACTOR
- GENERAL FORMATTING AND UPDATES
02/04/15
R.N
R.N
Older revision correction notes have been removed for obsolescence
and clarity.
Note
Geo Brick LV User Manual
Table of Contents
INTRODUCTION ................................................................................................................... 11
Documentation ..........................................................................................................................11
Downloadable Turbo PMAC Script ............................................................................................12
SPECIFICATIONS ................................................................................................................. 13
Part Number .............................................................................................................................13
Geo Brick LV Options................................................................................................................15
Environmental Specifications ....................................................................................................16
Electrical Specifications ............................................................................................................17
RECEIVING, UNPACKING, AND MOUNTING ................................................................ 19
Use of Equipment .....................................................................................................................19
Mounting ...................................................................................................................................20
Connector Locations .................................................................................................................21
CAD Drawing ............................................................................................................................22
PINOUTS AND SOFTWARE SETUP ................................................................................... 23
TB1: 24VDC Logic Input ...........................................................................................................23
TB3: Safe Torque Off (STO) .....................................................................................................24
Dynamic Braking ............................................................................................................................. 24
Disabling the STO ............................................................................................................................ 25
Wiring and Using the STO ................................................................................................................ 25
J1: DC Bus Input .......................................................................................................................26
Power On/Off Sequence.................................................................................................................... 27
J4: Limits, Flags, EQU [Axis 1- 4] ..............................................................................................28
J5: Limits, Flags, EQU [Axis 5- 8] ..............................................................................................29
Wiring the Limits and Flags ............................................................................................................. 30
Limits and Flags [Axis 1- 4] Suggested M-Variables ........................................................................ 31
Limits and Flags [Axis 5- 8] Suggested M-Variables ........................................................................ 31
J6: General Purpose Inputs and Outputs ..................................................................................32
J7: General Purpose Inputs and Outputs (Additional)................................................................33
About the Digital Inputs and Outputs ................................................................................................ 34
Wiring the Digital Inputs and Outputs .............................................................................................. 35
General Purpose I/Os (J6) Suggested M-Variables ........................................................................... 36
General Purpose I/Os Additional (J7) Suggested M-Variables .......................................................... 36
J8: PWM Amplifier Interface ......................................................................................................37
J9: Handwheel and Analog I/O ..................................................................................................38
Setting up the Analog Inputs (J9) ...................................................................................................... 39
Setting up the Analog Output (J9) ..................................................................................................... 41
Setting up Pulse and Direction Output PFM (J9) .............................................................................. 43
Setting up the Handwheel Port (J9) .................................................................................................. 45
X1-X8: Encoder Feedback, Digital A Quad B ............................................................................46
Setting up Quadrature Encoders ....................................................................................................... 48
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vi
Geo Brick LV User Manual
Encoder Count Error (Mxx18) .......................................................................................................... 48
Encoder Loss Detection, Quadrature ................................................................................................ 49
Step and Direction PFM Output (To External Stepper Amplifier) ...................................................... 51
X1-X8: Encoder Feedback, Sinusoidal ......................................................................................56
Setting up Sinusoidal Encoders ......................................................................................................... 57
Counts per User Units ...................................................................................................................... 58
Encoder Count Error (Mxx18) .......................................................................................................... 59
Encoder Loss Detection, Sinusoidal .................................................................................................. 60
X1-X8: Encoder Feedback, Resolver ........................................................................................61
Setting up Resolvers ......................................................................................................................... 61
Resolver Excitation Magnitude ......................................................................................................... 62
Resolver Excitation Frequency ......................................................................................................... 62
X1-X8: Encoder Feedback, HiperFace ......................................................................................67
Setting up HiperFace On-Going Position.......................................................................................... 68
Setting up HiperFace Absolute Power-On Position ........................................................................... 70
Setting up HiperFace Encoders Example .......................................................................................... 74
Encoder Count Error (Mxx18) .......................................................................................................... 79
Encoder Loss Detection, Sinusoidal .................................................................................................. 80
X1-X8: Encoder Feedback, SSI ................................................................................................82
Configuring SSI ................................................................................................................................ 82
SSI Control Registers Setup Example................................................................................................ 86
X1-X8: Encoder Feedback, EnDat 2.1/2.2 .................................................................................88
Configuring EnDat ........................................................................................................................... 88
EnDat Control Registers Setup Example ........................................................................................... 92
X1-X8: Encoder Feedback, BiSS C/B .......................................................................................94
Configuring BiSS.............................................................................................................................. 94
BiSS Control Registers Setup Example.............................................................................................. 98
Setting up SSI | EnDat | BiSS..................................................................................................100
Setup Summary............................................................................................................................... 101
Technique 1 Example ..................................................................................................................... 103
Technique 2 Example ..................................................................................................................... 106
Technique 3 Example ..................................................................................................................... 111
X1-X8: Encoder Feedback, Yaskawa Sigma II & III ................................................................ 116
Yaskawa Sigma II 16-Bit Absolute Encoder .................................................................................... 121
Yaskawa Sigma II 17-Bit Absolute Encoder .................................................................................... 124
Yaskawa Sigma III 20-Bit Absolute Encoder ................................................................................... 127
Yaskawa Sigma II 13-Bit Incremental Encoder ............................................................................... 130
Yaskawa Sigma II 17-Bit Incremental Encoder ............................................................................... 132
Yaskawa Incremental Encoder Alarm Codes ................................................................................... 134
Homing with Yaskawa Incremental Encoders ................................................................................. 135
X9-X10: Analog Inputs/Outputs ............................................................................................... 136
X11-X12: Analog Inputs/Outputs ............................................................................................. 136
Setting up the Analog (ADC) Inputs ................................................................................................ 137
Setting up the Analog (DAC) Outputs ............................................................................................. 138
Setting up the General Purpose Relay, Brake .................................................................................. 140
Setting up the External Amplifier Fault Input .................................................................................. 142
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Geo Brick LV User Manual
X13: USB 2.0 Connector .........................................................................................................143
X14: RJ45, Ethernet Connector .............................................................................................. 143
X15: Watchdog & ABORT (TB2) ............................................................................................. 144
Wiring the Abort Input.................................................................................................................... 144
Wiring the Watchdog Output .......................................................................................................... 145
RS232: Serial Communication Port ......................................................................................... 146
AMP1-AMP8: Motor Wiring .....................................................................................................147
Stepped Motor Wiring .................................................................................................................... 148
Brushless (Servo) Motor wiring ...................................................................................................... 148
Brush Motor Wiring ....................................................................................................................... 148
+5V ENC PWR (Alternate Encoder Power) .............................................................................149
Wiring the Alternate (+5V) Encoder Power .................................................................................... 150
Functionality, Safety Measures ....................................................................................................... 151
MOTOR TYPE & PROTECTION POWER-ON PLCS ..................................................... 152
Stepper Motor Power-On PLC Sample....................................................................................153
Servo (brushless/brush) Motor Power-On PLC Sample .......................................................... 154
Hybrid Motor Power-On PLC Sample ......................................................................................155
MOTOR SETUP ................................................................................................................... 156
Motor Setup Flow Chart ..........................................................................................................156
Dominant Clock Settings .........................................................................................................157
Stepper Motor Setup -- Direct Micro-Stepping .........................................................................158
Before you start .............................................................................................................................. 158
Encoder Conversion Table Setup .................................................................................................... 158
Position, Velocity Pointers: Ixx03, Ixx04 ........................................................................................ 159
Motor Activation, Commutation Enable: Ixx00, Ixx01 ..................................................................... 159
Command Output Address: Ixx02 ................................................................................................... 159
Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72 ........................................ 160
Flag Address, Mode Control: Ixx25, Ixx24...................................................................................... 160
Commutation Address, Cycle size: Ixx83, Ixx70, Ixx71 .................................................................... 160
Maximum Achievable Motor Speed, Output Command Limit: Ixx69 ................................................ 161
PWM Scale Factor: Ixx66............................................................................................................... 162
I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77 ................................................. 163
Phasing, Power-On Mode: Ixx80, Ixx73, Ixx74, Ixx81, Ixx91 .......................................................... 164
Position-Loop PID Gains: Ixx30…Ixx39 ......................................................................................... 164
Current-Loop Gains: Ixx61, Ixx62, Ixx76 ........................................................................................ 165
Number of Counts per Revolution (Stepper Motors) ........................................................................ 165
Brushless Motor Setup ............................................................................................................166
Before you start .............................................................................................................................. 166
Flag Control, Commutation Angle, Current Mask: Ixx24, Ixx72, Ixx84 ........................................... 166
PWM Scale Factor: Ixx66............................................................................................................... 166
Current Feedback Address: Ixx82 ................................................................................................... 166
Commutation Position Address, Commutation Enable: Ixx83, Ixx01 ............................................... 167
I2T Protection: Ixx57, Ixx58, Ixx69 ................................................................................................. 169
Commutation Cycle Size: Ixx70, Ixx71 ............................................................................................ 170
Table of Contents
viii
Geo Brick LV User Manual
ADC Offsets: Ixx29, Ixx79 .............................................................................................................. 171
Current-Loop Gains: Ixx61, Ixx62, Ixx76 ........................................................................................ 172
Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91 ................................................ 173
Open-Loop Test, Encoder Decode: I7mn0 ...................................................................................... 193
Position-Loop PID Gains: Ixx30…Ixx39 ......................................................................................... 195
DC Brush Motor Software Setup ............................................................................................. 196
Before you start .............................................................................................................................. 196
Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96) ................................................ 196
Flags, Commutation, Phase Angle, ADC Mask: Ixx24, Ixx01, Ixx72, Ixx84 ..................................... 197
PWM Scale Factor: Ixx66............................................................................................................... 197
Current Feedback Address: Ixx82 ................................................................................................... 197
Commutation Cycle Size: Ixx70, Ixx71 ............................................................................................ 198
I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77 ................................................. 198
ADC Offsets: Ixx29, Ixx79 .............................................................................................................. 199
Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0 .................................... 199
Position-Loop PID Gains: Ixx30…Ixx39 ......................................................................................... 200
MACRO CONNECTIVITY ................................................................................................. 201
Introduction to MACRO ...........................................................................................................201
MACRO Configuration Examples ............................................................................................ 202
Review: MACRO Nodes and Addressing ......................................................................................... 203
Review: MACRO Auxiliary Commands ........................................................................................... 204
Configuration Example 1: Brick – Brick (Servo Motors) ........................................................... 205
Setting up the Slave in Torque Mode ............................................................................................... 206
Setting up the Master in Torque Mode ............................................................................................ 209
Setting up the Slave in PWM Mode ................................................................................................. 212
Setting up the Master in PWM Mode............................................................................................... 213
Configuration Example 2: Brick – Brick (Stepper Motors) ........................................................219
Setting up the Slave in Torque Mode for Steppers ........................................................................... 219
Setting up the Master in Torque Mode for Steppers ......................................................................... 224
Configuration Example 3: Brick – Geo MACRO Drive ............................................................. 227
Brick – Brick MACRO I/O Data Transfer..................................................................................235
Transferring the Digital (Discrete) Input and Outputs .................................................................... 236
Transferring The X9-X12 Analog Inputs/Outputs ............................................................................ 241
Transferring The J9 Analog Inputs ................................................................................................. 243
MACRO Limits, Flags and Homing .......................................................................................... 244
Limits and Flags ............................................................................................................................. 244
Homing from Master ...................................................................................................................... 244
Homing from Slave ......................................................................................................................... 244
MACRO Suggested M-Variables..................................................................................................... 245
Absolute Position Reporting Over MACRO .............................................................................247
MACRO Configuration Power-Up Sequence ...........................................................................248
TROUBLESHOOTING ........................................................................................................ 249
Serial Number and Board Revisions Identification ...................................................................249
D1: Error Codes ......................................................................................................................250
Table of Contents
ix
Geo Brick LV User Manual
Strobe Word and Axes Data Structures...................................................................................251
Strobe Word Structure .................................................................................................................... 251
ADC A Status Word ........................................................................................................................ 252
ADC B Status Word ........................................................................................................................ 252
LED Status.............................................................................................................................. 253
Boot Switch SW (Firmware Reload) – Write-Protect Disable ...................................................254
Reloading PMAC firmware............................................................................................................. 255
Changing IP Address, Gateway IP, Or Gateway Mask .................................................................... 257
Enabling ModBus ........................................................................................................................... 258
Reloading Boot And Communication Firmware .............................................................................. 259
Reset Switch SW (Factory Reset) ........................................................................................... 260
Error 18 (Erro18) .....................................................................................................................261
Watchdog Timer Trip...............................................................................................................262
APPENDIX A ........................................................................................................................ 263
D-Sub Connector Spacing Specifications ................................................................................263
APPENDIX B ........................................................................................................................ 264
Control Board Jumpers (For Internal Use)...............................................................................264
APPENDIX C ........................................................................................................................ 266
Schematic Samples ................................................................................................................266
APPENDIX D ........................................................................................................................ 269
Absolute Serial Encoders Limitation with Turbo PMAC ........................................................... 269
Table of Contents
x
Geo Brick LV User Manual
INTRODUCTION
The Geo Brick LV (Low Voltage) combines the intelligence and capability of the Turbo PMAC2 motion
controller with advanced MOSFET technology, resulting in a compact, smart 4-, or 8-axis servo drive
package.
The flexibility of the Turbo PMAC2 enables the Geo Brick LV to drive stepper, brush, or brushless
motors with unsurpassed pure digital DSP performance. The absence of analog signals – required for
typical motion controller/drive interfacing – enables higher gains, better overall performance and tighter
integration, while significantly driving down costs and setup time.
The Geo Brick LV’s embedded 32-axis Turbo PMAC2 motion controller is programmable for virtually
any kind of motion control application. The built-in software PLCs allow for complete machine logic
control.
The Geo Brick LV supports the following types of motors:
Three-Phase AC/DC Brushless, synchronous rotary/linear
DC Brush
2-Phase Stepper
The Geo Brick LV can also provide pulse and direction PFM output(s)
to third-party stepper amplifiers.
Note
Documentation
In conjunction with this user manual, the Turbo Software Reference Manual and Turbo PMAC User
Manual are essential for proper use, motor setup, and configuration of the Geo Brick LV. It is highly
recommended to refer to the latest revision of the manuals found on Delta Tau’s website, under
Support>documentation>Manuals: Delta Tau Manuals
Introduction
11
Geo Brick LV 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. Care must be taken when using pre-configured Turbo
PMAC code, some information may need to be updated to match hardware and system specific
configurations. Downloadable Turbo PMAC Scripts are enclosed in the following format:
// TURBO PMAC SCRIPT EXAMPLE
P1=0
Open PLC 1 Clear
CMDP"Geo Brick LV Manual Test PLC"
P1=P1+1
Disable PLC 1
Close
!
Caution
;
;
;
;
;
;
Set P1=0 at download
Open PLC Buffer 1, clear contents
Send unsolicited response to host port
Counter using variable P1
Disable plc 1
Close open buffer
All PLC examples are stated in PLC number 1. It is the user’s
responsibility to arrange their application PLCs’ properly and handle
power-on sequencing for various tasks.
It is the user’s responsibility to use the PLC examples presented in this manual properly. That is,
incorporating the statement code in the application configuration, and handling tasks in a sequential
manner. For example, with serial absolute encoders, setting up the global control registers should be
executed before trying to read absolute position, and absolute phase referencing. Furthermore, other PLC
programs (which would be trying to move motors) should be disabled until these functions are executed.
!
Caution
Introduction
Often times, downloadable example codes use suggested M-variables,
it is the user’s responsibility to make sure they are downloaded, or
perform necessary changes to use the intended registers.
12
Geo Brick LV User Manual
SPECIFICATIONS
Part Number
A
B
GB D 4 - C
C
0-4
D
0
E
0- 0
A
F
0
G
H
**
0
0
I
**
**
0 0 0
**
0
B
CPU Options –
GBDA-BB-CDD-EFGHHHI0
Turbo PMAC 2 Processor
Axes GBDA-BB-CDD-EFGHHHI0
4 : Four Axes (Default)
8 : Eight Axes
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 GBDA-BB-CDD-EFGHHHI0
1: 0.25A / 0.75A - 4 Phase (Servo / Stepper outputs)
2: 1A
/ 3A
- 4 Phase (Servo / Stepper outputs)
4: 5A
/15A
- 4 Phase (Servo / Stepper outputs)
Axes 5 to 8 Options
GBDA-BB-CDD-EFGHHHI0
D
12-24V 5V Flags
00
02
P3
4
axes
05 Four primary encoder inputs. No secondary encoders, 4-axis system
07 Four secondary encoders for a total of 8 encoder inputs
P8 PWM amplifier Interface for channel 7 with encoders for axes 5 to 8 ( 4 secondary encoders)
(Call factory if PWM on Channel 8 is needed)
12
22
42
8
axes
17 0.25A/ 0.75A - 4 Phase Servo / Stepper output, with encoders and Flags for every axis.
27 1A / 3A
- 4 Phase Servo / Stepper output, with encoders and Flags for every axis.
/15A - 4 Phase Servo / Stepper output, with encoders and Flags for every axis.
47 5A
Example:
For 5V flag inputs then specify it at the “Channel 5 to 8 Encoder/Flag Options”
“07" Four secondary encoder inputs (total of 8 encoder inputs), 5V Flag inputs - i.e. GBDx-xx-407-xxxxxxx
If the above Number of Amplifier Axes are selected, then only the corresponding Axes Options are available.
Digital I/O Option GBDA-BB-CDD-EFGHHHI0
E
0: 16 IN / 8 OUT (Default)
1: Expanded digital I/O, additional 16 inputs and 8 outputs (Total of 32 IN / 16 OUT)
Outputs rated: 0.5A@12-24VDC
Analog I/O Options
GBDA-BB-CDD-EFGHHHI0
F
4 axes
00 / 05
02 / 07
0: No options (Default)
2: Four GPIO Relays (On connectors X9-X12)
3: Two Analog In, two analog Out (On conn. X11-X12) & 4 GPIO Relays (On connectors X9-X12)
4: Four Analog In, four analog Out (On conn. X9-X12) & 4 GPIO Relays (On connectors X9-X12)
5: Two Analog In, two analog Out (On conn. X11-X12) & 2 AENA Relays for Chan. 3&4
(On conn. X11-X12) and 2 GPIO Relays (On conn. X9-X10)
6: Four Analog In, four analog Out (Connectors X9-X12) with 2 AENA Relays for Chan. 3&4
(On conn. X11-X12) and 2 GPIO Relays (On conn. X9-X10)
9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 GPIO Relays (On conn.X9-X10)
4 axes
P3 / P8
0: No options (Default)
2: Four GPIO Relays (On connectors X9-X12)
7: Two Analog In, 2 analog Out (Conn.X9-X10) & 4 GPIO Relays (On connectors X9-X12)
8: Two Analog In, 2 analog Out (Conn.X9-X10) & 2 AENA Relays for Chan. 3&4 (On conn. X11-X12)
and 2 GPIO Relays (On connectors X9-X10)
9: Two AENA Relays for Chan.3&4 (Conn.X11-X12) and 2 GPIO Relays (On conn.X9-X10)
8 axes
42 / 47
0: No Analog Options available, for this configurations
To receive Analog Inputs for these configurations, you must order GBD-ABB-CDD-EFGHHHI0
MUXED ADC Option in “MACRO and Special Feedback Options”
2: Four GPIO Relays (On connectors X9-X12)
9: Four AENA Relays for Chan.3&4 (On conn.X11-X12) and Chan.5&6 (On conn.X9-X10)
Note: Analog outputs are 12-bit filtered PWM and Analog Inputs are 16-bit.
Specifications
13
Geo Brick LV User Manual
MACRO and Special Feedback Options
Note: If any of the “H” or “I” digits (GBDA-BB-CDD-EFGHHHI0) are ordered, you will also receive RS-232 comms port, 1
channel "handwheel" port.
Special Feedback Number and Type of Channels
GBDA-BB-CDD-EFGHHHI0
000: No Special Feedback Channels
4A0: 4 Sinusoidal Encoder Feedback Channels
4B0: 4 Resolver Feedback Channels
4C1: 4 Serial Encoder Feedback Channels (SSI Protocol)
4C2: 4 Serial Encoder Feedback Channels (Yaskawa Sigma II & III Protocol)
4C3: 4 Serial Encoder Feedback Channels (EnDat 2.2 Protocol)
4C6: 4 Serial Encoder Feedback Channels (BISS-B & C Protocol)
4C7: 4 Serial Encoder Feedback Channels (Tamagawa Protocol)
4C8: 4 Serial Encoder Feedback Channels (Panasonic Protocol)
4D1: 4 Sinusoidal Encoder and Serial Enc. (SSI Protocol)
4D2: 4 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III & V Protocol)
4D3: 4 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol)
4D4: 4 Sinusoidal Encoder and Serial Enc. (HiperFace Protocol)
4D6: 4 Sinusoidal Encoder and Serial Enc. (BISS-B & C Protocol)
4D7: 4 Sinusoidal Encoder and Serial Enc. (Tamagawa Protocol)
4D8: 4 Sinusoidal Encoder and Serial Enc. (Panasonic Protocol)
4E1: 4 Resolver Feedback Channels and Serial Enc. (SSI Protocol)
4E2: 4 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III & V Prot.)
4E3: 4 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol)
4E6: 4 Resolver Feedback Channels and Serial Enc. (BISS-B & C Protocol)
4E7: 4 Resolver Feedback Channels and Serial Enc. (Tamagawa Protocol)
4E8: 4 Resolver Feedback Channels and Serial Enc. (Panasonic Protocol)
8A0: 8 Sinusoidal Encoder Feedback Channels
8B0: 8 Resolver Feedback Channels
8C1: 8 Serial Encoder Feedback Channels (SSI Protocol)
8C2: 8 Serial Encoder Feedback Channels (Yaskawa Sigma II & III & V Protocol)
8C3: 8 Serial Encoder Feedback Channels (EnDat 2.2 Protocol)
8C6: 8 Serial Encoder Feedback Channels (BISS-B & C Protocol)
8C7: 8 Serial Encoder Feedback Channels (Tamagawa Protocol)
8C8: 8 Serial Encoder Feedback Channels (Panasonic Protocol)
8D1: 8 Sinusoidal Encoder and Serial Enc. (SSI Protocol)
8D2: 8 Sinusoidal Encoder and Serial Enc. (Yaskawa Sigma II & III & V Protocol)
8D3: 8 Sinusoidal Encoder and Serial Enc. (EnDat 2.1 / 2.2 Protocol)
8D4: 8 Sinusoidal Encoder and Serial Enc. (HiperFace Protocol)
8D6: 8 Sinusoidal Encoder and Serial Enc. (BISS-B & C Protocol)
8D7: 8 Sinusoidal Encoder and Serial Enc. (Tamagawa Protocol)
8D8: 8 Sinusoidal Encoder and Serial Enc. (Panasonic Protocol)
8E1: 8 Resolver Feedback Channels and Serial Enc. (SSI Protocol)
8E2: 8 Resolver Feedback Ch. and Serial Enc. (Yaskawa Sigma II & III & V Prot.)
8E3: 8 Resolver Feedback Channels and Serial Enc. (EnDat 2.2 Protocol)
8E6: 8 Resolver Feedback Channels and Serial Enc. (BISS-B & C Protocol)
8E7: 8 Resolver Feedback Channels and Serial Enc. (Tamagawa Protocol)
8E8: 8 Resolver Feedback Channels and Serial Enc. (Panasonic Protocol)
MACRO Ring Interface and
8 Single or 4 Differential channel 12-bit 10v range MUXED ADC
H
I
GBDA-BB-CDD-EFGHHHI0
0: No MACRO or ADC
1: RJ45 MACRO
2: Fiber Optic MACRO
3: MUXED ADC
4: RJ45 MACRO and MUXED ADC
5: Fiber Optic MACRO and MUXED ADC
Specifications
14
Geo Brick LV User Manual
Geo Brick LV Options
CPU Options
C0:
C3:
F3:
80MHz Turbo PMAC2 CPU (standard)
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 Type
Digital Quadrature
Sinusoidal
HiperFace
Resolver
Note
SSI
EnDat 2.1 / 2.2
Yaskawa Sigma II / III
BiSS B / C
Panasonic
Tamagawa
Regardless of the encoder feedback option(s) fitted, digital quadrature
encoders can always be utilized. However, Hall sensors cannot be
used with a channel which has been programmed for serial clocking.
Axes Power
0.25A RMS continuous, 0.75 A RMS peak
1 A RMS continuous, 3 A RMS peak
5 A RMS continuous, 15 A RMS peak
Encoder Input
Up to eight encoder inputs, and one handwheel quadrature input
Additional encoder inputs can be obtained through MACRO connectivity
Digital Inputs/Outputs
Up to 32 inputs and 16 outputs (Sinking or Sourcing)
Additional digital I/Os can be obtained through Fieldbus connectivity
Analog Inputs, DAC Outputs, Brakes, and Relays
Up to 4 x 16-bit analog inputs, 8 x 12-bit analog inputs, 4 x brake/ relay outputs , and 5 x 12-bit
filtered PWM (±10V) outputs
Communication
USB 2.0, Ethernet 100 Base T, RS232, DPRAM (required for NC software/applications)
Fieldbus Connectivity
MACRO
ModBus
Specifications
15
Geo Brick LV User Manual
Environmental Specifications
Specification
Description
Range
Ambient operating Temperature
EN50178 Class 3K3 – IEC721-3-3
Storage Temperature Range
EN 50178 Class 1K4 – IEC721-3-1/2
Minimum operating temperature
Maximum operating temperature
Minimum Storage temperature
Maximum Storage temperature
Minimum Relative Humidity
Maximum Relative Humidity
up to 35°C (95°F)
Maximum Relative Humidity
from 35°C up to 50°C (122°F)
0~1000m (0~3300ft)
1000 ~3000m (3300~9840ft)
3000 ~4000m (9840~13000ft)
0°C (32°F)
45°C (113°F)
-25°C (-13°F)
70°C (158°F)
5% HU
Humidity Characteristics w/
no condensation and no formation of ice
IEC721-3-3
De-rating for Altitude
Environment
ISA 71-04
Atmospheric Pressure
EN50178 class 2K3
Shock
Vibration
Air Flow Clearances
Cooling
Standard IP Protection
Specifications
95% HU
85% HU
No de-rating
-0.01%/m
-0.02%/m
Degree 2 environments
70 KPa to 106 KPa
Unspecified
Unspecified
3" (76.2mm) above and below unit for air flow
Natural convection and external fan
IP20
IP 55 can be evaluated for custom applications
16
Geo Brick LV User Manual
Electrical Specifications
Current Output
Nominal Current Per Axis
[Amps RMS]
Peak Current Per Axis
[Amps RMS] @ 1 sec
0.25 A
0.75 A
1A
3 A
5A
15 A
Possible
Configurations
Max ADC
Axis Current Rating
Max ADC
0.25A / 0.75A
1.6925 A
1A / 3A
6.770 A
5A / 15A
33.85 A
Full Range ADC Current Reading
( I2T Settings)
Logic Power Supply Requirements
4-Axis
Input Voltage [VDC]
8-Axis
24VDC ±5%
Continuous Current Input [amps RMS]
4A
0.25A/0.75A
PWM Frequency Range [KHz]
1A/3A
5A/15A
< 100 KHz
(40KHz recommended)
< 30 KHz
(20KHz recommended)
Bus Power Supply Requirements
4-Axis
8-Axis
Axes Configuration
0.25A/0.75A 1A/3A 5A/15A
0.25A/0.75A 1A/3A 5A/15A
Nominal Voltage [VDC]
12 – 60 VDC
Maximum Voltage [VDC]
80 VDC
Continuous Current
[Amps RMS]
1
4
12.5
2
8
25
Peak Current
[Amps RMS] @ 1 sec
3
12
25
6
24
50
Specifications
17
Geo Brick LV User Manual
Bus Line Recommended Slow-Acting Fuse
(24 - 48 VDC @ recommended frequency)
0.25A/0.75A
1A/3A
5A/15A
4-Axis
2.5A
8A
25A
8-Axis
5A
15A
25A
100 KHz
40 KHz
20 KHz
Power Dissipation Per Axis
[watts]
24 VDC
48 VDC
0.25A/0.75A
1A/3A
5A/15A
0.25A/0.75A
1A/3A
5A/15A
Max. Output Power –
Nominal current
1.6W
3.1W
12.8 W
1.8W
3.8W
16.4 W
Max. Sinusoidal Output
7.5W
29.5W
147 W
15W
59W
294 W
Max. Output Power –
Nominal current
2.9W
4.9W
-
3.3W
6.3W
-
Max. Sinusoidal Output
7.5W
29.5W
-
15W
59W
-
Max. Output Power –
Nominal current
6.9W
10.5W
-
7.8W
14.1W
-
Max. Sinusoidal Output
7.5W
29.5W
-
15W
59W
-
24 VDC
48 VDC
Axis Efficiency [%]
0.25A/0.75A 1A/3A 5A/15A 0.25A/0.75A 1A/3A 5A/15A
Max. Output Power –
Nominal current – 20 KHz
Max. Output Power –
Nominal current – 40 KHz
Max. Sinusoidal Output – 100 KHz
Specifications
82%
90.5%
92%
89%
94%
95%
72%
85.5%
-
82%
90%
-
52%
74%
-
66%
81%
-
18
Geo Brick LV User Manual
RECEIVING, UNPACKING, AND MOUNTING
Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment. When the
Geo Brick LV 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. Check all shipping
material for connector kits, documentation, or other small pieces of equipment. Be aware that some
connector kits and other equipment pieces may be quite small and can be accidentally discarded if
care is not used when unpacking the equipment. The container and packing materials may be retained
for future shipment.
Verify that the part number of the drive received is the same as the part number listed on the purchase
order.
Inspect the drive for external physical damage that may have been sustained during shipment and
report any damage immediately to the commercial carrier that delivered the drive.
Electronic components in this product are design-hardened to reduce static sensitivity. However, use
proper procedures when handling the equipment.
If the Geo Brick LV is to be stored for several weeks before use, be sure that it is stored in a location
that conforms to published storage humidity and temperature specifications.
Use of Equipment
The following restrictions will ensure the proper use of the Geo Brick LV:
The components built into electrical equipment or machines can be used only as integral components
of such equipment.
The Geo Brick LV must not be operated on power supply networks without a ground or with an
asymmetrical ground.
If the Geo Brick LV is used in residential areas, or in business or commercial premises, implement
additional filtering measures.
The Geo Brick LV may be operated only in a closed switchgear cabinet, taking into account the
ambient conditions defined in the environmental specifications.
Receiving, Unpacking, and Mounting
19
Geo Brick LV User Manual
Mounting
The location of the Geo Brick LV 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.
Several other factors should be carefully evaluated when selecting a location for installation:
For effective cooling and maintenance, the Geo Brick LV should be mounted on a smooth, nonflammable vertical surface.
At least 76 mm (3 inches) top and bottom clearance must be provided for air flow. At least 10
mm (0.4 inches) clearance is required between units (each side).
Temperature, humidity and Vibration specifications should also be taken in account.
!
Caution
Unit must be installed in an enclosure that meets the environmental IP
rating of the end product (ventilation or cooling may be necessary to
prevent enclosure ambient from exceeding 45° C [113° F]).
The Geo Brick LV can be mounted with a traditional 3-hole panel mount, two U shape/notches on the
bottom and one pear shaped hole on top.
If multiple Geo Brick LVs are used, they can be mounted side-by-side, leaving at least a 122 mm
clearance between drives. This means a 122 mm center-to-center distance (0.4 inches). It is extremely
important that the airflow is not obstructed by the placement of conduit tracks or other devices in the
enclosure.
If the drive is mounted to a back panel, the back panel should be unpainted and electrically conductive to
allow for reduced electrical noise interference. The back panel should be machined to accept the
mounting bolt pattern of the drive.
The Geo Brick LV can be mounted to the back panel using three M4 screws and internal-tooth lock
washers. It is important that the teeth break through any anodization on the drive’s mounting gears to
provide a good electrically conductive path in as many places as possible. Mount the drive on the back
panel so there is airflow at both the top and bottom areas of the drive (at least three inches).
Receiving, Unpacking, and Mounting
20
Geo Brick LV User Manual
Connector Locations
Top View
Encoder #1
Encoder #5
AMP 1
Encoder #2
Encoder #6
24VDC
Logic Power
General
Purpose I/O
STO
Safe Torque
Off
AMP 2
USB
MACRO
Ethernet
AMP 3
Abort & WD
RS232
AMP 4
Encoder #3
Encoder #7
AMP 5
Encoder #4
Encoder #8
AMP 6
Limits
& Flags
AMP 7
Analog I/O
AMP 8
Alt. Enc. Pwr
PWM Interface
AC/DC
Bus Power
Input
Analog I/O
Handwheel
Front View
Receiving, Unpacking, and Mounting
Bottom View
21
Geo Brick LV User Manual
CAD Drawing
GBD4-xx-xxx-xxx-xxxxxx and GBD8-xx-xxx-xxx-xxxxxx
Width
Depth
Case Dimensions
4’’(101.6mm) 7.2’’(182.88mm)
14.62"
(371.35 mm)
Height
15.4’’(391.16mm)
Weight
9.6 lbs (4.4Kg)
15.40"
(391.16 mm)
2.50"
(63.50 mm)
3 x M4
13.50"
(342.90 mm)
7.20"
(182.88 mm)
4.00"
(101.60 mm)
Receiving, Unpacking, and Mounting
22
Geo Brick LV User Manual
PINOUTS AND SOFTWARE SETUP
WARNING
Installation of electrical control equipment is subject to many
regulations including national, state, local, and industry guidelines
and rules. General recommendations can be stated but it is
important that the installation be carried out in accordance with
all regulations pertaining to the installation.
TB1: 24VDC Logic Input
This 3-pin Phoenix Terminal Block is used to bring in the 24-Volt DC supply to power up the logic
portion of the Geo Brick LV. This power can remain on regardless of the main DC bus power, allowing
the signal electronics to be active while the main motor power control may be passive.
The 24Volts power supply must be capable of providing 2~4Amps per Geo Brick LV. If multiple drives
are sharing the same 24-Volt power supply, it is highly recommended to wire each drive back to the
power supply terminals separately.
This connection can be made using a 22 AWG wire directly from a protected power supply.
Pin #
Symbol
Function
1
+24VDC
Input
2
CHGND
Ground
3
+24VDC RET
Common
Description
Logic power input +
+16~32VDC
Chassis ground
Connect to Protection Earth
Logic power return -
Connect to Power Supply Return
Phoenix Contact mating connector part# 1735879
Delta Tau mating connector part# 016-090A03-08P
24 VDC
Power Supply
PinOuts and Software Setup
Notes
1
2 3
+24VDC
COM
23
Geo Brick LV User Manual
TB3: Safe Torque Off (STO)
This 5-pin Phoenix Terminal Block connector is used to wire the Safe Torque Off (STO) safety function
or alternately disabling it.
Note
The STO feature (and connector) was introduced into the Geo Brick
LV in October of 2012. It will be installed on all new shipments and
certain RMAs.
The STO allows the complete “hardware” disconnection of the power amplifiers from the motors. This
mechanism prevents unintentional “movement of” or torque output to the motors in accordance with
IEC/EN safety standards.
Pin #
Symbol
Function
Description
1
STO OUT
Output
STO Output
2
STO IN 1
Input
STO Input #1
3
STO IN 2
Input
STO Input #2
4
STO DISABLE
-
STO disable
5
STO DISABLE RTN
-
STO disable return
1 2 3 4
Phoenix Contact Mating Connector Part #: 1850699
Delta Tau mating connector part #
5
5 4
3 2
1
Dynamic Braking
Traditionally, and before the introduction of the STO, when an axis is killed the motor leads are shorted
internally (inside the Geo Brick LV) causing “dynamic braking”, which stops the motor from coasting
freely. The STO feature alters slightly how the dynamic braking is applied. The following table
summarizes the various conditions of dynamic braking when an axis is killed:
Safe Torque Off (STO)
Dynamic Braking
Disabled (not wired)
Enabled (wired) but Not Triggered
Enabled (wired) and Triggered
PinOuts and Software Setup
24
Geo Brick LV User Manual
Disabling the STO
Disabling the STO maintains full backward compatibility with existing systems,
pre-STO installations. This can be simply done by tying STO disable (pin #4) to
STO Disable RTN (pin #5).
1
STO Out
2
STO IN 1
3
STO IN 2
Pins 1, 2 and 3 have no practical use in this mode, and should be left floating.
4
STO DISABLE
5
STO DISABLE RTN
TB3
Wiring and Using the STO
Single STO Trigger
Dual STO Trigger(s)
TB1
COM
24 VDC
Power Supply +24 VDC
TB1
3
+24VRET
3
+24VRET
2
CHGND
2
CHGND
1
+ 24VDC
1
+ 24VDC
1
STO Out
1
STO Out
2
STO IN 1
2
STO IN 1
3
STO IN 2
3
STO IN 2
4
STO DISABLE
4
STO DISABLE
5
STO DISABLE RTN
5
STO DISABLE RTN
Input to Brick/Logic
N.C
COM
24 VDC
Power Supply +24 VDC
Input to Brick/Logic
N.C
TB3
TB3
In normal mode operation, the STO relay(s) must be normally closed. +24VDC must be applied to
both STO inputs (pins #2, #3) to allow power to the motors.
The STO is triggered, and power is disconnected from the motors, if the +24V is disconnected from
either STO inputs (pins #2, #3).
The STO Out (pin #1) is a voltage status output rated to 24 VDC ±10% at a max of 125mA. It
reflects the status of the STO function:
(24 V) in normal mode operation (+24VDC connected to both STO inputs)
( 0 V) in triggered mode (+24VDC disconnected from either STO inputs)
Certain safety standards require dual protection, thus mandating the use of two STO input triggers.
The STO relay(s) can be wired in series with the E-Stop circuitry which typically disconnects the
main bus power from the system.
Summary of operation and status:
+24 VDC
STO State
STO Out
Applied to both STO Inputs
Not Triggered (normal mode operation)
24V
Disconnected from either STO inputs
Triggered
0V
PinOuts and Software Setup
25
Geo Brick LV User Manual
J1: DC Bus Input
This 3-pin connector is used to bring in the main DC bus (motor) power. The mating connecter is a Molex
male 10.00mm (.393") Pitch Mini-Fit Sr.™ Receptacle Housing, Single Row, 3 Circuits.
Pin #
Symbol
Function
Description
Notes
1
BUS+
Input
Bus power input Bus+
+12~60VDC
2
BUS-
Common
Bus power return Bus-
Return Line
3
BUS-
Common
Bus power return Bus-
Return Line
BUS+
Molex mating connector part# 0428160312
Delta Tau mating connector part # 016-090003-049
BUS-
This connection can be made using the following wire gauge and fusing:
Model
Fuse (FRN/LPN)
Wire Gauge
4-Axis (GBD4-xx-xxx)
15 A
12 AWG
8-Axis (GBD8-xx-xxx)
25 A
10 AWG
PinOuts and Software Setup
26
Geo Brick LV User Manual
Power On/Off Sequence
!
The main bus power should NEVER be brought into the Geo Brick
LV if the 24V logic power is NOT applied.
Caution
!
Caution
Make sure that no motor commands (e.g. phasing, jogging, open loop)
are being executed by the controller (PMAC) at the time of applying
main bus power.
Powering up a Geo Brick LV must obey the following procedure:
1. Apply 24V logic power
2. Wait a minimum of ~ 2 seconds
3. Apply main bus power
!
When the main DC bus motor power is disconnected, a Kill command
should be sent to all motors (e.g. via logic PLC or HMI).
Caution
Powering down a Geo Brick LV must obey the following procedure:
1. Disconnect main bus power
2. Wait a minimum of ~ 1 second
3. Disconnect 24V logic power
!
The loss of DC bus motor power in the Geo Brick LV is not an
amplifier fault condition.
Caution
The loss of DC bus motor power in the Geo Brick LV is not an amplifier fault condition. Killing all
motors upon disconnecting bus power is highly recommended.
In this scenario, if the controller is programmed to persistently enable a motor (bad practice), it will not
know that the bus has been disconnected (no amplifier fault). Therefore, as soon as the DC bus is reapplied, it will try to enable which results in an in-rush current (hardware damage) and unexpected –
dangerous – motor move.
PinOuts and Software Setup
27
Geo Brick LV 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. User flag
- EQU
To avoid machine/equipment damage and before applying power or
connecting any of the flags; make sure that your electrical
design/wiring is in accordance with the Geo Brick LV’s part number
option for 5- or 24-volt connection
Caution
!
J4: D-sub DB-25F
Mating: D-sub DB-25M
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Symbol
USER1
MLIM1
FL_RT1
USER2
MLIM2
FL_RT2
USER3
MLIM3
FL_RT3
USER4
MLIM4
FL_RT4
GND
PLIM1
HOME1
EQU1
PLIM2
HOME2
EQU2
PLIM3
HOME3
EQU3
PLIM4
HOME4
EQU4
Note
13
12
25
11
24
Function
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Input
Input
Output
Input
Input
Output
Input
Input
Output
10
23
9
22
8
21
7
20
6
19
5
18
4
17
3
16
2
15
1
14
Description
User Flag 1
Negative Limit 1
Flag Return 1
User Flag 2
Negative Limit 2
Flag Return 2
User Flag 3
Negative Limit 3
Flag Return 3
User Flag 4
Negative Limit 4
Flag Return 4
Common
Positive Limit 1
Home Flag 1
Compare Output, EQU 1 TTL (5V) level
Positive Limit 2
Home Flag 2
Compare Output, EQU 2 TTL (5V) level
Positive Limit 3
Home Flag 3
Compare Output, EQU 3 TTL (5V) level
Positive Limit 4
Home Flag 4
Compare Output, EQU 4 TTL (5V) level
For 5V flags (internal use): Install RP39, RP43, RP47 and RP51.
1Kohm Sip, 8-pin, four independent Resistors.
For 12-24Vflags: Empty bank (Default).
PinOuts and Software Setup
28
Geo Brick LV 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. User flag
- EQU
To avoid machine/equipment damage and before applying power or
connecting any of the flags; make sure that your electrical
design/wiring is in accordance with the Geo Brick LV’s part number
option (5- or 24-volts)
Caution
!
J5: D-sub DB-25F
Mating: D-sub DB-25M
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Symbol
USER5
MLIM5
FL_RT5
USER6
MLIM6
FL_RT6
USER7
MLIM7
FL_RT7
USER8
MLIM8
FL_RT8
GND
PLIM5
HOME5
BEQU5
PLIM6
HOME6
BEQU6
PLIM7
HOME7
BEQU7
PLIM8
HOME8
BEQU8
Note
13
12
25
11
24
Function
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output
Input
Input
Output
Input
Input
Output
Input
Input
Output
10
23
9
22
8
21
7
20
6
19
5
18
4
17
3
16
2
15
1
14
Description
User Flag 5
Negative Limit 5
Flag Return 5
User Flag 6
Negative Limit 6
Flag Return 6
User Flag 7
Negative Limit 7
Flag Return 7
User Flag 8
Negative Limit 8
Flag Return 8
Common
Positive Limit 5
Home Flag 5
Compare Output EQU 5, TTL (5V) level
Positive Limit 6
Home Flag 6
Compare Output EQU 6, TTL (5V) level
Positive Limit 7
Home Flag 7
Compare Output EQU 7, TTL (5V) level
Positive Limit 8
Home Flag 8
Compare Output EQU 8, TTL (5V) level
For Delta Tau’s internal use:
For 5V flags: Install RP89, RP93, RP97 and RP101
1Kohm Sip, 8-pin, four independent Resistors.
For 12-24Vflags: Empty bank (Default).
PinOuts and Software Setup
29
Geo Brick LV User Manual
Wiring the Limits and Flags
The Geo Brick allows the use of sinking or sourcing limits and flags. 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. Sinking into or sourcing out of the Geo Brick LV:
Sourcing Limits And Flags
Sinking Limits And Flags
Note
14
1
15
2
16
3
17
4
18
5
19
6
20
7
21
8
22
9
23
24
25
17
18
19
20
21
22
23
10
11
12
16
3
4
5
6
7
FLAG RETURN 4/8
EQU 4/8
13
EQU 4/8
EQU 3/7
USER 4/8
NC POS. LIMIT 4/8
NC NEG. LIMIT 4/8
HOME 4/8
13
15
2
14
1
COM
FLAG RETURN 4/8
EQU 2/6
USER 3/7
NC POS. LIMIT 3/7
NC NEG. LIMIT 3/7
HOME 3/7
FLAG RETURN 3/7
24
EQU 3/7
USER 4/8
NC POS. LIMIT 4/8
NC NEG. LIMIT 4/8
HOME 4/8
25
FLAG RETURN 3/7
EQU 1/5
USER 2/6
NC POS. LIMIT 2/6
NC NEG. LIMIT 2/6
HOME 2/6
FLAG RETURN 2/6
8
EQU 2/6
USER 3/7
NC POS. LIMIT 3/7
NC NEG. LIMIT 3/7
HOME 3/7
9
FLAG RETURN 2/6
USER 1/5
NC POS. LIMIT 1/5
NC NEG. LIMIT 1/5
HOME 1/5
FLAG RETURN 1/5
10
EQU 1/5
USER 2/6
NC POS. LIMIT 2/6
NC NEG. LIMIT 2/6
HOME 2/6
11
FLAG RETURN 1/5
12
USER 1/5
NC POS. LIMIT 1/5
NC NEG. LIMIT 1/5
HOME 1/5
+5VDC /
+24VDC
5 or 24 VDC
Power supply
+5VDC /
+24VDC
COM
5 or 24 VDC
Power supply
Per channel, the flags can be either sinking or sourcing depending on
the flag return wiring. The over travel limits must be normally closed
switches. They can be disabled (Ixx24) but they are not software
configurable.
PinOuts and Software Setup
30
Geo Brick LV 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 2 input status
Positive Limit 2 flag input status
Negative Limit 2 flag input status
M315->X:$078010,19
M316->X:$078010,9
M320->X:$078010,16
M321->X:$078010,17
M322->X:$078010,18
;
;
;
;
;
User 3 flag input status
EQU3, ENC3 compare output value
Home flag 3 input status
Positive Limit 3 flag input status
Negative Limit 3 flag input status
M415->X:$078018,19
M416->X:$078018,9
M420->X:$078018,16
M421->X:$078018,17
M422->X:$078018,18
;
;
;
;
;
User 4 flag input status
EQU4, ENC4 compare output value
Home flag 4 input status
Positive Limit 4 flag input status
Negative Limit 4 flag input status
Limits and Flags [Axis 5- 8] Suggested M-Variables
M515->X:$078100,19
M516->X:$078100,9
M520->X:$078100,16
M521->X:$078100,17
M522->X:$078100,18
;
;
;
;
;
User 5 flag input status
EQU5, ENC5 compare output value
Home flag 5 input status
Positive Limit 5 flag input status
Negative Limit 5 flag input status
M615->X:$078108,19
M616->X:$078108,9
M620->X:$078108,16
M621->X:$078108,17
M622->X:$078108,18
;
;
;
;
;
User 6 flag input status
EQU6, ENC6 compare output value
Home flag 6 input status
Positive Limit 6 flag input status
Negative Limit 6 flag input status
M715->X:$078110,19
M716->X:$078110,9
M720->X:$078110,16
M721->X:$078110,17
M722->X:$078110,18
;
;
;
;
;
User 7 flag input status
EQU7, ENC7 compare output value
Home flag 7 input status
Positive Limit 7 flag input status
Negative Limit 7 flag input status
M815->X:$078118,19
M816->X:$078118,9
M820->X:$078118,16
M821->X:$078118,17
M822->X:$078118,18
;
;
;
;
;
User 8 flag input status
EQU8, ENC4 compare output value
Home flag 8 input status
Positive Limit 8 flag input status
Negative Limit 8 flag input status
PinOuts and Software Setup
31
Geo Brick LV User Manual
J6: General Purpose Inputs and Outputs
J6 is used to wire general purpose digital inputs/outputs to the Geo Brick LV.
J6: D-sub DC-37F
Mating: D-sub DC-37M
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Symbol
GPI1
GPI3
GPI5
GPI7
GPI9
GPI11
GPI13
GPI15
IN_COM1-8
OUT-RET
OUT_COM
GP01GP02GP03GP04GP05GP06GP07GP08GPI2
GPI4
GPI6
GPI8
GPI10
GPI12
GPI14
GPI16
IN_COM9-16
OUT_COM
GP01+
GP02+
GP03+
GP04+
GP05+
GP06+
GP07+
GP08+
PinOuts and Software Setup
19
18
37
17
36
16
35
15
34
14
33
Function
Input
Input
Input
Input
Input
Input
Input
Input
Common 01-08
Input
Input
Output
Output
Output
Output
Output
Output
Output
Output
Input
Input
Input
Input
Input
Input
Input
Input
Common 09-16
Input
Output
Output
Output
Output
Output
Output
Output
Output
13
32
12
31
11
30
10
29
9
28
8
27
7
26
6
25
5
24
4
23
3
22
2
21
1
20
Description
Input 1
Input 3
Input 5
Input 7
Input 9
Input 11
Input 13
Input 15
Input 01 to 08 Common
Outputs Return
Outputs Common
Sourcing Output 1
Sourcing Output 2
Sourcing Output 3
Sourcing Output 4
Sourcing Output 5
Sourcing Output 6
Sourcing Output 7
Sourcing Output 8
Input 2
Input 4
Input 6
Input 8
Input 10
Input 12
Input 14
Input 16
Input 09 to 16 Common
Outputs Common
Sinking Output 1
Sinking Output 2
Sinking Output 3
Sinking Output 4
Sinking Output 5
Sinking Output 6
Sinking Output 7
Sinking Output 8
32
Geo Brick LV User Manual
J7: General Purpose Inputs and Outputs (Additional)
J7 is used to wire the additional (optional) general purpose digital Inputs/Outputs to the Geo Brick.
J7: D-sub DC-37F
Mating: D-sub DC-37M
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
Symbol
GPI17
GPI19
GPI21
GPI23
GPI25
GPI27
GPI29
GPI31
IN_COM 17-24
OUT-RET
OUT_COM
GPO9GPO10GPO11GPO12GPO13GPO14GPO15GPO16GPI18
GPI20
GPI22
GPI24
GPI26
GPI28
GPI30
GPI32
IN_COM_25-32
OUT_COM
GPO9+
GPO10+
GPO11+
GPO12+
GPO13+
GPO14+
GPO15+
GPO16+
PinOuts and Software Setup
19
18
37
17
36
16
35
15
34
14
33
Function
Input
Input
Input
Input
Input
Input
Input
Input
Common 17-24
Input
Input
Output
Output
Output
Output
Output
Output
Output
Output
Input
Input
Input
Input
Input
Input
Input
Input
Common 25-32
Input
Output
Output
Output
Output
Output
Output
Output
Output
13
32
12
31
11
30
10
29
9
28
8
27
7
26
6
25
5
24
4
23
3
22
2
21
1
20
Description
Input 17
Input 19
Input 21
Input 23
Input 25
Input 27
Input 29
Input 31
Input 17 to 24 Common
Outputs Return
Outputs Common
Sourcing Output 9
Sourcing Output 10
Sourcing Output 11
Sourcing Output 12
Sourcing Output 13
Sourcing Output 14
Sourcing Output 15
Sourcing Output 16
Input 18
Input 20
Input 22
Input 24
Input 26
Input 28
Input 30
Input 32
Input 25 to 32 Common
Outputs Common
Sinking Output 9
Sinking Output 10
Sinking Output 11
Sinking Output 12
Sinking Output 13
Sinking Output 14
Sinking Output 15
Sinking Output 16
33
Geo Brick LV 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 or sourcing.
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. The input
devices are then connected to the common ground line of the power supply at one end, and individual
input pins at the other.
For sinking inputs, connect the input common pin(s) to the common ground line of the power supply. The
input devices are then connected to the 12–24V line of the power supply at one end, and individual input
pins at the other.
The inputs can be wired either sourcing or sinking in sets of eight,
with each set possessing its own common.
Note
Outputs
The outputs, in the older models of the Geo Brick LV, use the PS2501L-1NEC photocoupler. They are
rated to a maximum current of 500 mA, and are overload protected.
The outputs, in the newer models of the Geo Brick LV (control board 603793-10A and later), use the
PS2701-1NEC photocoupler. They are protected with a ZXMS6006DG; an enhancement mode
MOSFET - diode incorporated. The protection involves over-voltage, over-current, I2T and short circuit.
For sourcing outputs, connect the common collector (pin #29) to the 12–24V line of the power supply.
The output devices are then connected to the common ground line of the power supply at one end, and
individual sourcing output pins at the other.
For sinking outputs, connect the common emitter (pin #11) to the common ground line of the power
supply. The output devices are then connected to the 12–24V line of the power supply at one end, and
individual sinking output pins at the other.
Note
Note
Do not mix topologies for outputs. They are all either sinking or
sourcing. If the common emitter is used, the common collector should
not be connected and vice versa.
Newer models of the Geo Brick LV were introduced in October of
2012 and can be recognized by the 5-pin terminal block STO
connector which was not available previously.
PinOuts and Software Setup
34
Geo Brick LV 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 LV:
Sourcing Inputs / Outputs
Sinking Inputs / Outputs
PinOuts and Software Setup
20
1
21
2
22
3
23
4
24
5
25
6
26
7
27
8
28
9
27
8
26
7
25
6
24
5
23
4
22
3
21
2
20
1
COM
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
11
OUTPUT 7 / 15
12
OUTPUT 6 / 14
19
OUTPUT 8 / 16
35
OUTPUT 7 / 15
OUTPUT 5 / 13
36
OUTPUT 6 / 14
OUTPUT 4 / 12
37
OUTPUT 5 / 13
OUTPUT 3 / 11
15
OUTPUT 4 / 12
OUTPUT 2 / 10
16
OUTPUT 3 / 11
OUTPUT 1 / 9
17
OUTPUT 2 / 10
COM. EMIT
COM. EMIT
18
OUTPUT 1 / 9
19
COM. COLLECT
COM. COLLECT
10
IN COM 09-16 / 25-32
10
IN COM 09-16 / 25-32
INPUT 1 / 17
INPUT 2 / 18
INPUT 3 / 19
INPUT 4 / 20
INPUT 5 / 21
INPUT 6 / 22
INPUT 7 / 23
INPUT 8 / 24
INPUT 9 / 25
INPUT 10 / 26
INPUT 11 / 27
INPUT 12 / 28
INPUT 13 / 29
INPUT 14 / 30
INPUT 15 / 31
INPUT 16 / 32
IN COM 01-08 / 17-24
28
IN COM 01-08 / 17-24
9
INPUT 1 / 17
INPUT 2 / 18
INPUT 3 / 19
INPUT 4 / 20
INPUT 5 / 21
INPUT 6 / 22
INPUT 7 / 23
INPUT 8 / 24
INPUT 9 / 25
INPUT 10 / 26
INPUT 11 / 27
INPUT 12 / 28
INPUT 13 / 29
INPUT 14 / 30
INPUT 15 / 31
INPUT 16 / 32
+12VDC /
+24VDC
12 - 24 VDC
Power supply
+12VDC /
+24VDC
COM
12 - 24 VDC
Power supply
35
Geo Brick LV 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
06
07
08
09
10
11
12
13
14
15
16
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
J6
//Outputs:
M33->Y:$078802,0,1
M34->Y:$078802,1,1
M35->Y:$078802,2,1
M36->Y:$078802,3,1
M37->Y:$078802,4,1
M38->Y:$078802,5,1
M39->Y:$078802,6,1
M40->Y:$078802,7,1
;
;
;
;
;
;
;
;
Output#
Output 1
Output 2
Output 3
Output 4
Output 5
Output 6
Output 7
Output 8
J6
J6
J6
J6
J6
J6
J6
J6
Pin#1
Pin#20
Pin#2
Pin#21
Pin#3
Pin#22
Pin#4
Pin#23
Pin#5
Pin#24
Pin#6
Pin#25
Pin#7
Pin#26
Pin#8
Pin#27
Sourcing
Pin#12
Pin#13
Pin#14
Pin#15
Pin#16
Pin#17
Pin#18
Pin#19
Sinking
Pin#30
Pin#31
Pin#32
Pin#33
Pin#34
Pin#35
Pin#36
Pin#37
General Purpose I/Os Additional (J7) Suggested M-Variables
// Inputs:
M17->Y:$78803,0,1
M18->Y:$78803,1,1
M19->Y:$78803,2,1
M20->Y:$78803,3,1
M21->Y:$78803,4,1
M22->Y:$78803,5,1
M23->Y:$78803,6,1
M24->Y:$78803,7,1
M25->Y:$78804,0,1
M26->Y:$78804,1,1
M27->Y:$78804,2,1
M28->Y:$78804,3,1
M29->Y:$78804,4,1
M30->Y:$78804,5,1
M31->Y:$78804,6,1
M32->Y:$78804,7,1
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
//Outputs:
M41->Y:$078805,0,1
M42->Y:$078805,1,1
M43->Y:$078805,2,1
M44->Y:$078805,3,1
M45->Y:$078805,4,1
M46->Y:$078805,5,1
M47->Y:$078805,6,1
M48->Y:$078805,7,1
;
;
;
;
;
;
;
;
Output#
Output 09
Output 10
Output 11
Output 12
Output 13
Output 14
Output 15
Output 16
PinOuts and Software Setup
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
J7
Pin#1
Pin#20
Pint#2
Pin#21
Pin#3
Pin#22
Pin#4
Pin#23
Pin#5
Pin#24
Pin#6
Pin#25
Pin#7
Pin#26
Pin#8
Pin#27
Sourcing
Pin#12
Pin#13
Pin#14
Pin#15
Pin#16
Pin#17
Pin#18
Pin#19
Sinking
Pin#30
Pin#31
Pin#32
Pin#33
Pin#34
Pin#35
Pin#36
Pin#37
36
Geo Brick LV 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.
PinOuts and Software Setup
37
Geo Brick LV User Manual
J9: Handwheel and Analog I/O
J9 is used to wire the additional analog inputs, handwheel encoder, analog output, and PFM output.
J9: D-sub DB-25F
Mating: D-sub DB-25M
Pin #
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Symbol
AIN1
AIN3
AIN5
AIN7
+12V
GND
ANAOUTPULSEDIRHWA+
HWB+
HWC+
+5V
AIN2
AIN4
AIN6
AIN8
-12V
ANAOUT+
PULSE+
DIR+
GND
HWAHWBHWC-
Note
13
12
25
11
24
Function
Input
Input
Input
Input
Output
Common
Output
Output
Output
Input
Input
Input
Output
Input
Input
Input
Input
Output
Output
Output
Output
Common
Input
Input
Input
10
23
9
22
8
21
7
20
6
19
5
18
4
17
3
16
2
15
1
14
Notes
Analog Input #1
Analog Input #3
Analog Input #5
Analog Input #7
For troubleshooting (no practical use)
Common Ground
Analog Output Pulse Output Direction Output Handwheel Quadrature A
Handwheel Quadrature B
Handwheel Quadrature C
For troubleshooting (no practical use)
Analog Input #2
Analog Input #4
Analog Input #6
Analog Input #8
For troubleshooting (no practical use)
Analog Output +
Pulse Output +
Direction Output +
Common Ground
Handwheel Quadrature A/
Handwheel Quadrature B/
Handwheel Quadrature C/
Analog Inputs at Y:$784B0 using PMAC option12.
Analog Output at Y:$78412,8,16,S using Supp. Ch1* Output A.
Pulse and Direction at Y:$7841C,8,16,S using Supp. Ch2* Output C.
Handwheel Input at Y:$78410 using Supp. Ch1* Handwheel.
PinOuts and Software Setup
38
Geo Brick LV 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
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
ADC8
13
;
;
;
;
;
;
;
;
24
Bipolar Mode
I5081=$000008
I5082=$000009
I5083=$00000A
I5084=$00000B
I5085=$00000C
I5086=$00000D
I5087=$00000E
I5088=$00000F
$78B40
$78B40
$78B40
$78B40
$78B40
$78B40
$78B40
$78B40
25
$078800+$000340=
$078800+$000340=
$078800+$000340=
$078800+$000340=
$078800+$000340=
$078800+$000340=
$078800+$000340=
$078800+$000340=
8
to
to
to
to
to
to
to
to
9
8 ADC pairs
is referenced
is referenced
is referenced
is referenced
is referenced
is referenced
is referenced
is referenced
10
Copy
ADC1
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
ADC8
11
;
;
;
;
;
;
;
;
;
12
I5060=8
I5061=$000340
I5062=$000340
I5063=$000340
I5064=$000340
I5065=$000340
I5066=$000340
I5067=$000340
I5068=$000340
20
7
19
6
18
5
Each input has a 470Ω input resistor inline, and a 0.01 μF resistor to ground
ensuing a 4.7 μsec time constant per input
line.
ADC1
4
These analog inputs can be used either in
unipolar mode in the 0V to +10V range, or
bipolar mode in the -10V to +10V range.
AGND
1
±10VDC
Input Signals
J9 port provides eight multiplexed 12-bit
single-ended analog inputs using the
traditional PMAC Option 12.
A SAVE and a reset ($$$) is required to initialize this function
properly after download.
Note
In Unipolar mode, the ADCs can measure up to 12V since the opamps are powered with 12VDC.
Note
PinOuts and Software Setup
39
Geo Brick LV 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:$00340A,12,12,U
M6997->Y:$00340C,12,12,U
M6998->Y:$00340E,12,12,U
;
;
;
;
;
;
;
;
ADC1
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
ADC8
Testing The J9 Analog Inputs
Input Voltage Software Counts
-10
-2048
-5
-1024
0
0
Bipolar
+10
+2048
Unipolar
+5
+1024
PinOuts and Software Setup
40
1
2
14
14
1
15
15
2
16
4
Single-Ended Output
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
3
3
Setting up the Analog Output (J9)
19
Geo Brick LV User Manual
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
30-40 KHz and a PWM deadtime of zero are suggested for a good quality analog output signal (minimum
ripple). A fully populated Brick can have one of three gates generating the clocks:
13
13
25
25
12
12
24
24
11
11
Servo IC 0
Servo IC 1
MACRO IC 0
I19 specifies which gate is the clock source master. I19 is equal to 7007 by default indicating that Servo
IC 0 is the master gate. However, the analog output on J9 is generated from MACRO IC 0.
The relationship between the PWM clock frequency of the clock-receiving gate and the clock-generating
gate should always be respected in such a way that:
Where n is an integer
Example:
With Servo IC 0 sourcing the clock at its’ recommended settings (20 KHz PWM), the following are
suggested MACRO IC 0 clock settings which would provide a good analog output signal:
Servo IC 0
Clock Settings
Resulting
Frequencies KHz
I7000=1473
I7001=0
I7002=7
I10=1677653
PWM
PHASE
SERVO
Note
MACRO IC 0
Clock Settings
I6800=735
I6801=3
I6802=3
I6804=0
Note that n=2 in this case
20
40
5
Resulting
Frequencies KHz
PWM
PHASE
SERVO
PWMDeadtime
40
20
5
0
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.
PinOuts and Software Setup
41
Geo Brick LV User Manual
For Help with clock calculations, download the Delta Tau Calculator: DT Calculator Forum Link
J9 Analog Output Suggested M-Variable
// I/O 10 & 11 Mode (PWM)
M7051->Y:$78404,10,1
M7052->Y:$78404,11,1
M7051=0
; =0 PWM, =1 PFM
M7052=0
; =0 PWM, =1 PFM
// Analog Output M-variable
M7050->Y:$78412,8,16,S
// These I/O nodes have to be setup once on power-up.
// power-up PLC Example
Open PLC 1 clear
I6612=100*8388608/I10 While(I6612>0) Endw
M7051=0 ; PWM mode
M7052=0 ; PWM mode
Disable PLC 1
Close
Testing the J9 Analog Output
With I6800=735, writing directly to the assigned M-variable (i.e. M7050) should produce the following:
M7050
-735
-368
0
368
735
Note
Single-Ended:
Differential:
Gnd Output+ Output+ Output-10V
-20V
-5V
-10V
0V
0V
+5V
+10V
+10V
+20V
Writing values greater than I6800 (i.e. 735) in M7050 will saturate the
output to 10, or 20 volts in single-ended or differential mode
respectively
MACRO connectivity provides more analog output options, e.g. ACC24M2A.
Note
PinOuts and Software Setup
42
15
3
15
4
16
16
3
17
4
5
Single Ended Pulse And Direction
20
PULSE+
21
DIR+
COM
22
25
24
12
11
24
23
11
10
23
22
10
9
21
8
PULSE
FREQUENCY PULSEDEVICE/
DIR+
AMPLIFIER
DIR-
PULSE
FREQUENCY
DEVICE/
AMPLIFIER
8
PULSE+
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 LV User Manual
13
25
13
12
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 Forum Link
Step2
Step1
Results
Step 1: Choose Max PFM clock by changing the PFM clock divider. Click on calculate to see results.
Step 2: Choose PFM Pulse width by changing I6804. Click on calculate to see results.
For a PFM clock range 0-20 KHz, and a pulse width of ~20 μsec:
I6803=2290
I6804=13
; PFM Clock divider equal to 6
; PFM Pulse Width Control equal to 13
PinOuts and Software Setup
43
Geo Brick LV 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. M8000), values proportional to the calculated Ixx69,
produces the following corresponding frequencies:
M8000 PFM [KHz]
0
0
1213
11
2427
22
PinOuts and Software Setup
44
2
14
14
1
3
15
15
2
4
4
16
16
3
Geo Brick LV User Manual
5
17
17
Setting up the Handwheel Port (J9)
20
+5V External +5V
COM Power Supply
21
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
+5V External +5V
COM Power Supply
8
20
7
7
19
19
6
6
18
18
5
A quadrature encoder type device is normally brought into the handwheel port; it can be wired and used
in either single-ended or differential mode. The encoder power is not provided for this device, it must be
brought in externally.
Differential Handwheel
Single ended Handwheel
The encoder data can be brought into the Encoder Conversion Table allowing direct access with an Mvariable or used as a master position (Ixx05) for a specific motor.
Example:
I8000=$78410
; ECT Entry 1: 1/T extension of location $78410
M8000->X:$3501,0,24,S ; ECT 1st entry result
PinOuts and Software Setup
45
Geo Brick LV 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
2.5V Reference power
8
Stepper Enable
Input
Tie to pin#4 (5V) to enable PFM output
9
CHA-
Input
Encoder A-
10
CHB-
Input
Encoder B-
11
CHC- / AENA-
Input
Encoder Index- / Stepper amp enable -
12
GND
Common
13
CHV+ / DIR-
In/Out
Halls V+ / Direction Output- for Stepper
14
CHT+ / PUL-
In/Out
Halls T+ / Pulse Output- for Stepper
15
-
-
Common ground
Unused
Use an encoder cable with high quality shield. Connect the shield to
connector shell, and use ferrite core in noise sensitive environments.
Note
The standard encoder inputs on the Geo Brick LV are designed for differential quadrature type signals.
Quadrature encoders provide two digital signals to determine the position of the motor. Each nominally
with 50% duty cycle, and nominally 1/4 cycle apart. This format provides four distinct states per cycle of
the signal, or per line of the encoder. The phase difference of the two signals permits the decoding
electronics to discern the direction of travel, which would not be possible with a single signal.
PinOuts and Software Setup
46
Geo Brick LV 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.
Differential Quadrature Encoder Wiring
Single-Ended Quadrature Encoder Wiring
Encoder shield (solder to shell)
9
10
11
12
13
5
6
W+
14
T+
15
Differential Quadrature Encoder
with hall sensors (optional)
C+
+ 5VDC
GND
U+
V+
W+
T+
Single-Ended Quadrature Encoder
with hall sensors (optional)
8
14
U+
8
15
4
+ 5VDC
12
5
6
7
3
C-
V+
B+
2
BC+
13
4
11
3
10
2
B+
GND
A+
1
A-
7
9
1
A+
Encoder shield (solder to shell)
Note
Note
For single-ended encoders, tie the negative pins to power reference
(Pin#7). Alternately, some open collector single ended encoders may
require tying the negative pins to ground in series with a 1-2 KOhm
resistors.
Some motor manufacturers bundle the hall sensors with the motorlead cable. The hall sensors must be brought into this connector for
setup simplicity.
PinOuts and Software Setup
47
Geo Brick LV 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.
I100,8,100=1
; Channels 1-8 activated
Encoder Count Error (Mxx18)
The Geo Brick LV 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). The three most common root
causes of this error:
Real encoder hardware problem
Trying to move the encoder (motor) faster than it’s specification
Using an extremely high resolution/speed encoder. This may require increasing the SCLK
The default sampling clock in the Geo Brick LV is ~ 10MHz, which is acceptable for virtually all
applications. A setting of I7m03 of 2257 (from default of 2258) sets the sampling clock SCLK at about
~20MHz. It can be increased to up to ~40 MHz.
No automatic action is taken by the Geo Brick LV if the encoder count
error bit is set.
Note
PinOuts and Software Setup
48
Geo Brick LV 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.
Note
Ch#
1
2
3
4
Address/Definition
Y:$78807,0,1
Y:$78807,1,1
Y:$78807,2,1
Y:$78807,3,1
!
Caution
Ch#
5
6
7
8
Address/Definition
Y:$78807,4,1
Y:$78807,5,1
Y:$78807,6,1
Y:$78807,7,1
Status Bit Definition
=0
Encoder lost, Fault
=1
Encoder present, no Fault
Appropriate action (user-written plc) needs to be implemented when
an encoder loss is encountered. To avoid a runaway, an immediate
Kill of the motor/encoder in question is strongly advised.
No automatic firmware (Geo Brick) action is taken upon detection of encoder(s) loss; it is the user’s
responsibility to perform the necessary action to make the application safe under these conditions, see
example PLC below. Killing the motor/encoder in question is the safest action possible, and strongly
recommended to avoid a runaway, and machine damage. Also, the user should decide the action to be
taken (if any) for the other motors in the system. The Encoder Loss Status bit is a low true logic. It is set
to 1 under normal conditions, and set to 0 when a fault (encoder loss) is encountered.
PinOuts and Software Setup
49
Geo Brick LV 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. In addition,
it does not allow enabling any of the motors when an encoder loss condition has been encountered:
#define Mtr1AmpEna
Mtr1AmpEna->X:$B0,19
#define Mtr2AmpEna
Mtr2AmpEna->X:$130,19
#define Mtr3AmpEna
Mtr3AmpEna->X:$1B0,19
#define Mtr4AmpEna
Mtr4AmpEna->X:$230,19
M139
#define Mtr1EncLoss
Mtr1EncLoss->Y:$078807,0,1
#define Mtr2EncLoss
Mtr2EncLoss->Y:$078807,1,1
#define Mtr3EncLoss
Mtr3EncLoss->Y:$078807,2,1
#define Mtr4EncLoss
Mtr4EncLoss->Y:$078807,3,1
M180
#define SysEncLoss
SysEncLoss=0
P1080
M239
M339
M439
M280
M380
M480
;
;
;
;
;
;
;
;
Motor#1 Amplifier Enable
Suggested M-Variable
Motor#2 Amplifier Enable
Suggested M-Variable
Motor#3 Amplifier Enable
Suggested M-Variable
Motor#4 Amplifier Enable
Suggested M-Variable
Status Bit
;
;
;
;
;
;
;
;
Motor#1 Encoder Loss Status Bit
Status Bit
Status Bit
Status Bit
Motor#2 Encoder Loss Status Bit
Motor#3 Encoder Loss Status Bit
Motor#4 Encoder Loss Status Bit
; System Global Encoder Loss Status (user defined)
; Save and Set to 0 at download, normal operation
; =1 System Encoder Loss Occurred
OPEN PLC 1 CLEAR
If (SysEncLoss=0)
; No Loss yet, normal mode
If (Mtr1EncLoss=0 or Mtr2EncLoss=0 or Mtr4EncLoss=0 or Mtr4EncLoss=0)
CMD^K
; One or more Encoder Loss(es) detected, kill all motors
SysEncLoss=1
; Set Global Encoder Loss Status to Fault
EndIf
EndIF
If (SysEncLoss=1)
; Global Encoder Loss Status At Fault?
If (Mtr1AmpEna=1 or Mtr2AmpEna=1 or Mtr4AmpEna=1 or Mtr4AmpEna=1) ; Trying to Enable Motors?
CMD^K
; Do not allow Enabling Motors, Kill all
EndIF
EndIF
CLOSE
PinOuts and Software Setup
50
Geo Brick LV User Manual
Step and Direction PFM Output (To External Stepper Amplifier)
The Geo Brick LV 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.
Tying pin #8 to pin #4 (+5V) enables the PFM signal output.
Digital A quad B encoders can still be used alongside PFM output, but hall sensors can NOT be brought
into this connector, they conflict with the PFM circuitry.
The PFM amplifier enable output signal is not available by default. Jumpers E25, E26, E27, and E28
should be installed to activate the amp enable functions of channels 1 through 4 respectively. Similarly
jumpers E35, E36, E37, and E38 should be installed to activate the amp enable functions of channels 5
through 8 respectively.
We strongly recommend requesting that these jumpers be installed
upon shipping to avoid opening the unit and losing warranty.
Note
The index channel (C-channel) can NOT be wired into this connector when the amplifier enable output
signal is configured.
PFM output
with encoder feedback
PFM output without
encoder feedback
Encoder shield (solder to shell)
1
9
2
10
PUL-
12
13
PULSE-
14
PUL+
DIRPULSE+
15
DIR-
DIR+
5
DIR+
DIGITAL GND
6
GND
8
8
PinOuts and Software Setup
+5V
PFM enable
AENA-
11
AENA-
3
AENA+
4
AENA+
15
External Stepper
Amplifier
11
12
PULSE-
7
PUL-
GND
PFM enable
PUL+
DIRPULSE+
13
DIR-
DIR+
14
DIR+
DIGITAL GND
+ 5VDC
5
GND
B-
3
4
AENA-
AENA-
10
2
B+
6
External Stepper
Amplifier
AENA+
AENA+
A-
7
9
1
A+
51
Geo Brick LV User Manual
The stepper drive specifications dictate the choice of the maximum PFM clock frequency, and pulse
width.
DT Calculator Forum Link
Step 1: Choose Max PFM clock by changing the PFM clock divider. Click on calculate to see results.
Step 2: Choose PFM Pulse width by changing I7m04. Click on calculate to see results.
The output frequency control Ixx69 specifies the maximum command output value which corresponds to
the maximum PFM Frequency.
Example: Channels 5-8 are driving 4 stepper drives-motors, and require a PFM clock range of 0-20 KHz
and a pulse width of ~20 μsec.
PFM Clock Settings Example
// Channels 5-8 PFM Clock Settings
I7103=2290
; Servo IC 1 PFM Clock divider equal to 6
I7104=13
; Servo IC 1 PFM Pulse Width Control equal to 13
I569,4,100=2427
; Output Command Limit
The following example assumes that there is no encoder attached to
the motor, and the feedback is internally generated.
Note
PinOuts and Software Setup
52
Geo Brick LV User Manual
Ch. 5-8 PFM Setup Example
// Encoder Conversion Table, for channels 5-8
I8004=$C78100
; Entry 5 incremental encoder, no extension
I8005=$C78108
; Entry 6 incremental encoder, no extension
I8006=$C78110
; Entry 7 incremental encoder, no extension
I8007=$C78118
; Entry 8 incremental encoder, no extension
// Channels 5-8 Output Mode Select, Encoder/Decode
I7116,4,10=3
; Servo IC 1, Channels 5-8 Output Mode Select to PFM
I7110,4,10=8
; Servo IC 1, Channels 5-8 Encoder Decode, Internal Pulse and Direction
// Channels 5-8 Command Output Register
I502=$78104
; Channel 5, PFM
I602=$7810C
; Channel 6, PFM
I702=$78114
; Channel 7, PFM
I802=$7811C
; Channel 8, PFM
In PFM mode, it is possible to:
Write directly to the PFM output register using the suggested M-Variable definition (Mxx07)
The corresponding channel has to be deactivated in this mode (Ixx00=0)
Issue open loop commands to a channel/motor, e.g.:#5O5
The corresponding channel has to be activated in this mode (Ixx00=1)
Issue closed loop commands to a channel/motor, e.g.: #5J=1000
The corresponding channel has to be activated (Ixx00=1) and the position loop PID gains have to
be implemented.
Writing directly to the PFM register
// Channels 5-8 Suggested M-Variables, PFM
M507->Y:$78104,8,16,S ; Channel 5, Min=0,
M607->Y:$7810C,8,16,S ; Channel 6, Min=0,
M707->Y:$78114,8,16,S ; Channel 7, Min=0,
M807->Y:$7811C,8,16,S ; Channel 8, Min=0,
command output
Max= Calculated
Max= Calculated
Max= Calculated
Max= Calculated
I569
I669
I769
I869
Writing directly to the suggested M-variable(s) values proportional to
Ixx69 produces corresponding frequencies:
Suggested
MVariable
Output
Frequency
PFM [KHz]
0
0
1213
11
2427
22
Issuing Open-Loop Commands
Activating the motor channel should be sufficient at this point to allow open loop commands. Note that an
open loop command of zero magnitude (#nO0) will result in a zero frequency output, and an open loop
command of 100 (#nO100) will result in the maximum calculated frequency output.
I500,4,100=1
; Channels 5-8 active
Going back to the setup example, these are some open loop commands
resulting frequencies:
PinOuts and Software Setup
Open
Loop
Command
Output
Frequency
PFM [KHz]
0
0
50
11
100
22
53
Geo Brick LV User Manual
Issuing Closed-Loop Commands
Issuing closed-loop commands requires activating the channel, setting the flag control, assigning the
position and velocity pointers, and implementing PID gains.
Activating channels, Ixx00
I500,4,100=1
; Channels 5-8 active
Assigning position and velocity pointers, Ixx03 and Ixx04
I503=$3505
I603=$3506
I703=$3507
I803=$3508
I504=$3505
I604=$3506
I704=$3507
I804=$3508
;
;
;
;
Channel
Channel
Channel
Channel
5
6
7
8
position
position
position
position
and
and
and
and
velocity
velocity
velocity
velocity
pointers
pointers
pointers
pointers
Flag Control, Ixx24
The following diagram showcases important bit settings pertaining to flags, and amplifier information:
Amplifier Fault Use Bit
Amplifier Enable Use Bit
Flag Register Type
= 0 Enable amp fault input
= 1 Disable amp fault input
= 0 Use amp enable output
= 1 Don’t use amp enable
Always =1 for Brick Controller
(Turbo PMAC)
Bit #:
23 22 21 20 19 18 17 16 15 14 13 12 11 10
Amplifier Fault Polarity Bit
Overtravel Limit Use Bit
= 0 For low true amp
= 1 For high true amp
= 0 Enable hardware over-travel limits
= 1 Disable hardware over-travel limits
9
8
7
6
5
4
3
2
1
0
Example:
Setting Ixx24 for a low true amplifier, disabling the over-travel limits and amplifier fault input yields
$120001.
PinOuts and Software Setup
54
Geo Brick LV User Manual
Implementing PID gains, Ixx30…Ixx35
In PFM mode, the PID Gains can be determined using the following empirical equations:
Ixx30
660000
Ixx08 PFM CLock [MHz]
Ixx31 0
Ixx32 6660 Servo Freq. [KHz]
Ixx33..Ixx35 0
// Channels 5-8 PID Gains (with
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
default clock settings):
5-8 Proportional Gain
5-8 Derivative Gain
5-8 Velocity FeedForward Gain
5-8 Integral Gain
5-8 Integral Mode
5-8 Acceleration FeedForward Gain
At this point of the setup, the drive-motor(s) is ready to accept Jog
commands.
Note
PinOuts and Software Setup
55
Geo Brick LV 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 2.5 volts
8
4
12
3
11
2
10
1
9
Unused
9
Sin-
Input
Sine-
10
Cos-
Input
Cosine-
11
CHC-
Input
Index-
12
GND
Common
13
CHV+
In/Out
V Hall
14
CHT+
In/Out
T Hall
15
Common Ground
Unused
This option allows the Geo Brick LV to interface directly to up to eight sinusoidal feedback devices. The
high resolution interpolator circuitry accepts inputs from sinusoidal or quasi-sinusoidal encoders (1-Volt
peak to peak) and provides encoder position data. It creates 4,096 steps per sine-wave cycle.
PinOuts and Software Setup
56
Geo Brick LV 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. interpolator, PMAC2 Style
Enter Source Address (see table below)
Enter A/D Converter Address (see table below)
A/D Bias: always zero
Source
Address
$78000
$78008
$78010
$78018
A/D converter
Address
$78B00
$78B02
$78B04
$78B06
Channel #
5
6
7
8
Source A/D converter
Address
Address
$78100
$78B08
$78108
$78B0A
$78110
$78B0C
$78118
$78B0E
Results are found in the processed data address, which the position
and velocity feedback pointers (Ixx03, Ixx04) are usually assigned to.
Note
PinOuts and Software Setup
57
Geo Brick LV 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=$078B0E
I8023=$000000
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
; High resolution interpolator
; A/D converter address
; Bias Term and Entry result
Position and Velocity feedback pointers should now be set to the corresponding ECT result:
I103=$3503
I203=$3506
I303=$3509
I403=$350C
I503=$350F
I603=$3512
I703=$3515
I803=$3518
I104=$3503
I204=$3506
I304=$3509
I404=$350C
I504=$350F
I604=$3512
I704=$3515
I804=$3518
Note
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see ‘motor’ counts in the position
window.
Counts per User Units
With the interpolation of x 4096 in Turbo PMAC, there are 128 (4096/32) motor counts per sine/cosine
cycles. Motor counts can be monitored in the motor position window upon moving the motor by hand.
Examples:
A 1024 Sine/Cosine periods per revolution of a rotary encoder produces 1024 x 128 = 131,072 cts/rev.
A 20 μm linear encoder resolution produces 128/0.02 = 6400 cts/mm.
PinOuts and Software Setup
58
Geo Brick LV User Manual
Encoder Count Error (Mxx18)
The Geo Brick LV 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). The three most common root
causes of this error:
Real encoder hardware problem
Trying to move the encoder (motor) faster than it’s specification
Using an extremely high resolution/speed encoder. This may require increasing the SCLK
The default sampling clock in the Geo Brick LV is ~ 10MHz, which is acceptable for virtually all
applications. A setting of I7m03 of 2257 (from default of 2258) sets the sampling clock SCLK at about
~20MHz. It can be increased to up to ~40 MHz.
No automatic action is taken by the Geo Brick LV if the encoder count
error bit is set.
Note
PinOuts and Software Setup
59
Geo Brick LV 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). Using channel #1, the encoder conversion table (5-line entry) for computing the sum
of the squares would look like:
I8024
I8025
I8026
I8027
I8028
=
=
=
=
=
$F78B00
$100000
$0
$0
$0
;
;
;
;
;
Diagnostic entry for sinusoidal encoder(s)
Bit 0 is 0 to compute sum of the squares
Active Sine/Cosine Bias Corrections
Sum of the squares result
The result (@ $351D for example) corresponds to:
(SineADC + SineBias)2 + (CosineADC + CosineBias)2
This term can be monitored to check for loss of the encoder. If the inputs are no longer driven externally,
for example because the cable has come undone, the positive and negative input pair to the ADC will pull
to substantially the same voltage, and the output of the ADC will be a very small number, resulting in a
small magnitude of the sum of squares in at least part of the cycle. (If both signals cease to be driven
externally, the sum of squares will be small over the entire cycle). The high four bits (bits 20 – 23) of the
sum-of-squares result can be monitored, and if the four-bit value goes to 0, it can be concluded that the
encoder has been “lost”, and the motor should be “killed”.
The 4-bit value can be obtained as follows:
#define Mtr1EncLoss
M180
Mtr1EncLoss->X:$351D,20,4
!
Caution
; Motor#1 Encoder Loss Status
; Upper 4 bits of the sum of the squares
Appropriate action (user-written plc) needs to be implemented when
an encoder loss is encountered. To avoid a runaway, an immediate
Kill of the motor/encoder in question is strongly advised.
No automatic firmware (Geo Brick) action is taken upon detection of encoder(s) loss; it is the user’s
responsibility to perform the necessary action to make the application safe under these conditions. Killing
the motor/encoder in question is the safest action possible, and strongly recommended to avoid a
runaway, and machine damage. Also, the user should decide the action to be taken (if any) for the other
motors in the system.
PinOuts and Software Setup
60
Geo Brick LV 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 2.5 volts
Unused
9
Sin-
Input
Sine-
10
Cos-
Input
Cosine-
11
CHC-
Input
Index-
12
GND
Common
Common Ground
13
Unused
14
Unused
15
6
Encoder Power 5 Volts
5
7
7
ResOut
Output
Resolver Excitation Output
This option allows the Brick to connect to up to eight Resolver feedback devices.
Setting up Resolvers
The Resolver data sampling is done at phase rate, and processed in the encoder conversion table. The
commutation (occurring at phase rate) position is retrieved from the Encoder Conversion Table which is
normally read at Servo rate. Thus, the Servo and Phase cycles have to be at the same rate.
Note
PinOuts and Software Setup
Use an encoder cable with high quality shield. Connect the
shield to chassis ground, and use ferrite core in noise sensitive
environment if deemed necessary.
It is essential to set the Servo clock the same as the Phase
Clock in Resolver applications. This will greatly reduce noise.
The Servo Cycle Extension Period (Ixx60) can be used to
lower the CPU load and avoid quantization errors through the
PID loop at high Servo rates.
61
Geo Brick LV 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
11.3
13
12
14
13
15
14
Resolver Excitation Frequency
The Resolvers’ excitation frequency is divided from the Phase clock and is setup to be the same as but not
greater than the Resolvers’ excitation frequency specification. The Resolver excitation frequency is a
global setting used for all available Resolver channels, it has 4 possible settings:
#define ResExcFreq M8001
ResExcFreq->Y:$78B13,0,4
; Resolver Excitation Frequency MACRO definition
; Resolver Excitation Frequency register
Setting
0
1
2
3
Excitation Frequency
Phase Clock/1
Phase Clock/2
Phase Clock/4
Phase Clock/6
The Resolver Excitation Magnitude and Frequency need to be
executed once on power-up.
Note
PinOuts and Software Setup
62
Geo Brick LV 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.
The Pewin32Pro2 software provides with an automatic encoder conversion table utility that can be used
to implement both the Resolver entry and Tracking Filter. Under Configure>Encoder Conversion Table:
Channel 1 Resolver Setup Example
Resolver Entry
Tracking Filter
Steps:
1. Choose Resolver from Conversion
Type pull-down menu.
2. Enter Source Address. See Resolver Data
Registers table above.
3. Enter Excitation Address
$4 Source address+$10
4. Download Entry.
5. Record
Processed
Data
Address
$3503 for channel 1.
PinOuts and Software Setup
6. Move up to the next Entry
7. Choose Tracking from Conversion Type
pull-down menu.
8. Enter Source address. This is the result
recorded in step5.
9. Download Entry
10. Record Processed Data Address. This is the
source for position Ixx03 and velocity
Ixx04 feedback pointers.
63
Geo Brick LV 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.
The empirical equations for the filter’s proportional and integral gains (usually acceptable most
applications) present a good starting point:
Ff: Filter Frequency (Hz)
Sf: Servo Frequency (Hz)
( )
( )
Motors 1-8 Resolver Encoder Conversion Table Setup Example
// Channel 1
I8000= $F78B00
I8001= $478B10
I8002= $000000
I8003=$D83503
I8004=$400
I8005=$80000
I8006=$0
I8007=$1
// Channel 2
I8008=$F78B02
I8009=$478B10
I8010=$000000
I8011=$D8350B
I8012=$400
I8013=$80000
I8014=$0
I8015=$1
// Channel 3
I8016=$F78B04
I8017=$478B10
I8018=$000000
I8019=$D83513
I8020=$400
I8021=$80000
I8022=$0
I8023=$1
// Channel 4
I8024=$F78B06
I8025=$478B10
I8026=$000000
I8027=$D8351B
I8028=$400
I8029=$80000
I8030=$0
I8031=$1
// Channel 5
I8032=$F78B08
I8033=$478B10
I8034=$000000
I8035=$D83523
I8036=$400
I8037=$80000
I8038=$0
I8039=$1
// Channel 6
I8040=$F78B0A
I8041=$478B10
;
;
;
;
;
;
;
;
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $3503
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
;
;
;
;
;
;
;
;
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $350B
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
;
;
;
;
;
;
;
;
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $3513
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
;
;
;
;
;
;
;
;
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $351B
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
;
;
;
;
;
;
;
;
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $3523
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
; Resolver Counter Clockwise
; Excitation address
PinOuts and Software Setup
64
Geo Brick LV User Manual
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 ;
SIN/COS Bias word
Tracking filter from conversion location $352B
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $3533
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
Resolver Counter Clockwise
Excitation address
SIN/COS Bias word
Tracking filter from conversion location $353B
Maximum change in counts/cycle
Proportional gain
Reserved setup word
Integral gain
End Of Table
Position, Velocity Feedback Pointers
I103=$3508
I203=$3510
I303=$3518
I403=$3520
I503=$3528
I603=$3530
I703=$3538
I803=$3540
I104=$3508
I204=$3510
I304=$3518
I404=$3520
I504=$3528
I604=$3530
I704=$3538
I804=$3540
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
65
Geo Brick LV 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
; Excitation Magnitude register
; Excitation Frequency register
;~10 Volts –User Input
; = Phase Clock/1 =10 KHz –User Input
// PLC to establish Resolver Magnitude & Frequency on power-up
Open plc 1 clear
ResExcMag=11
ResExcFreq=0
Disable plc 1
Close
PinOuts and Software Setup
66
Geo Brick LV 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.
8
X1-X8: D-sub DA-15F
Mating: D-Sub DA-15M
7
15
6
14
Pin #
Symbol
Function
1
Sin+
Input
Sine+ signal input
2
Cos+
Input
Cosine+ signal input
3
EncPwr
Output
5
RS485-
Input
12
3
11
2
10
1
9
Notes
+5V encoder power
Data- Packet
6
Unused
7
Unused
8
Unused
9
SIN-
Sine- signal input
10
COS-
Cosine- signal input
11
Unused
GND
Common
13
14
13
4
Unused
4
12
5
Common ground
Unused
RS485+
15
Input
Data+ Packet
Unused
This option allows the Brick to connect to up to eight HiperFace type feedback devices.
The HiperFace on-going position (sinusoidal data) is processed by the x 4096 interpolator. The encoder
conversion table is setup as a high resolution interpolator 3-line entry similarly to setting up a sinusoidal
encoder. The absolute power-on position (serial data) is computed directly from the raw HiperFace serial
data registers. Subsequently, a power-on phase referencing routine can be implemented.
PinOuts and Software Setup
67
Geo Brick LV 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. interpolator, PMAC2 Style
Enter Source Address (see table below)
Enter A/D Converter Address (see table below)
A/D Bias: typically =0
Source
Address
$78000
$78008
$78010
$78018
A/D converter
Address
$78B00
$78B02
$78B04
$78B06
Channel #
5
6
7
8
Source A/D converter
Address
Address
$78100
$78B08
$78108
$78B0A
$78110
$78B0C
$78118
$78B0E
Results are found in the processed data address, which the position
and velocity feedback pointers (Ixx03, Ixx04) are usually pointed to.
Note
PinOuts and Software Setup
68
Geo Brick LV 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=$078B0E
I8023=$000000
; High resolution interpolator entry, $78000
; A/D converter address, $78B00
; Bias Term and Entry result at $3503
; High resolution interpolator entry, $78008
; A/D converter address, $78B02
; Bias Term and Entry result at $3506
; High resolution interpolator entry, $78010
; A/D converter address, $78B04
; Bias Term and Entry result at $3509
; High resolution interpolator entry, $78018
; A/D converter address, $78B06
; Bias Term and Entry result at $350C
; High resolution interpolator entry, $78100
; A/D converter address, $78B08
; Bias Term and Entry result at $350F
; High resolution interpolator entry, $78108
; A/D converter address, $78B0A
; Bias Term and Entry result at $3512
; High resolution interpolator entry, $78110
; A/D converter address, $78B0C
; Bias Term and Entry result at $3515
; High resolution interpolator entry, $78118
; A/D converter address, $78B0E
; Bias Term and Entry result at $3518
Now, the position and velocity pointers are assigned to the corresponding processed data register:
I103=$3503
I203=$3506
I303=$3509
I403=$350C
I503=$350F
I603=$3512
I703=$3515
I803=$3518
I104=$3503
I204=$3506
I304=$3509
I404=$350C
I504=$350F
I604=$3512
I704=$3515
I804=$3518
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
#1
#2
#3
#4
#5
#6
#7
#8
Position
Position
Position
Position
Position
Position
Position
Position
and
and
and
and
and
and
and
and
Velocity
Velocity
Velocity
Velocity
Velocity
Velocity
Velocity
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address
address
address
address
address
address
address
address
Channel Activation
I100,8,100=1
; Motors 1-8 activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
Counts Per Revolution:
With the interpolation of x 4096 in Turbo PMAC, there are 128 (4096/32) motor counts per sine/cosine
cycles. Motor counts can be monitored in the motor position window upon moving the motor by hand.
Examples:
A 1024 Sine/Cosine periods per revolution rotary encoder produces 1024 x 128 = 131,072 cts/rev.
A 20 μm resolution linear encoder produces 128/0.02 = 6400 cts/mm.
PinOuts and Software Setup
69
Geo Brick LV 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
70
Geo Brick LV 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
192.30
9600
$812004
129 3
96.15
4800
$813004
129 1
394.61
19200
$812004
Default Settings: M=129, N=2
There are two external trigger sources; phase and servo. Bits [9:8] in the Global Control register are used
to select the source and active edge to use as the internal serial encoder trigger. The internal trigger is
used by all four channels to initiate communication with the encoder. To compensate for external system
delays, this trigger has a programmable 4-bit delay setting in 20 μsec increments.
23--16
15--12
M_Divisor
N_Divisor
Bit
11
Type Default
10
9
8
Trigger Clock
Trigger Edge
Name
7
6
5
4
Trigger Delay
3
2
1
0
Protocol Code
Description
Intermediate clock frequency for SER_Clock. The
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
Final clock frequency for SER_Clock. The final clock is
generated from a 2 N divider clocked by the intermediate
clock.
Reserved and always reads zero.
= 0 Phase Clock
Trigger clock select
= 1 Servo Clock
= 0 Rising edge
Active clock edge select
= 1 Falling edge
Trigger delay program relative to the active edge of the
trigger clock. Units are in increments of 20 usec.
[23:16]
R/W
0x81
M_Divisor
[15:12]
R/W
0x2
N_Divisor
[11:10]
R
00
Reserved
[09]
R/W
0
TriggerClock
[08]
R/W
0
TriggerEdge
[07:04]
R/W
0x0
TriggerDelay
[03:00]
R
0x4
ProtocolCode protocol supported by the FPGA. A value of $4 defines this
This read-only bit field is used to read the serial encoder interface
protocol as HiperFace.
PinOuts and Software Setup
71
Geo Brick LV 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.
Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling channels
through the SENC_MODE (when this bit is cleared, the serial encoder pins of that channel are tri-stated),
enabling/disabling communication with the encoder using the trigger control bit. An 8-bit mode command
is required for encoder communication. Currently, three HiperFace commands are supported; read
encoder position ($42), read encoder status ($50) and Reset encoder($53).
[23:16]
[15:14]
13
12
11
10
[9:8]
[7:0]
Command
Trigger
Trigger
Rxdataready
Encoder
Code
Mode
Enable
SencMode
Address
Bit
[23:16]
Type Default
W
[15:14]
Name
0x42
Command
Code
0
Reserved
[13]
R/W
0
Trigger Mode
[12]
R/W
1
Trigger Enable
0
Reserved
R
0
RxData Ready
W
1
SENC_MODE
0x00
Reserved
0xFF
Encoder
address
[11]
[10]
[09:08]
[07:00]
R/W
PinOuts and Software Setup
Description
$42 – Read Encoder Position
$50 – Read Encoder Status
$53 – Reset Encoder
Reserved and always reads zero.
Trigger Mode to initiate communication:
0= continuous trigger
1= one-shot trigger - for HiperFace
All triggers occur at the defined Phase/Servo clock edge and
delay setting. Due to HiperFace protocol speed limitation,
only one-shot trigger mode is used.
0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
Reserved and always reads zero.
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
This write-only bit is used to enable the output drivers for
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel.
Reserved and always reads zero.
This bit field is normally used to define the encoder address
transmitted with each command. Delta Tau does not support
multiple encoders per channel; a value of $FF sends a
general broadcast.
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Geo Brick LV 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.
23
TimeOut
Error
22
CheckSum
Error
HiperFace Data B
21
20
[19:16]
Parity Error
Error
Bit
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
[07:0]
HiperFace Data A
[23:0]
Position Data [31:24]
Position Data [23:0]
HiperFace Serial Data A
Y:$78B20
Y:$78B24
Y:$78B28
Y:$78B2C
Y:$78B30
Y:$78B34
Y:$78B38
Y:$78B3C
HiperFace Serial Data B
Y:$78B21
Y:$78B25
Y:$78B29
Y:$78B2D
Y:$78B31
Y:$78B35
Y:$78B39
Y:$78B3D
Data Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the HiperFace setup and always read zero.
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
PinOuts and Software Setup
HiperFace Serial Data C
Y:$78B22
Y:$78B26
Y:$78B2A
Y:$78B2E
Y:$78B32
Y:$78B36
Y:$78B3A
Y:$78B3E
HiperFace Serial Data D
Y:$78B23
Y:$78B27
Y:$78B28
Y:$78B2F
Y:$78B33
Y:$78B37
Y:$78B38
Y:$78B3F
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Geo Brick LV User Manual
Setting up HiperFace Encoders Example
An 8-axis Geo Brick LV 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
5
4
3
2
1
0
1
0
0
0
0
0
0
0
1
0
0
Description:
Bit #:
Binary:
$4 for
HiperFace
Typically =0
M Divisor
0
Hex ($):
0
0
0
N Divisor
0
8
0
1
0
0
1
1
0
0
0
0
2
Trigger Delay
0
Protocol
0
4
The only user configurable HiperFace Global Control field is the baud
rate (M and N divisors).
Note
The channel control registers are programmed to read position ($42):
=0 Disabled
=1 Enabled
Bit #:
Binary:
Command code
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
0
0
0
1
1
1
1
1
1
1
1
Hex ($):
0
4
Note
0
0
1
2
0
0
0
1
3
1
0
Always $FF for
General Broadcast
0
0
0
=0 Disabled
=1 Enabled
0
1
0
Trigger
Mode
Trigger
Enable
Description:
=0 Continuous
=1 One shot
Senc
Mode
= $42 Read position
= $50 Encoder Status
= $53 Reset Encoder
0
1
4
Encoder Address
F
F
The only user configurable HiperFace Channel Control field is
the command code:
$42 to read position
$50 to read encoder status
$53 to reset encoder
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Geo Brick LV 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.
//=========================================================================================//
M5990..5999->* ; Self-referenced M-Variables
M5990..5999=0 ; Reset at download
//========================= GLOBAL CONTROL REGISTERS
#define HFGlobalCtrl1_4
M5990
; Channels 1-4
#define HFGlobalCtrl5_8
M5991
; Channels 5-8
HFGlobalCtrl1_4->X:$78B2F,0,24,U
; Channels 1-4
HFGlobalCtrl5_8->X:$78B3F,0,24,U
; Channels 5-8
======================================//
HiperFace global control register
HiperFace global control register
HiperFace global control register address
HiperFace global control register address
//======================== CHANNEL CONTROL REGISTERS ======================================//
#define Ch1HFCtrl
M5992
; Channel 1 HiperFace control register
#define Ch2HFCtrl
M5993
; Channel 2 HiperFace control register
#define Ch3HFCtrl
M5994
; Channel 3 HiperFace control register
#define Ch4HFCtrl
M5995
; Channel 4 HiperFace control register
#define Ch5HFCtrl
M5996
; Channel 5 HiperFace control register
#define Ch6HFCtrl
M5997
; Channel 6 HiperFace control register
#define Ch7HFCtrl
M5998
; Channel 7 HiperFace control register
#define Ch8HFCtrl
M5999
; Channel 8 HiperFace control register
Ch1HFCtrl->X:$78B20,0,24,U
Ch2HFCtrl->X:$78B24,0,24,U
Ch3HFCtrl->X:$78B28,0,24,U
Ch4HFCtrl->X:$78B2C,0,24,U
Ch5HFCtrl->X:$78B30,0,24,U
Ch6HFCtrl->X:$78B34,0,24,U
Ch7HFCtrl->X:$78B38,0,24,U
Ch8HFCtrl->X:$78B3C,0,24,U
;
;
;
;
;
;
;
;
Channel
Channel
Channel
Channel
Channel
Channel
Channel
Channel
1
2
3
4
5
6
7
8
HiperFace
HiperFace
HiperFace
HiperFace
HiperFace
HiperFace
HiperFace
HiperFace
control
control
control
control
control
control
control
control
register
register
register
register
register
register
register
register
Address
Address
Address
Address
Address
Address
Address
Address
//========= POWER-ON PLC EXAMPLE, GLOBAL & CHANNEL CONTROL REGISTERS ======================//
Open PLC 1 Clear
HFGlobalCtrl1_4=$812004
; Channels 1-4 HiperFace, 9600 baud rate (M=129 N=2) –User Input
HFGlobalCtrl5_8=$812004
; Channels 5-8 HiperFace, 9600 baud rate (M=129 N=2) –User Input
Ch1HFCtrl=$4234FF
; Channel 1 HiperFace control register (read position) –User Input
Ch2HFCtrl=$4234FF
; Channel 2 HiperFace control register (read position) –User Input
Ch3HFCtrl=$4234FF
; Channel 3 HiperFace control register (read position) –User Input
Ch4HFCtrl=$4234FF
; Channel 4 HiperFace control register (read position) –User Input
Ch5HFCtrl=$4234FF
; Channel 5 HiperFace control register (read position) –User Input
Ch6HFCtrl=$4234FF
; Channel 6 HiperFace control register (read position) –User Input
Ch7HFCtrl=$4234FF
; Channel 7 HiperFace control register (read position) –User Input
Ch8HFCtrl=$4234FF
; Channel 8 HiperFace control register (read position) –User Input
I5111=500*8388608/I10 while(I5111>0) endw
; ½ sec delay
Dis plc 1
; Execute once on power-up or reset
Close
//=========================================================================================//
PinOuts and Software Setup
75
Geo Brick LV 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). The entire data stream is
held in the HiperFace serial data A register:
HiperFace Data A Register
[23:0]
HiperFace Data A Register
[23:0]
[11:0]
Multi-Turn Data Single-Turn Data
Channels 5 through 8 are driving HiperFace encoders with 16-bit (65536) single-turn resolution and 12bit (4096) multi-turn resolution for a total number of data bits of 28 (16+12). The HiperFace serial Data
A register holds the 16-bit single-turn data and the first 8 bits of multi-turn data. The Hiperface serial
Data B register holds the 4 bits overflow of multi-turn data:
HiperFace Data B Register
HiperFace Data A Register
[23:4]
[3:0]
[23:15]
[15:0]
Multi-Turn Data1 Multi-Turn Data Single-Turn Data
The automatic absolute position read in PMAC, using Ixx10 and Ixx95, expects the data to be left shifted
(5-bits) in the Encoder Conversion Table. Reading raw data and constructing position directly out of the
serial encoder registers requires a custom procedure.
The following example PLC reads and constructs the absolute position for channels 1 through 8. It is preconfigured for the user to input their encoder information, and specify which channels are being used.
Using the Absolute Position Read Example PLC
Under User Input section:
1. Enter single turn (ChxSTRes) and multi turn (ChxMTRes) resolutions in bits for each encoder.
For strictly absolute single turn encoders, multi turn resolution is set to zero.
2. In ChAbsSel, specify which channels are desired to perform an absolute position read. This value
is in hexadecimal. A value of 1 specifies that this channel is connected, 0 specifies that it is not
connected and should not perform and absolute read. Examples:
Channel#
8 7 6 5 4 3 2 1
Reading Absolute
Position, channels ChAbsSel (Binary) 0 0 0 0 1 1 1 1 => ChAbsSel=$0F
1 through 4
ChAbsSel (Hex)
0
F
Reading Absolute
Position, channels
1,3,5,7
Channel#
8 7 6 5 4 3 2 1
ChAbsSel (Binary) 0 1 0 1 0 1 0 1 => ChAbsSel=$55
ChAbsSel (Hex)
5
5
//=========================== NOTES ABOUT THIS PLC EXAMPLE ================================//
// This PLC example utilizes: - M6000 through M6035
//
- P7000 through P7032
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
M6000..6035->*
; Self-referenced M-Variables
M6000..6035=0
; Reset M-Variables at download
P7000..7032=0
; Reset P-Variables at download
//==================================== USER INPUT =========================================//
#define Ch1STRes P7000
#define Ch1MTRes P7001
#define Ch2STRes P7002
#define Ch2MTRes P7003
#define Ch3STRes P7004
#define Ch3MTRes P7005
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76
Geo Brick LV 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
Ch8MTRes
Multi
Multi
Multi
Multi
Multi
Multi
Multi
Multi
Turn
Turn
Turn
Turn
Turn
Turn
Turn
Turn
P7007
P7009
P7011
P7013
P7015
and
and
and
and
and
and
and
and
Single
Single
Single
Single
Single
Single
Single
Single
Turn
Turn
Turn
Turn
Turn
Turn
Turn
Turn
Resolutions
Resolutions
Resolutions
Resolutions
Resolutions
Resolutions
Resolutions
Resolutions
--User
--User
--User
--User
--User
--User
--User
--User
Input
Input
Input
Input
Input
Input
Input
Input
; Select Channels using absolute read (in Hexadecimal)
; Channels selected for absolute position read –User Input
//=============================== DEFINITIONS & SUBSTITUTIONS =============================//
#define SerialRegA
M6000
; HiperFace Serial Data Register A
#define SerialRegB
M6001
; HiperFace Serial Data Register B
#define Two2STDec
M6002
; 2^STRes in decimal, for shifting operations
#define Two2STHex
M6003
; 2^STRes in Hexadecimal, for bitwise operations
#define Two2MTDec
M6004
; 2^MTRes in decimal, for shifting operations
#define Two2MTHex
M6005
; 2^MTRes in Hexadecimal, for bitwise operations
#define MTTemp1
M6006
; Multi Turn Data temporary holding register 1
#define MTTemp2
M6007
; Multi Turn Data temporary holding register 2
#define STTemp1
M6008
; Single Turn Data temporary holding register 1
#define STTemp2
M6009
; Single Turn Data temporary holding register 2
#define ChNoHex
M6010
; Channel Number in Hex
#define ChAbsCalc
M6011
; Abs. calc. flag (=1 true do read, =0 false do not do read)
#define LowerSTBits
P7017
; Lower Single Turn Bits, RegA
#define UpperSTBits
P7018
; Upper Single Turn Bits, RegB (where applicable)
#define LowerMTBits
P7019
; Lower Multi Turn Bits, RegA (where applicable)
#define UpperMTBits
P7020
; Upper Multi Turn Bits, RegB (where applicable)
#define STData
P7021
; Single Turn Data Word
#define MTData
P7022
; Multi Turn Data Word
#define NegTh
P7023
; Negative Threshold
#define Temp1
P7024
; General Temporary holding register 1
#define Temp2
P7025
; General Temporary holding register 2
#define SerialBase
P7026
; Indirect addressing index for serial registers, 6020
#define ChBase
P7027
; Indirect addressing index for channel No, 162
#define ChNo
P7028
; Current Channel Number
#define ResBase
P7029
; Indirect Addressing index for resolution input, 6000
#define STRes
P7030
; Single Turn Resolution of currently addressed channel
#define MTRes
P7031
; Multi Turn Resoltuion of currently addressed channel
#define PsfBase
P7032
; Indirect addressing for position scale factor Ixx08, 108
// HiperFace Serial Data Registers A and B
M6020->Y:$78B20,0,24,U
M6021->Y:$78B21,0,24,U
; Channel 1
M6022->Y:$78B24,0,24,U
M6023->Y:$78B25,0,24,U
; Channel 2
M6024->Y:$78B28,0,24,U
M6025->Y:$78B29,0,24,U
; Channel 3
M6026->Y:$78B2C,0,24,U
M6027->Y:$78B2D,0,24,U
; Channel 4
M6028->Y:$78B30,0,24,U
M6029->Y:$78B31,0,24,U
; Channel 5
M6030->Y:$78B34,0,24,U
M6031->Y:$78B35,0,24,U
; Channel 6
M6032->Y:$78B38,0,24,U
M6033->Y:$78B39,0,24,U
; Channel 7
M6034->Y:$78B3C,0,24,U
M6035->Y:$78B3D,0,24,U
; Channel 8
//===================================== PLC SCRIPT ========================================//
Open PLC 1 Clear
ChNo=0
While(ChNo!>7) ; Loop for 8 Channels
ChNo=ChNo+1
ChNoHex=exp((ChNo-1)*ln(2))
ChAbsCalc=(ChAbsSel&ChNoHex)/ChNoHex
If (ChAbsCalc!=0)
; Absolute read on this channel?
SerialBase=6020+(ChNo-1)*2
SerialRegA=M(SerialBase)
SerialRegB=M(SerialBase+1)
ResBase=7000+(ChNo-1)*2
STRes=P(ResBase)
MTRes=P(ResBase+1)
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77
Geo Brick LV 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(UpperMTBits*ln(2))
Temp1=(SerialRegA/Two2STDec)&(MTTemp1-1)
Temp2=SerialRegB&(MTTemp2-1)
MTData=Temp2*STTemp1+Temp1
EndIf
Else ; Single Turn Res>24
//===========SINGLE TURN DATA===========//
LowerSTBits=24
UpperSTBits=STRes-24
STTemp1=exp(UpperSTBits*ln(2))
STTemp2=STTemp1-1
Two2STDec=16777216*STTemp1
Two2STHex=Two2STDec-1
STData=(SerialRegB&STTemp2)*16777216+SerialRegA
//===========MULTI TURN DATA============//
If (MTRes=0)
LowerMTBits=0
UpperMTBits=0
Two2MTDec=0
Two2MTHex=0
MTData=0
Else
Two2MTDec=exp(MTRes*ln(2))
Two2MTHex=Two2MTDec-1
LowerMTBits=0
UpperMTBits=MTRes
MTTemp1=exp(UpperMTBits*ln(2))
MTTemp2=MTTemp1-1
MTData=(SerialRegB/STTemp1)&MTTemp2
EndIf
EndIf
//======ASSEMBLING ACTUAL POSITION======//
ChBase=162+(ChNo-1)*100
PsfBase=108+(ChNo-1)*100
NegTh=Two2MTDec/2
If (MTData!>NegTh)
M(ChBase)=(MTData*Two2STDec+STData)*32*I(PsfBase)
Else
M(ChBase)=-(((Two2MTHex-MTData)*Two2STDec)+(Two2STDec-STData))*32*I(PsfBase)
EndIf
EndIf
EndW
ChNo=0
Dis plc 1
Close
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78
Geo Brick LV User Manual
Encoder Count Error (Mxx18)
The Geo Brick LV 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). The three most common root
causes of this error:
Real encoder hardware problem
Trying to move the encoder (motor) faster than it’s specification
Using an extremely high resolution/speed encoder. This may require increasing the SCLK
The default sampling clock in the Geo Brick LV is ~ 10MHz, which is acceptable for virtually all
applications. A setting of I7m03 of 2257 (from default of 2258) sets the sampling clock SCLK at about
~20MHz. It can be increased to up to ~40 MHz.
No automatic action is taken by the Geo Brick LV if the encoder count
error bit is set.
Note
PinOuts and Software Setup
79
Geo Brick LV 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). Using channel #1, the encoder conversion table (5-line entry) for computing the sum
of the squares would look like:
I8024
I8025
I8026
I8027
I8028
=
=
=
=
=
$F78B00
$100000
$0
$0
$0
;
;
;
;
;
Diagnostic entry for sinusoidal encoder(s)
Bit 0 is 0 to compute sum of the squares
Active Sine/Cosine Bias Corrections
Sum of the squares result
The result (@ $351D for example) corresponds to:
(SineADC + SineBias)2 + (CosineADC + CosineBias)2
This term can be monitored to check for loss of the encoder. If the inputs are no longer driven externally,
for example because the cable has come undone, the positive and negative input pair to the ADC will pull
to substantially the same voltage, and the output of the ADC will be a very small number, resulting in a
small magnitude of the sum of squares in at least part of the cycle. (If both signals cease to be driven
externally, the sum of squares will be small over the entire cycle). The high four bits (bits 20 – 23) of the
sum-of-squares result can be monitored, and if the four-bit value goes to 0, it can be concluded that the
encoder has been “lost”, and the motor should be “killed”.
The 4-bit value can be obtained as follows:
#define Mtr1EncLoss
M180
Mtr1EncLoss->X:$351D,20,4
!
Caution
; Motor#1 Encoder Loss Status
; Upper 4 bits of the sum of the squares
Appropriate action (user-written plc) needs to be implemented when
an encoder loss is encountered. To avoid a runaway, an immediate
Kill of the motor/encoder in question is strongly advised.
No automatic firmware (Geo Brick) action is taken upon detection of encoder(s) loss; it is the user’s
responsibility to perform the necessary action to make the application safe under these conditions. Killing
the motor/encoder in question is the safest action possible, and strongly recommended to avoid a
runaway, and machine damage. Also, the user should decide the action to be taken (if any) for the other
motors in the system.
PinOuts and Software Setup
80
Geo Brick LV User Manual
Encoder Loss Example PLC:
A 4-axis Geo Brick is setup to kill all motors upon detection of one or more encoder loss. In addition, it
does not allow enabling any of the motors when an encoder is in a loss condition:
#define Mtr1AmpEna
Mtr1AmpEna->X:$B0,19
#define Mtr2AmpEna
Mtr2AmpEna->X:$130,19
#define Mtr3AmpEna
Mtr3AmpEna->X:$1B0,19
#define Mtr4AmpEna
Mtr4AmpEna->X:$230,19
#define Mtr1EncLoss
Mtr1EncLoss->Y:$078807,0,1
#define Mtr2EncLoss
Mtr2EncLoss->Y:$078807,1,1
#define Mtr3EncLoss
Mtr3EncLoss->Y:$078807,2,1
#define Mtr4EncLoss
Mtr4EncLoss->Y:$078807,3,1
#define SysEncLoss
SysEncLoss=0
M139
M239
M339
M439
M180
M280
M380
M480
P5989
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor#1 Amplifier Enable Status
Suggested M-Variable
Motor#2 Amplifier Enable Status
Suggested M-Variable
Motor#3 Amplifier Enable Status
Suggested M-Variable
Motor#4 Amplifier Enable Status
Suggested M-Variable
Motor#1 Encoder Loss Status Bit
Bit
Bit
Bit
Bit
Motor#2 Encoder Loss Status Bit
Motor#3 Encoder Loss Status Bit
Motor#4 Encoder Loss Status Bit
System Global Encoder Loss Status (user defined)
Save and Set to 0 at download, normal operation
=1 System Encoder Loss Occurred
OPEN PLC 1 CLEAR
If (SysEncLoss=0)
; No Loss yet, normal mode
If (Mtr1EncLoss=0 or Mtr2EncLoss=0 or Mtr4EncLoss=0 or Mtr4EncLoss=0)
CMD^K
; One or more Encoder Loss(es) detected, kill all motors
SysEncLoss=1
; Set Global Encoder Loss Status to Fault
EndIf
EndIF
If (SysEncLoss=1)
; Global Encoder Loss Status At Fault?
If (Mtr1AmpEna=1 or Mtr2AmpEna=1 or Mtr4AmpEna=1 or Mtr4AmpEna=1) ; Trying to Enable Motors?
CMD^K
; Do not allow Enabling Motors, Kill all
EndIF
EndIF
CLOSE
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Geo Brick LV 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
Some SSI devices require 24V power which has to be brought in
externally. Pins #4, and #12 are unused in this case, leave floating.
Hardware capture is not available with Serial Data encoders
Configuring SSI
Configuring the SSI protocol requires the programming of two essential control registers:
Global Control Registers
Channel Control Registers
The resulting data is found in:
SSI Data Registers
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Geo Brick LV 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 2 250.0 KHz
… …
Default Settings: M=99, N=0 => 1 MHz transfer rates
There are two external trigger sources; phase and servo. Bits [9:8] in the Global Control register are used
to select the source and active edge to use as the internal serial encoder trigger. The internal trigger is
used by all four channels to initiate communication with the encoder. To compensate for external system
delays, this trigger has a programmable 4-bit delay setting in 20 μsec increments.
23--16
15--12
M_Divisor
N_Divisor
Bit
Type Default
[23:16]
R/W
0x63
[15:12]
R/W
0x0
[11:10]
R
00
[09]
R/W
0
[08]
R/W
0
[07:04]
R/W
0x0
[03:00]
R
0x2
11
10
9
8
Trigger Clock
Trigger Edge
7
6
5
4
Trigger Delay
3
2
1
0
Protocol Code
Description
Intermediate clock frequency for SER_Clock. The
M_Divisor
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
Final clock frequency for SER_Clock. The final clock is
N
N_Divisor
generated from a 2 divider clocked by the intermediate
clock.
Reserved
Reserved and always reads zero.
=0, trigger on Phase Clock
TriggerClock Trigger clock select:
=1, trigger on Servo Clock
=0, select rising edge
TriggerEdge Active clock edge select:
=1, select falling edge
Trigger delay program relative to the active edge of the
TriggerDelay
trigger clock. Units are in increments of 20 usec.
This read-only bit field is used to read the serial encoder
ProtocolCode interface protocol supported by the FPGA. A value of $2
defines this as SSI protocol.
PinOuts and Software Setup
Name
83
Geo Brick LV 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.
Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling channels
through the SENC_MODE (when this bit is cleared, the serial encoder pins of that channel are tri-stated),
enabling/disabling communication with the encoder using the trigger control bit.
[23:16]
Bit
15
14
Parity
Type
13
Trigger
Mode
Type Default
[23:16]
R
0x00
[15:14]
R/W
0x00
R/W
0
[12]
R/W
0
[11]
R/W
0
R
0
W
0
[09:06]
R
0x0
[05:00]
W
0x00
[13]
[10]
Name
12
Trigger
Enable
11
GtoB
10
Rx data ready
/Senc Mode
[9:6]
[5:0]
PositionBits/
Resolution
Description
Reserved and always reads zero.
Parity Type of the received data:
Parity Type
00=None
10=Even
01=Odd
11=Reserved
Trigger Mode to initiate communication:
0= continuous trigger
Trigger Mode 1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting.
0= disabled
1= enabled
Trigger Enable This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
Convert G to Gray code to Binary conversion: 0=Binary
B
1=Gray
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
RxData Ready
serial encoder. It is high when all the data has been received
and processed.
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.
This bit field is used to define the number of position data
Position Bits bits or encoder resolution:
Range is 12 – 32 (001100 –100000)
PinOuts and Software Setup
Reserved
84
Geo Brick LV 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.
23
Parity Err
Serial Encoder Data B
[22:08]
[07:0]
Position Data [31:24]
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
SSI Encoder Data A
Y:$78B20
Y:$78B24
Y:$78B28
Y:$78B2C
Y:$78B30
Y:$78B34
Y:$78B38
Y:$78B3C
Serial Encoder Data A
[23:0]
Position Data [23:0]
SSI Encoder Data B
Y:$78B21
Y:$78B25
Y:$78B29
Y:$78B2D
Y:$78B31
Y:$78B35
Y:$78B39
Y:$78B3D
Data Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the SSI setup and always read zero.
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
PinOuts and Software Setup
SSI Encoder Data C
Y:$78B22
Y:$78B26
Y:$78B2A
Y:$78B2E
Y:$78B32
Y:$78B36
Y:$78B3A
Y:$78B3E
SSI Encoder Data D
Y:$78B23
Y:$78B27
Y:$78B28
Y:$78B2F
Y:$78B33
Y:$78B37
Y:$78B38
Y:$78B3F
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Geo Brick LV 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.
Global Control Register
The Global Control register is a 24-bit hexadecimal word which is set up as follows:
=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
5
4
3
2
1
0
0
0
0
0
0
0
0
0
0
1
0
Description:
Bit #:
Binary:
$2 for
SSI
Typically =0
M Divisor
1
Hex ($):
1
0
0
N Divisor
0
6
1
1
0
0
3
Field
M divisor
N divisor
Trigger clock
Trigger Edge
Trigger Delay
Protocol Code
Value
=99
=0
=0
=0
=0
=2
0
0
0
0
0
0
Trigger Delay
0
Protocol
0
2
Notes
Global Control Word
Hex 0x63
Hex 0x0
Trigger on Phase (recommended)
Rising edge (recommended)
No delay (typical)
Hex 0x2, SSI protocol
$630002
Channel Control Register
The Channel Control register is a 24-bit hexadecimal word which is set up as follows:
=0 Disabled
=1 Enabled
Bit #:
Binary:
Hex ($):
Parity
Type
Trigger
Mode
Trigger
Enable
Reserved
(always 0)
Description:
=0 Continuous
=1 One shot
=0 Disabled
=1 Enabled
0
Senc
Mode
=00 None
=01 Odd
=10 Even
Encoder Resolution
(ST+MT)
Reserved
(always 0)
Bit Length
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
0
1
1
0
0
1
0
0
0
0
PinOuts and Software Setup
0
0
0
0
0
0
0
0
1
1
0
1
4
1
9
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Geo Brick LV 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 through M5991
//
- Coordinate system 1 Timer 1
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
M5990..5991->* ; Self-referenced M-Variables
M5990..5991=0 ; Reset at download
//========================= GLOBAL CONTROL REGISTERS ======================================//
#define SSIGlobalCtrl1_4
M5990
; Channels 1-4 SSI global control register
SSIGlobalCtrl1_4->X:$78B2F,0,24,U
; Channels 1-4 SSI global control register address
//======================== CHANNEL CONTROL REGISTERS ======================================//
#define Ch1SSICtrl
M5991
; Channel 1 SSI control register
Ch1SSICtrl->X:$78B20,0,24,U ; Channel 1 SSI control register Address
//========= POWER-ON PLC EXAMPLE, GLOBAL & CHANNEL CONTROL REGISTERS ======================//
Open PLC 1 Clear
SSIGlobalCtrl1_4=$630002
; Trigger at Phase, 1 MHz serial Clock (M=99, N=0)–User Input
Ch1SSICtrl=$001419
; Channel 1 SSI control register –User Input
I5111=500*8388608/I10 while(I5111>0) endw
; ½ sec delay
Dis plc 1
; Execute once on power-up or reset
Close
//=========================================================================================//
PinOuts and Software Setup
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Geo Brick LV User Manual
X1-X8: Encoder Feedback, EnDat 2.1/2.2
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
7
12
6
Notes
1
4
7
Common Ground
Serial Encoder Clock+
Data+ Packet
Unused
Note
Some EnDat devices require 24V power which has to be brought
in externally. Pins 4, and 12 are unused in this case, leave floating.
Hardware capture is not available with Serial encoders
Configuring EnDat
Configuring the EnDat protocol requires the programming of two essential control registers:
Global Control Registers
Channel Control Registers
The resulting data is found in:
EnDat Data Registers
PinOuts and Software Setup
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Geo Brick LV 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
4.0 MHz
0 2
1.0 MHz
0 3
500 KHz
0 4
250 KHz
… …
…
Default Settings M=0, N=2 => 1 MHz transfer rate
There are two external trigger sources; phase and servo. Bits [9:8] in the Global Control register are used
to select the source and active edge to use as the internal serial encoder trigger. The internal trigger is
used by all four channels to initiate communication with the encoder. To compensate for external system
delays, this trigger has a programmable 4-bit delay setting in 20 μsec increments.
23--16
15--12
M_Divisor
N_Divisor
Bit
Type Default
[23:16]
R/W
0x00
[15:12]
R/W
0x2
[11:10]
R
00
[09]
R/W
0
[08]
R/W
0
[07:04]
R/W
0x0
[03:00]
R
0x3
11
10
9
8
Trigger Clock
Trigger Edge
7
6
5
4
Trigger Delay
3
2
1
0
Protocol Code
Description
Intermediate clock frequency for SER_Clock. The
M_Divisor
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
Final clock frequency for SER_Clock. The final clock is
N
N_Divisor
generated from a 2 divider clocked by the intermediate
clock.
Reserved
Reserved and always reads zero.
Trigger clock select: 0= PhaseClock
TriggerClock
1= ServoClock
Active clock edge select: 0= rising edge
TriggerEdge
1= falling edge
Trigger delay program relative to the active edge of the
TriggerDelay
trigger clock. Units are in increments of 20 usec.
This read-only bit field is used to read the serial encoder
ProtocolCode interface protocol supported by the FPGA. A value of 0x3
defines this protocol as EnDat.
PinOuts and Software Setup
Name
89
Geo Brick LV 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.
Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling channels
through the SENC_MODE (when this bit is cleared, the serial encoder pins of that channel are tri-stated),
enabling/disabling communication with the encoder using the trigger control bit.
23 22
Bit
[21:16]
15 14
Command
Code
Type Default
13
Trigger
Mode
Name
[23:22]
R
0x000
Reserved
[21:16]
R
0x00
Command
Code
[15:14]
R
00
Reserved
R/W
0
Trigger Mode
[12]
R/W
0
Trigger Enable
[11]
R/W
0
Reserved
R
0
RxData Ready
W
0
SENC_MODE
[09:06]
R
0x0
Reserved
[05:00]
W
0x00
Position Bits
[13]
[10]
PinOuts and Software Setup
12
Trigger
Enable
11
10
Rxdata ready
/Senc Mode
[9:6]
[5:0]
PositionBits/
Resolution
Description
Reserved and always reads zero.
($38) 111000 – Encoder to Send Position (EnDat2.2 only)
($15) 010101 – Encoder to Receive Reset (EnDat2.2 only)
($07) 000111 – Encoder to Send Position (EnDat 2.1 & 2.2)
($2A)101010 – Encoder to Receive Reset (EnDat 2.1 & 2.2)
Reserved and always reads zero.
Trigger Mode: 0= continuous trigger
1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting. See Global Control register for these
settings.
Enable trigger: 0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
Reserved and always reads zero.
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
This write-only bit is used to enable the output drivers for
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
respective channel.
Reserved and always reads zero.
This bit field is used to define the number of position data
bits or encoder resolution:
Range is 12 – 40 (001100 –101000)
90
Geo Brick LV 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. The CRC error bit is set if the return data fails the CRC verification. The timeout error
flag is set if the SEIGATE3 does not receive a response from the encoder.
EnDat Data C, and D registers are reserved and always read zero.
23
TimeOut Err
22
CRC Err
EnDat Data B
21
[20:16]
Err flag
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
[15:0]
Position Data [39:24]
EnDat Data A
Y:$78B20
Y:$78B24
Y:$78B28
Y:$78B2C
Y:$78B30
Y:$78B34
Y:$78B38
Y:$78B3C
EnDat Data A
[23:0]
Position Data [23:0]
EnDat Data B
Y:$78B21
Y:$78B25
Y:$78B29
Y:$78B2D
Y:$78B31
Y:$78B35
Y:$78B39
Y:$78B3D
EnDat Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the EnDat setup and always read zero.
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
PinOuts and Software Setup
EnDat Data C
Y:$78B22
Y:$78B26
Y:$78B2A
Y:$78B2E
Y:$78B32
Y:$78B36
Y:$78B3A
Y:$78B3E
EnDat Data D
Y:$78B23
Y:$78B27
Y:$78B28
Y:$78B2F
Y:$78B33
Y:$78B37
Y:$78B38
Y:$78B3F
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Geo Brick LV 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.
Global Control Register
The Global Control register is a 24-bit hexadecimal word which is set up as follows:
=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
5
4
3
2
1
0
0
0
0
0
0
0
0
0
0
1
1
Description:
Bit #:
Binary:
$3 for
EnDat
Typically =0
M Divisor
0
Hex ($):
0
0
0
N Divisor
0
0
0
0
0
0
0
Field
M divisor
N divisor
Trigger clock
Trigger Edge
Trigger Delay
Protocol Code
Value
=0
=0
=0
=0
=0
=3
0
0
0
0
0
0
Trigger Delay
0
Protocol
0
3
Notes
Global Control Word
Hex 0x00
Hex 0x0
Trigger on Phase (recommended)
Rising edge (recommended)
No delay (typical)
Hex 0x3, EnDat
$000003
Channel Control Register
The Channel Control register is a 24-bit hexadecimal word which is set up as follows:
=0 Disabled
=1 Enabled
Description:
Bit #:
Binary:
Hex ($):
0
0
Command Code
0
0
Trigger
Mode
Trigger
Enable
=0 Continuous
=1 One shot
=000111 ($07) Send Position (EnDat 2.1 / 2.2)
=101010 ($2A) Reset (EnDat 2.1 / 2.2)
=0 Disabled
=1 Enabled
0
Senc
Mode
=111000 ($38) Send Position (EnDat 2.2 only)
=010101 ($15) Reset (EnDat 2.2 only)
Encoder Resolution
(ST+MT)
Reserved
(always 0)
Bit Length
(Resolution)
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
0
0
0
0
0
1
0
0
1
0
1
0
1
1
3
PinOuts and Software Setup
1
0
0
8
0
0
0
0
1
1
0
1
4
2
5
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Geo Brick LV User Manual
Field
Value
Notes
Command code
=$38
Hex 0x38 for EnDat 2.2 only
Trigger Mode
=0
Continuous trigger (typical)
Trigger Enable
=1
Enable
Data Ready / Senc Mode =1
Enable serial driver
Protocol Bits
Hex 0x25
=37
Channel Control Word
$381425
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 through M5991
//
- Coordinate system 1 Timer 1
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
M5990..5991->* ; Self-referenced M-Variables
M5990..5991=0 ; Reset at download
//========================= GLOBAL CONTROL REGISTERS ======================================//
#define EnDatGlobalCtrl1_4
M5990
; Channels 1-4 EnDat global control register
EnDatGlobalCtrl1_4->X:$78B2F,0,24,U
; Channels 1-4 EnDat global control register address
//======================== CHANNEL CONTROL REGISTERS ======================================//
#define Ch1EnDatCtrl
M5991
; Channel 1 EnDat control register
Ch1EnDatCtrl->X:$78B20,0,24,U ; Channel 1 EnDat control register Address
//========= POWER-ON PLC EXAMPLE, GLOBAL & CHANNEL CONTROL REGISTERS ======================//
Open PLC 1 Clear
EnDatGlobalCtrl1_4=$3 ; Trigger at Phase, 4MHz serial Clock –User Input
Ch1EnDatCtrl=$381425
; Channel 1 EnDat control register –User Input
I5111=500*8388608/I10 while(I5111>0) endw
; ½ sec delay
Dis plc 1
; Execute once on power-up or reset
Close
//=========================================================================================//
Note
Some EnDat2.2 Encoders do not support additional information with
the $38 (111000) command code. Try using $07 (000111) command
code if you cannot see data in the Serial Data Register A, or in the
position window (after setting up the Encoder Conversion Table).
PinOuts and Software Setup
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Geo Brick LV 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+
Data+ Packet, SLO+
Unused
Note
Some BiSS devices require 24V power which has to be brought in
externally. Pins 4, and 12 are unused in this case, leave floating.
Hardware capture is not available with Serial encoders
Configuring BiSS
Configuring the BiSS protocol requires the programming of two essential control registers:
Global Control Registers
Channel Control Registers
The resulting data is found in:
BiSS-C/BiSS-B Data Registers
PinOuts and Software Setup
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Geo Brick LV 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 2 250.0 KHz
… …
Default Settings: M=24, N=0 => 4 MHz transfer rates
There are two external trigger sources; phase and servo. Bits [9:8] in the Global Control register are used
to select the source and active edge to use as the internal serial encoder trigger. The internal trigger is
used by all four channels to initiate communication with the encoder. To compensate for external system
delays, this trigger has a programmable 4-bit delay setting in 20 μsec increments.
23--16
15--12
M_Divisor
N_Divisor
Bit
11
Type Default
10
9
8
Trigger Clock
Trigger Edge
Name
7
6
5
4
Trigger Delay
3
2
1
0
Protocol Code
Description
Intermediate clock frequency for SER_Clock. The
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
Final clock frequency for SER_Clock. The final clock is
generated from a 2 N divider clocked by the intermediate
clock.
Reserved and always reads zero.
Trigger clock select: 0= PhaseClock
1= ServoClock
Active clock edge select: 0= rising edge
1= falling edge
Trigger delay program relative to the active edge of the
trigger clock. Units are in increments of 20 usec.
[23:16]
R/W
0x18
M_Divisor
[15:12]
R/W
0x0
N_Divisor
[11:10]
R
00
Reserved
[09]
R/W
0
TriggerClock
[08]
R/W
0
TriggerEdge
[07:04]
R/W
0x0
TriggerDelay
[03:00]
R
0xB
ProtocolCode protocol supported by the FPGA. A value of $B defines this
This read-only bit field is used to read the serial encoder interface
protocol as BiSS.
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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.
Parameters such as setting the number of position bits in the serial bit stream, enabling/disabling channels
through the SENC_MODE (when this bit is cleared, the serial encoder pins of that channel are tri-stated),
enabling/disabling communication with the encoder using the trigger control bit.
[23:16]
CRC
Mask
15
=0 BiSS-C
=1 BiSS-B
Bit
Type Default
14
MCD
13
Trigger
Mode
Name
[23:16]
R/W
0x21
CRC_Mask
[15]
R/W
0
BiSS B/C
[14]
R/W
0
MCD
[13]
R/W
0
Trigger Mode
[12]
R/W
0
Trigger
Enable
0
Reserved
0
RxData Ready
[11]
[10]
R
PinOuts and Software Setup
12
Trigger
Enable
11
10
Rxdataready
SencMode
9
[8:6]
Status
Bits
[5:0]
PositionBits/
Resolution
Description
This bit field is used to define the CRC polynomial used for the
position and status data. The 8-bit mask is to define any 4-bit to 8bit CRC polynomial. The mask bits M[7:0] represent the
coefficients [8:1], respectively, in the polynomial: M7x8 +M6x7 +
M5x6 + M4x5 + M3x4 + M2x3 + M1x2 + M0x1 + 1. The coefficient for
x0 is always 1 and therefore not included in the mask. An all zero
mask indicates no CRC bits in the encoder data. Most common
setting:
($21) 00100001 = x6 + x1 + 1 (typical for Renishaw)
($09) 00001001 = x4 + x1 + 1
This bit is used to select the BiSS protocol mode
(=0 BiSS-C, =1 BiSS-B)
This bit is used to enable support for the optional MCD bit
in BiSS-B mode. Setting this bit has no effect if the BiSS-B
mode is not selected.
Trigger Mode to initiate communication:
0= continuous trigger
1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting.
0= disabled
1= enabled
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
Reserved and always reads zero.
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
serial encoder. It is high when all the data has been received
and processed.
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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.
This bit field is used to define the number of position data
bits or encoder resolution:
Range is 12 – 40 (001100 –101000)
The position bits are assumed to be in binary MSB-first format:
$12 for 18-bit | $1A for 26-bit | $20 for 32-bit
BiSS Data Registers
The BiSS 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.
23
TimeOut Err
22
CRC Err
BiSS Data B
[21:16]
Status Data
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
[15:0]
Position Data [39:24]
BiSS Encoder Data A
Y:$78B20
Y:$78B24
Y:$78B28
Y:$78B2C
Y:$78B30
Y:$78B34
Y:$78B38
Y:$78B3C
BiSS Data A
[23:0]
Position Data [23:0]
BiSS Encoder Data B
Y:$78B21
Y:$78B25
Y:$78B29
Y:$78B2D
Y:$78B31
Y:$78B35
Y:$78B39
Y:$78B3D
Data Registers C and D are listed here for future use and documentation purposes only. They do not
pertain to the BiSS setup and always read zero.
Channel 1
Channel 2
Channel 3
Channel 4
Channel 5
Channel 6
Channel 7
Channel 8
PinOuts and Software Setup
BiSS Encoder Data C
Y:$78B22
Y:$78B26
Y:$78B2A
Y:$78B2E
Y:$78B32
Y:$78B36
Y:$78B3A
Y:$78B3E
BiSS Encoder Data D
Y:$78B23
Y:$78B27
Y:$78B28
Y:$78B2F
Y:$78B33
Y:$78B37
Y:$78B38
Y:$78B3F
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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.
Global Control Register
The Global Control register is a 24-bit hexadecimal word which is set up as follows:
=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
5
4
3
2
1
0
0
0
0
0
0
0
0
1
0
1
1
Description:
Bit #:
$B for
BiSS
Typically =0
M Divisor
Binary:
1
Hex:
1
0
0
N Divisor
0
6
1
0
0
0
3
Field
M divisor
N divisor
Trigger clock
Trigger Edge
Trigger Delay
Protocol Code
Value
=99
=0
=0
=0
=0
=11
0
0
0
0
0
0
Trigger Delay
0
Protocol
0
B
Notes
Global Control Word
Hex 0x63
Hex 0x0
Trigger on Phase (recommended)
Rising edge (recommended)
No delay (typical)
Hex 0xB, BiSS protocol
$63000B
Channel Control Register
The Channel Control register is a 24-bit hexadecimal word set up as follows:
Number Of
Status Bits
MCD
=0 Disabled
(BiSS-B only) =1 Enabled
Bit #:
Binary:
Hex ($):
0
Senc
Mode
MCD
CRC Mask
Trigger
Mode
Trigger
Enable
Description:
=0 Continuous =0 Disabled
=1 One shot
=1 Enabled
BiSS
Type
=0 BiSS-C
=1 BiSS-B
Encoder Resolution
(ST+MT)
0
Bit Length
(Resolution)
Status
23 22 21 20 19 18 17 16 15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
0
0
0
1
0
0
1
0
0
1
0
0
1
0
2
PinOuts and Software Setup
0
0
0
1
1
0
0
0
1
1
0
1
4
9
2
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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 ================================//
// This PLC example utilizes: - M5990 through M5991
//
- Coordinate system 1 Timer 1
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
M5990..5991->* ; Self-referenced M-Variables
M5990..5991=0 ; Reset at download
//========================= GLOBAL CONTROL REGISTERS ======================================//
#define SSIGlobalCtrl1_4
M5990
; Channels 1-4 BiSS global control register
SSIGlobalCtrl1_4->X:$78B2F,0,24,U
; Channels 1-4 BiSS global control register address
//======================== CHANNEL CONTROL REGISTERS ======================================//
#define Ch1SSICtrl
M5991
; Channel 1 BiSS control register
Ch1SSICtrl->X:$78B20,0,24,U
; Channel 1 BiSS control register Address
//========= POWER-ON PLC EXAMPLE, GLOBAL & CHANNEL CONTROL REGISTERS ======================//
Open PLC 1 Clear
SSIGlobalCtrl1_4=$63000B
; Trigger at Phase, 1 MHz serial Clock (M=99, N=0) –User Input
Ch1SSICtrl=$211492
; Channel 1, BiSS-C protocol, 18-bit resolution
–User Input
I5111=500*8388608/I10 while(I5111>0) endw
; ½ sec delay
Dis plc 1
; Execute once on power-up or reset
Close
//=========================================================================================//
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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. This
process can cause saturation of certain registers with higher resolution absolute serial encoders, thus for
this type of encoders, it is recommended to process the data as unshifted. Moreover, special
considerations need to be taken in setting up commutation (for commutated motors, e.g. brushless).
Details about registers’ overflow and examples can be found in the
appendix section.
Note
The following flowchart summarizes the recommended method to use, regardless of the Multiturn (MT)
data specification. It is only dependent on the Singleturn (ST) resolution (for rotary encoders) or protocol
resolution (for linear scales).
Technique 1
NO
Start Here
ST
Encoder Resolution
≥ 19 bits
NO
ST
Encoder Resolution
≥ 24 bits
YES
Technique 2
YES
Technique 3
Technique 1
This technique places the Least Significant Bit (LSB) of the serial data in bit 5 of the result register
providing the 5 bits of “non-existent” fraction.
Technique 2
This technique places the LSB of the serial data in bit 0 of the result register, creating no fractional bits. It
requires a dedicated Encoder Conversion Table (ECT) entry for commutation.
Technique 3
This technique processes the data for position similarly to Technique 1, but it requires a dedicated ECT
entry for commutation.
Note
Some applications may require deviating from the suggested setup
methods (e.g. extremely high resolution and speed requirements).
Contact Delta Tau for assistance with these special cases.
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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
N/A
From serial register A,
18 bits, no shift,
Offset=ST-18
From serial register A,
18 bits, no shift,
Offset=ST-18
ECT for
Commutation
ST is the Singleturn resolution (in bits) for rotary encoders. Similarly,
this would be the protocol resolution (in bits) for linear scales.
Note
The position and velocity pointers are then assigned to the “ECT for position” result:
Parameter
Technique 1/2/3
Position (Ixx03)
@ ECT position result
Velocity (Ixx04)
@ ECT position result (typically, with single source feedback)
Commutation Source and Type (for commutated motors, e.g. brushless)
With technique 1, if the Singleturn + Multiturn data bits fulfill 24 bits and are contiguous, then serial data
register A can be used as the commutation source. Otherwise, the resulting register from the ECT for
position is used for commutation (requires special settings for the commutation cycle size).
With techniques 2 and 3, the feedback source for commutation should come from its dedicated ECT.
Parameter
Technique 1
Commutation
Source (Ixx83)
@ serial data register A
@ ECT position result
if ST+MT ≥ 24 bits
if ST+MT < 24 bits
Commutation
Type (Ixx01)
= 3 (from Y register)
= 1 (from X register)
if ST+MT ≥ 24 bits
if ST+MT < 24 bits
Note
Technique 2/3
@ commutation
ECT result
=1 (from X register)
Special considerations should be made if the Singleturn (ST) and
Multiturn (MT) data bits are NOT contiguous (in consecutive fields).
Contact Delta Tau for assistance with these special cases.
Multiturn MT is equal to zero for encoders which do not possess
Multiturn data bits.
Note
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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. mm)
Commutation Cycle Size
Parameter
Motor/Encoder
Ixx70
Technique 2/3
Rotary
= Number of pole pairs
Linear
=1
Rotary
Ixx71
Linear
Where ST:
RES:
ECL:
Offset:
SF:
Technique 1
= SF= 2ST
if Ixx01=3
= 32 * SF= 32 * 2ST
if Ixx01=1
= ECL * SF= ECL/RES
if Ixx01=3
= 32 * ECL * SF
= 32 * (ECL/RES)
if Ixx01=1
= 218
= 262144
= ECL * SF / 2Offset
= ECL/(RES*2Offset)
is the rotary encoder Singleturn resolution in bits
is the linear scale resolution, in user units (e.g. mm)
is the electrical cycle length of the linear motor, same units as RES (e.g. mm)
is the ECT commutation Offset, it is (=ST-18 for rotary, or =RES-18 for linear)
is the encoder resolution scale factor (calculated previously)
Position and Velocity Scale Factors, Position Error Limit
With technique 2, and technique 3 (with encoder resolutions greater than 20 bits), it is recommended to
set the position and velocity scale factors to equal 1 and widen the position error limit. Otherwise, default
values should be ok for all other cases. This alleviates register saturation(s), allows for higher commanded
speed settings and easier PID (position-loop) tuning.
Parameter(s)
Technique 1
Technique 2
Ixx08, Ixx09
= 96
=1
Ixx67
Default
= 8388607
Technique 3
= 96
for ST < 20
=1
for ST ≥ 20
= Default
for ST < 20
= 8388607
for ST ≥ 20
Absolute Power-On Position and Phasing
Process
Absolute Position Read
Absolute Phasing
PinOuts and Software Setup
Technique 1
Technique 2
Technique 3
From serial register A,
automatic settings
Automatic settings,
depending on ST+MT
From serial register A,
scaling required
From ECT for Comm.,
automatic settings
From serial register A,
automatic settings
From ECT for Comm.,
automatic settings
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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. 13 bits)
Offset Location of LSB: leave at zero
Normal Shift (5 bits to the left)
Source Address: serial data register A (see table below)
Remember to click on Download Entry for the changes to take effect.
Channel 1
Channel 2
Channel 3
Channel 4
Source Address ( Serial Data Register A)
Y:$78B20
Channel 5
Y:$78B30
Y:$78B24
Channel 6
Y:$78B34
Y:$78B28
Channel 7
Y:$78B38
Y:$78B2C
Channel 8
Y:$78B3C
This is a 2-line ECT entry, its equivalent script code:
I8000=$278B20
I8001=$00D000
; Unfiltered parallel pos of location Y:$78B20
; Width and Offset. Processed result at $3502
Typically, the position and velocity pointers are set to the processed data address (e.g. $3502):
I100=1
I103=$3502
I104=$3502
; Mtr#1 Active. Remember to activate the channel to see feedback
; Mtr#1 position loop feedback address
; Mtr#1 velocity loop feedback address
At this point, you should be able to move the motor/encoder shaft by
hand and see ‘motor’ counts in the position window.
Note
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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: 1/0.001= 1,000 cts/mm
Examples:
Absolute Power-On Position Read (Technique 1)
With Technique 1, the absolute power-on read can be performed using PMAC’s automatic settings
(Ixx80, Ixx10 and Ixx95).
Example 1: Channel 1 driving a 25-bit (13-bit single turn, 12-bit multi-turn) rotary serial encoder:
I180=2
I110=$78B20
I195=$990000
; Absolute power-on read enabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 25 bits, Signed, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 25 bits or 011001 )
Bits 0-15: reserved
(always 0)
Binary: 1 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
9
9
0
0
0
0
In this mode, PMAC reads and reports 25 bits from the consecutive serial data registers:
Serial Register B
(Ch1 Y:$78B21)
47
Serial Register A
(Ch1 Y:$78B20)
25 bits
23
0
With the 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.
Example 2: Channel 1 driving an 18-bit (18-bit Singleturn, No Multiturn) absolute rotary serial encoder,
or a similar protocol resolution (18 bits) linear scale:
I180=2
I110=$78B20
I195=$120000
; Absolute power-on read enabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 18 bits, Unsigned, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 18 bits or 010010 )
Bits 0-15: reserved
(always 0)
Binary: 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
1
2
0
0
0
0
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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.
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.
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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. 25 bits)
Offset Location of LSB: leave at zero
No shifting
Source Address: serial data register A (see table below)
Remember to click on Download Entry for the changes to take effect.
Channel 1
Channel 2
Channel 3
Channel 4
Source Address (serial data register A)
Y:$78B20
Y:$78B30
Channel 5
Y:$78B24
Y:$78B34
Channel 6
Y:$78B28
Y:$78B38
Channel 7
Y:$78B2C
Y:$78B3C
Channel 8
This is a 2-line ECT entry, its equivalent script code:
I8000=$2F8B20
I8001=$19000
; Unfiltered parallel pos of location Y:$78B20
; Width and Offset. Processed result at $3502
Typically, the position and velocity pointers are set to the processed data address (e.g. $3502). Also, with
technique 2, it is recommended to set the position and velocity scale factors to 1 and the position error
limit to its maximum value:
I100=1
I103=$3502
I104=$3502
I108=1
I109=1
I167=8388607
;
;
;
;
;
;
Mtr#1
Mtr#1
Mtr#1
Mtr#1
Mtr#1
Mtr#1
PinOuts and Software Setup
Active. Remember to activate the channel to see feedback
position loop feedback address
velocity loop feedback address
position-loop scale factor
velocity-loop scale factor
Position Error Limit
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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*0.000010)= 3,125 cts/mm
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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.
Note
Assuming that eight encoders have been configured for position, the first ECT for commutation for the
first motor would be at entry number nine:
Conversion Type: Parallel pos from Y word with no filtering
Width in Bits: 18
Offset Location of LSB: = Singleturn/protocol bits – 18 (e.g. 25-18=7)
No shifting
Source Address: serial data register A (same as position ECT for this motor)
Remember to click on Download Entry for the changes to take effect.
This is a 2-line ECT entry, its equivalent script code:
I8016=$2F8B20
I8017=$12007
Note
; Unfiltered parallel pos of location Y:$78B20 –User Input
; Width and Offset. Processed result at X:$3512 –User Input
Record the processed data address (e.g. $3512). This is where the
commutation position address Ixx83 will be pointing to. Also, this will
be used in setting up the power-on phasing routine.
The commutation enable, and position address would then be:
I101=1
I183=$3512
; Mtr#1 Commutation enable, from X Register
; Mtr#1 Commutation Position Address –User Input
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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.
Example 1: Channel 1 driving a 37-bit (25-bit single turn, 12-bit multi-turn) rotary serial encoder:
I180=0
I110=$78B20
I195=$A50000
; Absolute power-on read disabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 37 bits, Signed, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 37 bits or 100101 )
Bits 0-15: reserved
(always 0)
Binary: 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
A
5
0
0
0
0
In this mode, PMAC reads 37 bits from the consecutive serial data registers:
Serial Register B
(Ch1 Y:$78B21)
47
Serial Register A
(Ch1 Y:$78B20)
37 bits
23
0
With the setting of Ixx80=0, the actual position is not reported automatically on power-up. It will be
reported after scaling (i.e. in PLC, below).
Example 2: Channel 1 driving a 25-bit (25-bit Singleturn, No Multiturn) absolute rotary serial encoder,
or a similar protocol resolution (25 bits) linear scale:
I180=0
I110=$78B20
I195=$190000
; Absolute power-on read disabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 25 bits, Unsigned, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 25 bits or 011001 )
Bits 0-15: reserved
(always 0)
Binary: 0 0 0 1 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
1
9
0
0
0
0
In this mode, PMAC reads 25 bits from the first serial data register:
Serial Data Register B
(Ch1 Y:$78B21)
47
Serial Data Register A
(Ch1 Y:$78B20)
25 bits
23
0
With the setting of Ixx80=0, the actual position is not reported automatically on power-up. It will be
reported after scaling (i.e. in PLC, below).
PinOuts and Software Setup
109
Geo Brick LV 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
Power-On Position scaling PLC example (for technique 2)
M162->D:$00008B
Open PLC 1 clear
I5111=100*8388608/I10
CMD“#1K“
I5111=100*8388608/I10
CMD“#1$*“
I5111=100*8388608/I10
M162=M162/32
I5111=100*8388608/I10
Dis PLC 1
Close
Note
; #1 Actual position (Suggested M-Variable)
while(I5111>0) endw
while(I5111>0) endw
while(I5111>0) endw
while(I5111>0) endw
;
;
;
;
;
;
;
;
100 msec delay
Make sure motor(s) killed
100 msec delay
Read un-scaled absolute position
100 msec delay
Scale absolute position (shift right 5 bits)
100 msec delay
Run once on power-up or reset
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.
PinOuts and Software Setup
110
Geo Brick LV 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. 20 bits)
Offset Location of LSB: leave at zero
Normal Shift (5 bits to the left)
Source Address : serial data register A (see table below)
Remember to click on Download Entry for the changes to take effect.
Channel 1
Channel 2
Channel 3
Channel 4
Source Address ( serial data register A)
Y:$78B20
Y:$78B30
Channel 5
Y:$78B24
Y:$78B34
Channel 6
Y:$78B28
Y:$78B38
Channel 7
Y:$78B2C
Y:$78B3C
Channel 8
This is a 2-line ECT entry, its equivalent script code:
I8000=$278B20
I8001=$014000
; Unfiltered parallel pos of location Y:$78B20
; Width and Offset. Processed result at $3502
Typically, the position and velocity pointers are set to the processed data address (e.g. $3502). With
Singleturn or linear resolutions less than 20 bits, the position/velocity scale factors, and position error
limit can be left at default values. But with resolutions of 20 bits or greater, it is recommended to set the
scale factors to 1 and the position error limit to its maximum value:
I100=1
I103=$3502
I104=$3502
I108=1
I109=1
I167=8388607
;
;
;
;
;
;
Mtr#1
Mtr#1
Mtr#1
Mtr#1
Mtr#1
Mtr#1
PinOuts and Software Setup
Active. Remember to activate the channel to see feedback
position loop feedback address
velocity loop feedback address
position-loop scale factor
velocity-loop scale factor
Position Error Limit
111
Geo Brick LV 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: 1/0.0001= 10,000 cts/mm
PinOuts and Software Setup
112
Geo Brick LV 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.
Note
Assuming that eight encoders have been configured for position, the first ECT for commutation for the
first motor would be at entry number nine:
Conversion Type: Parallel pos from Y word with no filtering
Width in Bits: 18
Offset Location of LSB = Singleturn/protocol bits – 18 (e.g. 20-18=2)
No shifting
Source Address: Serial data register A (same as position ECT for this motor)
Remember to click on Download Entry for the changes to take effect.
This is a 2-line ECT entry, its equivalent script code:
I8016=$2F8B20
I8017=$12002
Note
; Unfiltered parallel pos of location Y:$78B20 –User Input
; Width and Offset. Processed result at X:$3512 –User Input
Record the processed data address (e.g. $3512). This is where the
commutation position address Ixx83 will be pointing to. Also, this will
be used in setting up the power-on phasing routine.
The commutation enable, and position address would then be:
I101=1
I183=$3512
; Mtr#1 Commutation enable, from X Register
; Mtr#1 Commutation Position Address –User Input
PinOuts and Software Setup
113
Geo Brick LV 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).
Example 1: Channel 1 driving a 32-bit (20-bit single turn, 12-bit multi-turn) rotary serial encoder:
I180=2
I110=$78B20
I195=$A00000
; Absolute power-on read enabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 32 bits, Signed, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 32 bits or 100000 )
Bits 0-15: reserved
(always 0)
Binary: 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
A
0
0
0
0
0
In this mode, PMAC reads and reports 32 bits from the consecutive serial data registers:
Serial Data Register B
(Ch1 Y:$78B21)
47
Serial Data Register A
(Ch1 Y:$78B20)
32 bits
23
0
With the 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.
Example 2: Channel 1 driving a 20-bit (20-bit Singleturn, No Multiturn) absolute rotary serial encoder,
or a similar protocol resolution (20 bits) linear scale:
I180=2
I110=$78B20
I195=$140000
; Absolute power-on read enabled
; Absolute power-on position address (ch1 serial data register A)
; Parallel Read, 20 bits, Unsigned, from Y-Register –User Input
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx95
Bits16-21: Number of Bits to read
(Resolution 20 bits or 010100 )
Bits 0-15: reserved
(always 0)
Binary: 0 0 0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
1
4
0
0
0
0
In this mode, PMAC reads and reports 20 bits from the first serial data register:
Serial Data Register B
(Ch1 Y:$78B21)
47
Serial Data Register A
(Ch1 Y:$78B20)
20 bits
23
0
With the 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.
PinOuts and Software Setup
114
Geo Brick LV 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.
PinOuts and Software Setup
115
Geo Brick LV 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 following converter
can be used to attach to the Brick D-sub DA-15F:
Yaskawa Encoder Cable has FEMALE Connector by defalut
PinOuts and Software Setup
116
Geo Brick LV 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. Setting up the Yaskawa Sigma
interface correctly requires the programming of two essential control registers:
Global Control Registers
Channel Control Registers
The resulting data is found in:
Yaskawa Data Registers
PinOuts and Software Setup
117
Geo Brick LV 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.
Note
0
0
0
[23-16]
[15-12]
M Divisor
N Divisor
0
0
Bit
0
0
0
0
0
R/W
0x00
[15:12]
R/W
0x0
[11:10]
R
00
[09]
R/W
0
[08]
R/W
0
[07:04]
R/W
0x0
[03:00]
R
0
0
0
Type Default
[23:16]
0
Name
M_Divisor
11
10
Reserved
0
0
0
9
Trig.
Clock
0
0
8
Trig.
Edge
0
7
6 5 4
Trigger
Delay
0 0 0 0
0
3
2 1 0
Protocol
Code
0 1 1 0
6
Description
Intermediate clock frequency for SER_Clock. The
intermediate clock is generated from a (M+1) divider clocked
at 100 MHz.
Final clock frequency for SER_Clock. The final clock is
N
generated from a 2 divider clocked by the intermediate
clock.
Reserved
Reserved and always reads zero.
Trigger clock select for initiating serial encoder
communications:
TriggerClock
0= PhaseClock
1= ServoClock
Active clock edge select for the trigger clock:
TriggerEdge 0= rising edge
1= falling edge
Trigger delay program relative to the active edge of the
TriggerDelay
trigger clock. Units are in increments of 20 usec.
This read-only bit field is used to read the serial interface
protocol supported by the FPGA.
ProtocolCode
A value of $5 defines this protocol as Yaskawa Sigma I.
A value of $6 defines this protocol as Yaskawa Sigma II.
PinOuts and Software Setup
N_Divisor
118
Geo Brick LV 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.
[23:14]
13
Trig.
Mode
Reserved
Bit
[23:14]
Type Default
R
0x000
R/W
0
[12]
R/W
0
[11]
R/W
0
R
0
W
0
R
0x0
[13]
[10]
[09:00]
12
Trig.
Enable
Name
11
10
RxData Ready/
SENC
[9:0]
Reserved
Description
Reserved and always reads zero.
Trigger Mode to initiate communication:
0= continuous trigger
Trigger Mode 1= one-shot trigger
All triggers occur at the defined Phase/Servo clock edge and
delay setting. See Global Control register for these settings.
Enable trigger for serial encoder communications:
0= disabled
Trigger
1= enabled
Enable
This bit must be set for either trigger mode. If the Trigger
Mode bit is set for one-shot mode, the hardware will
automatically clear this bit after the trigger occurs.
Reserved
Reserved and always reads zero.
This read-only bit provides the received data status. It is low
while the interface logic is communicating (busy) with the
RxData Ready
serial encoder. It is high when all the data has been received
and processed.
This write-only bit is used to enable the output drivers for
the SENC_SDO, SENC_CLK, SENC_ENA pins for each
SENC_MODE
respective channel. It also directly drives the respective
SENC_MODE pin for each channel.
Reserved
Reserved and always reads zero.
PinOuts and Software Setup
Reserved
119
Geo Brick LV User Manual
Yaskawa Feedback Channel Control Power-On Example PLC (Motors 1-8)
This code statement can be added to your existing initialization PLC.
End Gat
Del Gat
Close
Open PLC 1 clear
CMD"WX:$78B20,$1400"
CMD"WX:$78B24,$1400"
CMD"WX:$78B28,$1400"
CMD"WX:$78B2C,$1400"
CMD"WX:$78B30,$1400"
CMD"WX:$78B34,$1400"
CMD"WX:$78B38,$1400"
CMD"WX:$78B3C,$1400"
Disable plc 1
Close
Yaskawa Data Registers
Channel 1
Channel 2
Channel 3
Channel 4
PinOuts and Software Setup
Yaskawa Data Registers
Y:$78B20 Channel 5
Y:$78B24 Channel 6
Y:$78B28 Channel 7
Y:$78B2C Channel 8
Y:$78B20
Y:$78B34
Y:$78B38
Y:$78B3C
120
Geo Brick LV 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. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma II 16-bit Absolute Encoder Setup Example
Encoder Conversion Table Setup (Motors 1-8)
The ECT automatic entry is equivalent to:
I8000=$278B20
I8001=$020004
; Entry 1 Unfiltered parallel pos of location Y:$78B20
; Width and Bias, total of 32-bits LSB starting at bit#4
I8002=$278B24
I8003=$020004
; Entry 2 Unfiltered parallel pos of location Y:$78B24
; Width and Bias, total of 32-bits LSB starting at bit#4
I8004=$278B28
I8005=$020004
I8006=$278B2C
; Entry 3 Unfiltered parallel pos of location Y:$78B28
; Width and Bias, total of 32-bits LSB starting at bit#4
; Entry 4 Unfiltered parallel pos of location Y:$78B2C
PinOuts and Software Setup
121
Geo Brick LV User Manual
I8007=$020004
; 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 parallel pos of location Y:$78B38
; Width and Bias, total of 32-bits LSB starting at bit#4
I8014=$278B3C
I8015=$020004
; Entry 8 Unfiltered parallel pos of location Y:$78B3C
; Width and Bias, total of 32-bits LSB starting at bit#4
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
I104=$3502
I203=$3504
I204=$3504
I303=$3506
I304=$3506
I403=$3508
I404=$3508
I503=$350A
I504=$350A
I603=$350C
I604=$350C
I703=$350E
I704=$350E
I803=$3510
I804=$3510
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
122
Geo Brick LV 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 Actual position (1/[Ixx08*32] cts)
Open plc 1 clear
MTD0_15 = MTD4_15 * $10 + MTD0_3
If (MTD0_15>$7FFF)
MTD0_15 = (MTD0_15^$FFFF + 1)*-1
If (STD0_15 !=0)
STD0_15 = (STD0_15^$FFFF + 1)*-1
Endif
Endif
Mtr1ActPos = ((MTD0_15 * $10000)+ STD0_15) * I108 * 32
disable plc 1
close
PinOuts and Software Setup
123
Geo Brick LV 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. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma II 17-bit Absolute Encoder Setup Example
PinOuts and Software Setup
124
Geo Brick LV 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-bits LSB starting at bit#4
I8006=$278B2C
I8007=$021004
; Entry 4 Unfiltered parallel pos of location Y:$78B2C
; Width and Bias, total of 33-bits LSB starting at bit#4
I8008=$278B30
I8009=$021004
; Entry 5 Unfiltered parallel pos of location Y:$78B30
; Width and Bias, total of 33-bits LSB starting at bit#4
I8010=$278B34
I8011=$021004
; Entry 6 Unfiltered parallel pos of location Y:$78B34
; Width and Bias, total of 33-bits LSB starting at bit#4
I8012=$278B38
I8013=$021004
; Entry 7 Unfiltered parallel pos of location Y:$78B38
; Width and Bias, total of 33-bits LSB starting at bit#4
I8014=$278B3C
I8015=$021004
; Entry 8 Unfiltered parallel pos of location Y:$78B3C
; Width and Bias, total of 33-bits LSB starting at bit#4
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
I104=$3502
I203=$3504
I204=$3504
I303=$3506
I304=$3506
I403=$3508
I404=$3508
I503=$350A
I504=$350A
I603=$350C
I604=$350C
I703=$350E
I704=$350E
I803=$3510
I804=$3510
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
125
Geo Brick LV 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 ; #1 Actual position (1/[Ixx08*32] cts)
open plc 1 clear
MTD0_15 = (SecondWord & $1FFF) * $8 + int (FirstWord / 2097152)
STD0_16 = int ((FirstWord & $1FFFF0) / 16)
If (MTD0_15>$7FFF)
MTD0_15 = (MTD0_15^$FFFF + 1)*-1
If (STD0_16 !=0)
STD0_16 = (STD0_16^$1FFFF + 1)*-1
Endif
Endif
Mtr1ActPos = ((MTD0_15 * $20000)+ STD0_16) * I108 * 32
disable plc 1
close
PinOuts and Software Setup
126
Geo Brick LV 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. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma III 20-bit Absolute Encoder Setup Example
PinOuts and Software Setup
127
Geo Brick LV 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-bits LSB starting at bit#4
I8006=$278B2C
I8007=$024004
; Entry 4 Unfiltered parallel pos of location Y:$78B2C
; Width and Bias, total of 36-bits LSB starting at bit#4
I8008=$278B30
I8009=$024004
; Entry 5 Unfiltered parallel pos of location Y:$78B30
; Width and Bias, total of 36-bits LSB starting at bit#4
I8010=$278B34
I8011=$024004
; Entry 6 Unfiltered parallel pos of location Y:$78B34
; Width and Bias, total of 36-bits LSB starting at bit#4
I8012=$278B38
I8013=$024004
; Entry 7 Unfiltered parallel pos of location Y:$78B38
; Width and Bias, total of 36-bits LSB starting at bit#4
I8014=$278B3C
I8015=$024004
; Entry 8 Unfiltered parallel pos of location Y:$78B3C
; Width and Bias, total of 36-bits LSB starting at bit#4
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
I104=$3502
I203=$3504
I204=$3504
I303=$3506
I304=$3506
I403=$3508
I404=$3508
I503=$350A
I504=$350A
I603=$350C
I604=$350C
I703=$350E
I704=$350E
I803=$3510
I804=$3510
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
128
Geo Brick LV 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 ; #1 Actual position (1/[Ixx08*32] cts)
open plc 1 clear
MTD0_15 = (SecondWord & $FFFF)
STD0_19 = int ((FirstWord & $FFFFF0) / 16)
If (MTD0_15>$7FFF)
MTD0_15 = (MTD0_15^$FFFF + 1)*-1
If (STD0_19 !=0)
STD0_19 = (STD0_19^$FFFFF + 1)*-1
Endif
Endif
Mtr1ActPos = ((MTD0_15 * $100000)+ STD0_19) * I108 * 32
disable plc 1
close
PinOuts and Software Setup
129
Geo Brick LV 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
Conversion Table. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma II 13-bit Incremental Encoder Setup Example
PinOuts and Software Setup
130
Geo Brick LV 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-bits LSB starting at bit#6
I8006=$278B2C
I8007=$00D006
; Entry 4 Unfiltered parallel pos of location Y:$78B2C
; Width and Bias, total of 13-bits LSB starting at bit#6
I8008=$278B30
I8009=$00D006
; Entry 5 Unfiltered parallel pos of location Y:$78B30
; Width and Bias, total of 13-bits LSB starting at bit#6
I8010=$278B34
I8011=$00D006
; Entry 6 Unfiltered parallel pos of location Y:$78B34
; Width and Bias, total of 13-bits LSB starting at bit#6
I8012=$278B38
I8013=$00D006
; Entry 7 Unfiltered parallel pos of location Y:$78B38
; Width and Bias, total of 13-bits LSB starting at bit#6
I8014=$278B3C
I8015=$00D006
; Entry 8 Unfiltered parallel pos of location Y:$78B3C
; Width and Bias, total of 13-bits LSB starting at bit#6
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
I104=$3502
I203=$3504
I204=$3504
I303=$3506
I304=$3506
I403=$3508
I404=$3508
I503=$350A
I504=$350A
I603=$350C
I604=$350C
I703=$350E
I704=$350E
I803=$3510
I804=$3510
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
131
Geo Brick LV 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
Conversion Table. The first line represents a Parallel Y-Word with no filtering ($2) from the
corresponding Yaskawa data register/channel. The second line represents the width of the data to be read
and bit location of the LSB of the data in the source word.
Channel 1, Yaskawa Sigma II 17-bit Incremental Encoder Setup Example
PinOuts and Software Setup
132
Geo Brick LV 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-bits LSB starting at bit#6
I8006=$278B2C
I8007=$011006
; Entry 4 Unfiltered parallel pos of location Y:$78B2C
; Width and Bias, total of 17-bits LSB starting at bit#6
I8008=$278B30
I8009=$011006
; Entry 5 Unfiltered parallel pos of location Y:$78B30
; Width and Bias, total of 17-bits LSB starting at bit#6
I8010=$278B34
I8011=$011006
; Entry 6 Unfiltered parallel pos of location Y:$78B34
; Width and Bias, total of 17-bits LSB starting at bit#6
I8012=$278B38
I8013=$011006
; Entry 7 Unfiltered parallel pos of location Y:$78B38
; Width and Bias, total of 17-bits LSB starting at bit#6
I8014=$278B3C
I8015=$011006
; Entry 8 Unfiltered parallel pos of location Y:$78B3C
; Width and Bias, total of 17-bits LSB starting at bit#6
Position (Ixx03) and Velocity (Ixx04) Pointers
I103=$3502
I104=$3502
I203=$3504
I204=$3504
I303=$3506
I304=$3506
I403=$3508
I404=$3508
I503=$350A
I504=$350A
I603=$350C
I604=$350C
I703=$350E
I704=$350E
I803=$3510
I804=$3510
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
8
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
Position
Velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
address,
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
ECT
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
processed
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
data
Motor Activation
I100,8,100=1
; Motors 1-8 Activated
Note
At this point of the setup process, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window.
PinOuts and Software Setup
133
Geo Brick LV 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
Alarm
Alarm
Alarm
Type
Session
Flag
Session
Flag
-
Clear
Action
Power
cycle
Power
cycle
-
-
-
Notes
Encoder Error
Possible error in position or Hall
sensor
The origin has not been passed in this
session yet
Set at zero
134
Geo Brick LV 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. To alleviate homing inaccuracies with
serial encoders, it is recommended to perform home search moves at low speeds.
Homing to a flag (i.e. Home, Overtravel Limit, and User) is done using the traditional capture parameters
I7mn2, and I7mn3. Remember to (temporarily) disable the end of travel limit use (bit#17 of Ixx24) when
homing to one of the hardware limit flags, and re-enabling it when homing is finished. Example:
Homing channel 1 to the negative limit (high true)
I124=I124|$20001
I197=1
I7012=2
I7012=2
;
;
;
;
Flag Mode, Disable hardware over travel limits
channel 1 position capture, software
Channel 1 capture control, capture on flag high
Channel 1 capture flag select, minus or negative end limit
Homing to the index pulse, normally performed after referencing to a hardware flag, is an internal
function of the Yaskawa encoder. Bit 14 of the alarm code indicates whether the index has been detected
since last power-up. The motor should be jogged until bit 14 is low, the encoder will then place the
“incremental compensation” value in the lower 11 bits of the second data word. Subtracting the
“incremental compensation” from the “incremental position” results into the true position of the index.
Motor 1 index detection example plc:
#define FirstWord
#define SecondWord
#define OriginNotPassed
M7025
M7026
M7027
FirstWord->Y:$78B20,0,24
SecondWord->Y:$78B21,0,24
OriginNotPassed->Y:$78B22,14
#define Mtr1ActPos
Mtr1ActPos->D:$00008B
M162
; Suggested M-Variable Definition, Motor 1 Actual Position
; #1 Actual position (1/[Ixx08*32] cts)
open plc 1 clear
if (OriginNotPassed = 1)
cmd "#1j+"
;
while (OriginNotPassed = 1);
endwhile
cmd "#1k"
;
endif
while (SecondWord & $8FF = 0) ;
endwhile
Mtr1ActPos = int (((FirstWord &
disable plc 1
close
PinOuts and Software Setup
Jog in positive direction looking for index
wait until index is detected
Kill Motor
Incremental Compensation takes up to 2 msec to execute
$8FFFC0) / $40)-((SecondWord & $8FF) * $40))* I108 * 32
135
Geo Brick LV 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 5/6Brake 5-6 / Relay Common
Brake 5-6 / Relay Normally Open
X11-X12: Analog Inputs/Outputs
X11-X12: 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
PinOuts and Software Setup
5
4
9
3
8
1
2
7
6
Notes
Analog Ground
16-bit Analog Input, channel 7/8+
12-bit filtered PWM analog output, channel 7/8+
Brake 3-4 / Relay Normally Closed
Amplifier fault Input 7/8
16-bit Analog Input, channel 7/812-bit filtered PWM analog output, channel 7/8Brake 3-4/ Relay Common
Brake 3-4 / Relay Normally Open
136
Geo Brick LV User Manual
Setting up the Analog (ADC) Inputs
Differential Analog Input Signal
1
AGND
ADC+
5
9
5
±10VDC
Input Signal
9
±10VDC
Input Signal
4
ADC-
4
8
8
3
3
ADC+
7
7
2
2
6
6
1
AGND
Single Ended 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. Half of the
range of the full resolution is used for unipolar (0-5V or 0-10V)
signals.
Analog Inputs Suggested M-Variables
I7106=$1FFFFF
; Servo IC 1 ADC Strobe Word
M505->Y:$078105,8,16,S
M605->Y:$07810D,8,16,S
M705->Y:$078115,8,16,S
M805->Y:$07811D,8,16,S
;
;
;
;
ADC
ADC
ADC
ADC
Input
Input
Input
Input
reading
reading
reading
reading
(ADC5A),
(ADC6A),
(ADC7A),
(ADC8A),
connector
connector
connector
connector
X9
X10
X11
X12
Testing the Analog Inputs
The software counts range (reading) is -216/2 to 216/2, so that:
Single-Ended Signal [VDC]
-10
0
Bipolar
Unipolar
10
PinOuts and Software Setup
Differential Signal [VDC]
-5
0
5
Software Counts
-32768
0
+32768
137
Geo Brick LV User Manual
Setting up the Analog (DAC) Outputs
8
5
9
4
8
5
9
4
DACAnalog
Device
3
DAC+
Analog
Device
3
DAC+
7
2
7
2
6
AGND
6
AGND
1
Single Ended DAC Output Signal
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). A fully populated Brick can have one of three gates generating the clocks:
Servo IC 0 (I7000’s)
Servo IC 1 (I7100’s)
MACRO IC 0 (I6800’s)
I19 specifies which gate is the clock source master. I19 is equal to 7007 by default indicating that Servo
IC 0 is the master gate. However, the analog outputs on X9 through X12 are generated out of Servo IC1.
The relationship between the PWM clock frequency of Servo IC 1 (recipient) and the master gate
(generator), typically Servo IC 0, should always be respected in such a way that:
Where n is an integer
Example:
With Servo IC 0 sourcing the clock at its’ recommended settings (20 KHz PWM), the following are
suggested MACRO IC 0 clock settings which would provide a good analog output signal:
Servo IC 0
Clock Settings
Resulting
Frequencies KHz
I7000=1473
I7001=0
I7002=7
I10=1677653
PWM
PHASE
SERVO
20
40
5
Servo IC 1
Clock Settings
I7100=735
I7101=3
I7102=3
I7104=0
Resulting
Frequencies KHz
PWM
PHASE
SERVO
PWMDeadtime
40
20
5
0
Note that n=2 in this case
For Help with clock calculations, download the Delta Tau Calculator: DT Calculator Forum Link
PinOuts and Software Setup
138
Geo Brick LV User Manual
Note
These Servo IC 1 clock settings are optimized for a good quality
analog output signal. If any one of axes 5-8 is used for direct PWM
control then the analog output signal quality should be compromised
with a much lower PWM frequency, or not used at all.
Analog Outputs Suggested M-Variables:
// De-activate Motors 5-8 to write directly to the analog outputs
I500,4,100=0
; De-activate channels 5-8 to use direct write
I569,4,100=816
; Set Output Limit --User Input
// Analog Outputs:
M502->Y:$078102,8,16,S
M602->Y:$07810A,8,16,S
M702->Y:$078112,8,16,S
M802->Y:$07811A,8,16,S
;
;
;
;
Analog
Analog
Analog
Analog
DAC
DAC
DAC
DAC
Output
Output
Output
Output
(DAC5),
(DAC6),
(DAC7),
(DAC8),
Connector
Connector
Connector
Connector
X9
X10
X11
X12
Testing the Analog Outputs
With the setting of I7100=735 (per the above example), writing directly to the assigned M-variable (i.e.
Mxx02) should produce the following voltage output:
Mxx02
-735
-368
0
368
735
Single Ended [VDC]
-10
-5
0
+5
+10
Differential [VDC]
-20
-10
0
+10
+20
The output voltage is measured between AGND and DAC+ for single-ended operation and between
DAC- and DAC+ for differential operation.
Note
Writing values greater than I7100 (i.e. 735) in Mx02 will saturate the
output to 10, or 20 volts in single-ended or differential mode
respectively.
MACRO connectivity provides more analog output options, e.g. ACC24M2A.
Note
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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). In this mode, the general purpose relay has no
use, and the related registers (suggested M-variables) are meaningless.
!
Caution
This option utilizes the Omron G6S-2F relay, which is rated to up to
220VAC. However, it is advised to use an external relay for AC
operations, and limit the usage for this connection to up to 30VDC at
2 amperes.
The brake output can be either:
High true using the normally open contact (pin #9)
Low true using the normally closed contact (pin #4)
Also, it can be either sourcing or sinking depending on the wiring scheme.
The following table summarizes the logic of operation:
Operation
Command From
Geo Brick LV
Contact between pins
#8 and #9
Contact between pins
#8 and #4
Brake
Amp. disabled (killed)
Amp. Enabled (open/closed loop)
Open
Closed
Closed
Open
GP Relay
M-variable = 0
M-variable = 1
Open
Closed
Closed
Open
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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, X11, and X12 are tied to the amplifier
enable signals of axes 5, 6, 3, and 4 respectively.
Note
General Purpose Relay Suggested M-Variables
// General purpose relay Outputs:
M5014->Y:$078800,8,1
; General
M6014->Y:$078801,8,1
; General
M7014->Y:$78803,8,1
; General
M8014->Y:$78804,8,1
; General
PinOuts and Software Setup
purpose
purpose
purpose
purpose
relay
relay
relay
relay
output,
output,
output,
output,
X9
X10
X11
X12
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Setting up the External Amplifier Fault Input
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.
Note
The amplifier fault signal polarity can be changed in software with bit
23 of Ixx24; =1 for High True, =0 for Low True.
Note
If the brake/relay option is in use (otherwise, whichever scheme desirable):
If pin#8 is wired to common ground, then use the sourcing scheme
If pin#8 is wired to 24V, then use the sinking scheme
Sinking
7
12-24V
4
5
9
9
4
5
12-24V
8
3
External AFAULT RET
Amplifier AFAULT
8
3
7
External AFAULT RET
Amplifier
AFAULT
2
2
6
6
1
1
Sourcing
External Amplifier Fault Input, Suggested M-Variables:
// External Amplifier
M523->X:$078100,15,1
M623->X:$078108,15,1
M723->X:$078110,15,1
M823->X:$078118,15,1
Fault Inputs:
; Amp. Fault
; Amp. Fault
; Amp. Fault
; Amp. Fault
Input
Input
Input
Input
(CH5),
(CH6),
(Ch7),
(Ch8),
Connector
Connector
Connector
Connector
X9
X10
X11
X12
This feature is commonly used when an amplifier is commanded through the DAC outputs on X9-X12,
and the need of a fault input signal is required to run the operation safely (i.e. kill in the occurrence of an
amplifier fault).
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X13: USB 2.0 Connector
This connector is used to establish USB (A-B type cable) communication between the host PC and the
Geo Brick LV. 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 LV. Ground loops may
result in ESD shocks causing the damage of the communication
processor on the Geo Brick LV.
Use a shielded USB (category 6 or 7) cable. In noise sensitive
environment, install ferrite cores at both Geo Brick and PC side.
Note
If the electrical ground planes of the host PC and the Geo Brick LV are not at the same level (e.g. laptop
on battery) then the use of an industrial USB hub is highly advised.
X14: RJ45, Ethernet Connector
This connector is used to establish communication over Ethernet between the PC and the Geo Brick LV.
A crossover cable is required if you are going directly to the Geo Brick LV from the PC Ethernet card,
and not through a hub.
Delta Tau strongly recommends the use of RJ45 CAT5e or better shielded cable. Newer network cards
have the Auto-MDIX feature that eliminates the need for crossover cabling by performing an internal
crossover when a straight cable is detected during the auto-negotiation process. For older network cards,
one end of the link must perform media dependent interface (MDI) crossover (MDIX), so that the
transmitter on one end of the data link is connected to the receiver on the other end of the data link (a
crossover/patch cable is typically used). If an RJ45 hub is used, then a regular straight cable must be
implemented. Maximum length for Ethernet cable should not exceed 100m (330ft).
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Geo Brick LV User Manual
X15: Watchdog & 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.
These functions are disabled on Geo Brick LV with Turbo PMAC firmware version 1.946 or earlier.
Geo Brick LV with Turbo PMAC firmware version 1.947 or later allows the enabling (using software
parameter I35) of the watchdog and abort functions:
I35=0 Disables the watchdog and abort hardware functions (default setting)
I35=1 Enables the watchdog and abort hardware functions
1
X15: Phoenix 5-pin TB Female
Mating: Phoenix 5-pin TB Male
2
3
4
5
TB-5: 016-PL0F05-38P
Pin #
Symbol
Function
Notes
1
ABORT-
Input
ABORT Return
2
ABORT+
Input
ABORT Input 24VDC
3
WD N.O.
Output
Watchdog (normally open contact)
4
WD N.C.
Output
Watchdog (normally closed contact)
5
WD COM
Common
Watchdog common
Wiring the Abort Input
If an Abort input button is used, it must be a normally closed switch.
COM
24VDC
Power Supply 24VDC
Abort Input
Switch (optional)
5 4
3 2
1
Killed axes are not affected by the triggering of the abort. They do not
get enabled (unlike the software abort command).
Note
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Geo Brick LV User Manual
The hardware Abort input functionality differs slightly from the software global Abort (^A) command.
The following table summarizes the differences:
Motor(s) Status
Before Abort Action
Software Global Abort
^A Action
Hardware Abort Trigger
Action (Removing 24VDC)
Killed
(Open-Loop mode)
Closes the position-loop on
all active (Ixx0=1) motors
No Action is taken.
Motors remain killed
Amplifier Enabled
(i.e. #1o0, Open-Loop mode)
Closes the position-loop
on all active (Ixx0=1) motors
Closes the position-loop on all
‘amplifier enabled’ motors only.
Killed motors are not affected
Servo-ing – in position
(Closed-Loop mode)
Motor(s) remain in
closed-loop at velocity zero
Motor(s) remain in closed-loop
at velocity zero
Servo-ing – Jogging
(Closed-Loop mode)
Motor(s) decelerate to zero
velocity at Ixx15 rate
Motor(s) decelerate to zero
velocity at Ixx15 rate
Servo-ing – Running Program(s)
(Closed-Loop mode)
Aborts motion program(s)
and decelerate to zero
velocity at Ixx15 rate
Aborts motion program(s) and
decelerate to zero velocity
at Ixx15 rate
Wiring the Watchdog Output
Watchdog Output,
Normally Open
Watchdog Output,
Normally Closed
24 VDC
Power Supply
COM
COM
24 VDC
Power Supply
24VDC
24VDC
Watchdog
COM
COM
Logic device
(safe shutdown)
Operation
543
21
24VDC
543
21
24VDC
Logic device
(safe shutdown)
Mode
Connection between pins
#5 and #3
Connection between pins
#5 and #4
Not triggered
(normal operation)
Open
Closed
Triggered
(Faulty operation)
Closed
Open
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Geo Brick LV User Manual
RS232: Serial Communication Port
An optional serial RS-232 communication port is available on the Geo Brick LVs. 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.
NC
TXD
Output
Receive data
Host transmit Data
RXD
Input
Send data
Host receive Data
DSR
Bi-directional Data set ready
Tied to “DTR”
GND
Common
Common GND
DTR
Bi-directional Data term ready Tied to “DSR”
CTS
Input
Clear to send
Host ready bit
RTS
Output
Req. to send
PMAC ready bit
N.C
NC
The baud rate for the RS-232 serial port is set by variable I54. At power-up reset, The Geo Brick LV sets
the active baud based on the setting of I54 and the CPU speed I52. Note that the baud rate frequency is
divided down from the CPU’s operational frequency. The factory default baud rate is 38400. This baud
rate will be selected automatically on re-initialization of the Geo Brick LV, either in hardware using the
re-initialization (RESET SW) button or in software using the $$$*** command.
To change the baud rate setting on the Geo Brick LV, set I54 to the corresponding value of desired
frequency. Issue a SAVE and recycle power on the unit. For odd baud rate settings, refer to the Turbo
Software Reference Manual.
I54 Baud Rate I54
8
9600
12
9
14,400
13
10
19,200
14
11
28,800
15
Baud Rate
38,400
57,600
76,800
115,200
I54=12 (38400 baud) is the factory default setting
Note
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Geo Brick LV User Manual
AMP1-AMP8: Motor Wiring
These connections are used to wire the amplifier-motor output:
Traditionally, the Geo Brick LV offered a power rating of 5A continuous RMS, 15A peak RMS. In
October 2012, two additional power ratings were added to the Geo Brick LV offering a total of three
possible power configurations (per set of 4 axes each):
Nominal RMS Current
Peak RMS Current
0.25 A
0.75 A
Left hand side indicator
1A
3A
Right hand side indicator
5A
15 A
No indicator
Connector
Notes
For Stepper motors, use U and W at one coil, V and X at the other coil.
For DC brushless motors (servo) use U, V and W. Leave X floating.
For DC Brush motors, use U and W. Leave V and X floating.
Pin#
Symbol
Function
Description
1
Phase 1 U
Output
Motor Output
2
Phase 2 V
Output
Motor Output
3
Phase 3 W
Output
Motor Output
4
Phase 4 X
Output
Motor Output
5
GND
Common
GND
Mating Connector 5-pin Phoenix Terminal Block:
Phoenix Contact mating connector part # 1792278
Delta Tau mating connector part # 016-090A05-08P
PinOuts and Software Setup
5
X W
V U
4
3
2 1
147
Geo Brick LV User Manual
Stepped Motor Wiring
Shield
5
GND
4
X
3
W
2
V
1
U
Brushless (Servo) Motor wiring
Shield
5
GND
4
X
3
W
2
V
1
U
Brush Motor Wiring
5
GND
4
X
3
W
2
V
1
U
M
The motor’s frame drain wire and the motor cable shield should be
tied together to minimize noise disturbances.
Note
Note
Color code may differ from one motor manufacturer to another.
Review the motor documentation carefully before making this
connection.
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+5V ENC PWR (Alternate Encoder Power)
Typically, feedback devices are powered up through the X1-X8 connectors on the Geo Brick LV 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 total
encoder budget exceeds the specified thresholds.
Encoders requiring greater than +5VDC power must be supplied
externally, and NOT through the X1-X8 connectors NOR through this
connector.
Note
G B D x
-
x
x
-
x
x
x
-
x
x
x
x
x
x
x
x
Add-in Board Options
The add-in board (any non-zero digit in the highlighted part number field) for MACRO and special
feedback requires an additional ~ 0.5A (+5V power). This alters the total power available for encoders.
The newer models of the Geo Brick LV have a beefier power supply and can handle more (+5V) power
drain. The following tables summarize the +5V power available for encoder devices (X1-X8):
!
The maximum current draw out of a single encoder channel must not
exceed 750 mA.
Caution
Geo Brick LV Model
Total Encoder Power
Available [Amps]
Power Per Encoder
(4 x channels) [mA]
Power Per Encoder
( 8 x channels) [mA]
Older
Newer
Older
Newer
Older
Newer
Without Add-in Board
1.5
2
375
500
188
250
With Add-in Board
1
1.5
250
375
125
188
Note
The newer models of the Geo Brick LV were introduced in October of
2012 and can be recognized by the 5-pin terminal block STO
connector which was not previously available.
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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.
Caution
By default, pins 1-2 are tied together to use the internal power supply. To wire an external power supply,
remove the jumper tying pins 1-2 and connect the external +5V to pin #1, and ground/common to pin#3:
Internal Power Supply
Wiring (Default)
External Power Supply
Wiring
1
1
2
2
3
3
+5V
External
Power
Supply
Gnd
A jumper tying pins 1 and 2 is the default configuration. This is the
configuration with which the Geo Brick LV is shipped to a customer.
Note
Note
The controller (PMAC) 5V logic is independent of this scheme, so if
no encoder power is provided the PMAC will remain powered-up
(provided the standard 24 volts is brought in).
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Geo Brick LV 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 LV
Encoder Power Loss (i.e. power supply failure, loose wire/connector)
The Geo Brick LV, with certain feedback devices, can be setup to read absolute position or perform
phasing on power-up (either automatic firmware functions, or user PLCs). If the encoder power is not
available, these functions will not be performed properly. Moreover, trying to close the loop on a motor
without encoder feedback can be dangerous.
!
Make sure that the encoders are powered-up before executing any
motor/motion commands.
Caution
Losing encoder power can lead to dangerous runaway conditions, setting the fatal following error limit
and I2T protection in PMAC is highly advised.
!
Make sure that the fatal following error limit and I2T protection are
configured properly in PMAC.
Caution
With Commutated motors (i.e. DC brushless), a loss of encoder generally breaks the commutation cycle
causing a fatal following error or I2T fault either in PMAC or Amplifier side. However, with noncommutated motors (i.e. DC brush), losing encoder signal can more likely cause dangerous runway
conditions.
Note
Setting up encoder loss detection for quadrature and sinusoidal
encoders is highly recommended. Serial Encoders normally provide
with a flag or timeout error bit that can be used for that function.
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MOTOR TYPE & PROTECTION POWER-ON PLCS
The Geo Brick LV is capable of driving stepper and/or servo (brush/brushless) motors without any
hardware changes. The amplifier firmware requires declaring the motor type (per channel) on power up in
a power-on PLC. This PLC also executes the following functions:
Set motor type (stepper or servo)
Clear amplifier fault(s), per channel
Enable Strobe Word write protection
The sample PLCs below are common 8-axis configurations. For 4-axis
configurations, simply delete the settings of axis 5 through 8.
Note
These functions are established by sending commands to the amplifier processor from the PMAC through
the ADC Strobe Word (see Strobe Word data structure section).
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Stepper Motor Power-On PLC Sample
The following PLC sets up an 8-axis Geo Brick LV to drive 8 stepper motors:
Open PLC 1 Clear
// Disable all other PLCs, and kill motors
DIS PLC 0
DIS PLCC 0..31
DIS PLC 2..31
CMD^K
// Axis 1 Settings
CMD"WX:$78014,$F8CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F84DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F00DFE" ;
I5111 = 50 * 8388608/I10
// Axis 2 Settings
CMD"WX:$78014,$F9CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F94DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F10DFE" ;
I5111 = 50 * 8388608/I10
// Axis 3 Settings
CMD"WX:$78014,$FACDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FA4DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F20DFE" ;
I5111 = 50 * 8388608/I10
// Axis 4 Settings
CMD"WX:$78014,$FBCDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FB4DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F30DFE" ;
I5111 = 50 * 8388608/I10
// Axis 5 Settings
CMD"WX:$78114,$F8CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F84DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F00DFE" ;
I5111 = 50 * 8388608/I10
// Axis 6 Settings
CMD"WX:$78114,$F9CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F94DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F10DFE" ;
I5111 = 50 * 8388608/I10
// Axis 7 Settings
CMD"WX:$78114,$FACDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$FA4DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F20DFE" ;
I5111 = 50 * 8388608/I10
// Axis 8 Settings
CMD"WX:$78114,$FBCDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$FB4DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F30DFE" ;
I5111 = 50 * 8388608/I10
Dis PLC 1
Close
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
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Geo Brick LV User Manual
Servo (brushless/brush) Motor Power-On PLC Sample
The following PLC sets up an 8-axis Geo Brick LV to drive 8 brush or brushless motors:
Open plc 1 clear
// Disable all other PLCs, and kill motors
DIS PLC 0
DIS PLCC 0..31
DIS PLC 2..31
CMD^K
// Axis 1 Settings
CMD"WX:$78014,$F8CCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F84CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F00CFE" ;
I5111 = 50 * 8388608/I10
// Axis 2 Settings
CMD"WX:$78014,$F9CCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F94CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F10CFE" ;
I5111 = 50 * 8388608/I10
// Axis 3 Settings
CMD"WX:$78014,$FACCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FA4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F20CFE" ;
I5111 = 50 * 8388608/I10
// Axis 4 Settings
CMD"WX:$78014,$FBCCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FB4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F30CFE" ;
I5111 = 50 * 8388608/I10
// Axis 5 Settings
CMD"WX:$78114,$F8CCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F84CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F00CFE" ;
I5111 = 50 * 8388608/I10
// Axis 6 Settings
CMD"WX:$78114,$F9CCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F94CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F10CFE" ;
I5111 = 50 * 8388608/I10
// Axis 7 Settings
CMD"WX:$78114,$FACCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$FA4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F20CFE" ;
I5111 = 50 * 8388608/I10
// Axis 8 Settings
CMD"WX:$78114,$FBCCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$FB4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78114,$F30CFE" ;
I5111 = 50 * 8388608/I10
Dis PLC 1
Close
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Motor Type & Protection Power-On PLCs
154
Geo Brick LV User Manual
Hybrid Motor Power-On PLC Sample
It is possible to mix and match motor types per channel.
Note
The following PLC sets up a 4-axis Geo Brick LV to drive stepper motors on channels 1, 2 and servo
motors on channels 3, 4:
Open plc 1 clear
// Disable all other PLCs, and kill motors
DIS PLC 0
DIS PLCC 0..31
DIS PLC 2..31
CMD^K
// Axis 1 Settings
CMD"WX:$78014,$F8CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F84DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F00DFE" ;
I5111 = 50 * 8388608/I10
// Axis 2 Settings
CMD"WX:$78014,$F9CDFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F94DFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F10DFE" ;
I5111 = 50 * 8388608/I10
// Axis 3 Settings
CMD"WX:$78014,$FACCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FA4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F20CFE" ;
I5111 = 50 * 8388608/I10
// Axis 4 Settings
CMD"WX:$78014,$FBCCFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$FB4CFE" ;
I5111 = 50 * 8388608/I10
CMD"WX:$78014,$F30CFE" ;
I5111 = 50 * 8388608/I10
Dis PLC 1
Close
Note
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Stepper)
While(I5111 > 0)EndW
Clear error(s) on selected axis in stepper mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
Select axis # and set motor mode (Servo)
While(I5111 > 0)EndW
Clear error(s) on selected axis in Servo mode
While(I5111 > 0)EndW
Save and write protect channel from strobe word changes
While(I5111 > 0)EndW
With firmware version 1.947 or later, it is possible to write to the
strobe word using the corresponding Servo IC parameter I7m06
instead of using the online command syntax CMD" " with WX (write
to X register) format.
Motor Type & Protection Power-On PLCs
155
Geo Brick LV User Manual
MOTOR SETUP
This section discusses manual (step by step) motor setup guidelines for stepper or servo motors. This
motor setup segment should be the last of a few necessary steps to properly configure a motor with Geo
Brick LV.
Motor Setup Flow Chart
The following chart summarizes the steps to implement for setting up a motor properly with the Geo
Brick LV:
Encoder / Motor wiring
Factory Default Reset $$$***, Save, $$$
(recommended)
Encoder Software Setup. Verify Feedback.
(Not applicable for steppers)
Motor Type And Protection
(Power-On PLC)
Dominant Clock Settings
Motor Software Setup
Note
Motor Setup
The following (Motor Setup) section assumes that feedback devices (if
applicable) have been setup properly, and that moving the
motor/encoder shaft by hand shows correct data in the position
window.
156
Geo Brick LV User Manual
Dominant Clock Settings
The choice of clock settings usually relies on system requirements, and type of application.
Calculating 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). The minimum PWM Frequency is then
determined using the following relationship:
sec
L
H
ROhms
20
2 PWM
PWM ( Hz)
20
2
sec
Example: A motor with an inductance of 2.80 mH, resistance of 14 (phase-phase) yields a time
constant of 200 sec. Therefore, the minimum PWM Frequency is about ~15.9KHz.
Recommended clock Frequencies
The most commonly used and recommended clock settings for the Geo Brick LV are 20 KHz PWM, 10
KHz Phase, and 5 KHz Servo.
I6800=1473
I6801=3
I6802=1
; Macro IC0 Max Phase/PWM Frequency Control
; Macro IC0 Phase Clock Frequency Control
; Macro IC0 Servo Clock Frequency Control
I7100=1473
I7101=3
I7102=1
; Servo IC1 Max Phase/PWM Frequency Control
; Servo IC1 Phase Clock Frequency Control
; Servo IC1 Servo Clock Frequency Control
I7000=1473
I7001=3
I7002=1
; Servo IC0 Max Phase/PWM Frequency Control
; Servo IC0 Phase Clock Frequency Control
; Servo IC0 Servo Clock Frequency Control
I10=1677653
; Servo Interrupt Time
Note that downloading parameters to a non-existent Servo or Macro IC is usually neglected by PMAC but
it is not a good practice for documentation and future configuration downloads. Use/download only the
parameters pertaining to the IC’s present on your unit:
Condition
I4900=$1 and I4902=$0
I4900=$3 and I4902=$0
I4900=$1 and I4902=$1
I4900=$3 and I4902=$1
Use/Download
I7000s
I7100s and I7000s
I6800s and I7000s
I6800s, I7100s and I7000s
Description
Servo IC 0 present
Servo ICs 0, and 1 present
Servo IC 0 and Macro IC 0 present
Servo ICs 0, 1 and Macro IC 0 present
Clock Calculations
The following clock calculations are used in selected downloadable scripts in subsequent section(s). Thus,
it is highly recommended to adjoin them to your downloadable file:
I15=0
#define
#define
#define
#define
MaxPhaseFreq
PWMClk
PhaseClk
ServoClk
P8000
P8001
P8002
P8003
;
;
;
;
;
Trigonometric calculation in degrees
Max Phase Clock [KHz]
PWM Clock [KHz]
Phase Clock [KHz]
Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I7000+3)
PWMClk=117964.8/(4*I7000+6)
PhaseClk=MaxPhaseFreq/(I7001+1)
ServoClk=PhaseClk/(I7002+1)
Motor Setup
157
Geo Brick LV User Manual
Stepper Motor Setup -- Direct Micro-Stepping
Before you start
Remember to create/edit the motor type and protection power-on PLC.
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.
Detailed description of motor setup parameters can be found in the Turbo SRM Manual
The traditional direct-microstepping technique controlled with sinusoidal outputs from the Turbo PMAC
is not appropriate for motors controlled with direct-PWM outputs such as in Geo Brick LV Drives. A new
technique permits direct microstepping along with direct-PWM motor control.
This technique creates a simulated position sensor and feedback loop by numerically integrating the
(velocity) command output from the servo loop. This integration requires two entries in the encoder
conversion table. The resulting simulated position value can be used for both motor phase commutation
and servo-loop feedback. Alternately, a load encoder could be used for position-loop feedback while this
simulated value is used for commutation.
Encoder Conversion Table Setup
The first entry in the encoder conversion table (ECT) for each stepper motor must read the servo-loop
output like an absolute encoder. This is done with a “parallel-read” entry of a Y/X double register (the
data is in X), unshifted and unfiltered; specifying the use of 24 bits of the 48-bit Y/X register, starting 24
bits from the low end. This is effectively like reading a 24-bit DAC register.
The second entry in the ECT for each stepper motor integrates the result of the first entry.
Motor Setup
158
Geo Brick LV User Manual
Motor (Quadrature/Torque) command value Registers
Motor# Address (X-memory)
Motor# Address (X-memory)
1
$0000BF
5
$0002BF
2
$00013F
6
$00033F
3
$0001BF
7
$0003BF
4
$00023F
8
$00043F
Motors 1-8 Stepper Setup Encoder Conversion Table
I8000=$6800BF
I8001=$18018
I8002=$EC0001
I8003=$68013F
I8004=$18018
I8005=$EC0004
I8006=$6801BF
I8007=$18018
I8008=$EC0007
I8009=$68023F
I8010=$18018
I8011=$EC000A
I8012=$6802BF
I8013=$18018
I8014=$EC000D
I8015=$68033F
I8016=$18018
I8017=$EC0010
I8018=$6803BF
I8019=$18018
I8020=$EC0013
I8021=$68043F
I8022=$18018
I8023=$EC0016
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Parallel read of Y/X:$BF
Use 24 bits starting at X bit
Integrate result from I8001
Parallel read of Y/X:$13F
Use 24 bits starting at X bit
Integrate result from I8004
Parallel read of Y/X:$1BF
Use 24 bits starting at X bit
Integrate result from I8007
Parallel read of Y/X:$23F
Use 24 bits starting at X bit
Integrate result from I8010
Parallel read of Y/X:$2BF
Use 24 bits starting at X bit
Integrate result from I8013
Parallel read of Y/X:$33F
Use 24 bits starting at X bit
Integrate result from I8016
Parallel read of Y/X:$3BF
Use 24 bits starting at X bit
Integrate result from I8019
Parallel read of Y/X:$43F
Use 24 bits starting at X bit
Integrate result from I8022
0
0
0
0
0
0
0
0
Position, Velocity Pointers: Ixx03, Ixx04
The position and velocity pointers (no external encoder used) will be set to the integration result:
I103=$3503
I203=$3506
I303=$3509
I403=$350C
I503=$350F
I603=$3512
I703=$3515
I803=$3518
I104=$3503
I204=$3506
I304=$3509
I404=$350C
I504=$350F
I604=$3512
I704=$3515
I804=$3518
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
position
position
position
position
position
position
position
position
and
and
and
and
and
and
and
and
velocity
velocity
velocity
velocity
velocity
velocity
velocity
velocity
feedback
feedback
feedback
feedback
feedback
feedback
feedback
feedback
Motor Activation, Commutation Enable: Ixx00, Ixx01
I100,8,100=1
I101,8,100=1
; Motors 1-8 active
; Motors 1-8 Commutation Enabled (from X-register)
Command Output Address: Ixx02
I102=$078002
I202=$07800A
I302=$078012
I402=$07801A
I502=$078102
I602=$07810A
I702=$078112
I802=$07811A
Motor Setup
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Output
Output
Output
Output
Output
Output
Output
Output
Address
Address
Address
Address
Address
Address
Address
Address
159
Geo Brick LV User Manual
Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72
I182=$078006
I282=$07800E
I382=$078016
I482=$07801E
I582=$078106
I682=$07810E
I782=$078116
I882=$07811E
I184,8,100=$FFFC00
I172,8,100=512
;
;
;
;
;
;
;
;
;
;
;
Motor 1 Current Feedback Address
Motor 2 Current Feedback Address
Motor 3 Current Feedback Address
Motor 4 Current Feedback Address
Motor 5 Current Feedback Address
Motor 6 Current Feedback Address
Motor 7 Current Feedback Address
Motor 8 Current Feedback Address
Motors 1-8 Current Loop Feedback Mask, 14-bit (Geo Brick LV Specific)
Commutation Phase Angle.2-Phase opposite voltage & current sign
(Geo Brick LV Specific)
Flag Address, Mode Control: Ixx25, Ixx24
I125=$078000
I225=$078008
I325=$078010
I425=$078018
I525=$078100
I625=$078108
I725=$078110
I825=$078118
I124=$800401
I224=$800401
I324=$800401
I424=$800401
I524=$800401
I624=$800401
I724=$800401
I824=$800401
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Flag
Address
Address
Address
Address
Address
Address
Address
Address
Control.
Control.
Control.
Control.
Control.
Control.
Control.
Control.
High
High
High
High
High
High
High
High
True
True
True
True
True
True
True
True
Amp
Amp
Amp
Amp
Amp
Amp
Amp
Amp
Fault,
Fault,
Fault,
Fault,
Fault,
Fault,
Fault,
Fault,
disable
disable
disable
disable
disable
disable
disable
disable
3rd
3rd
3rd
3rd
3rd
3rd
3rd
3rd
Harmonic
Harmonic
Harmonic
Harmonic
Harmonic
Harmonic
Harmonic
Harmonic
Commutation Address, Cycle size: Ixx83, Ixx70, Ixx71
I183=$3503
I283=$3506
I383=$3509
I483=$350C
I583=$350F
I683=$3512
I783=$3515
I883=$3518
I170,8,100=1
I171,8,100=65536
Motor Setup
;
;
;
;
;
;
;
;
;
;
Motor 1 on-going Commutation Address (ECT
Motor 2 on-going Commutation Address (ECT
Motor 3 on-going Commutation Address (ECT
Motor 4 on-going Commutation Address (ECT
Motor 5 on-going Commutation Address (ECT
Motor 6 on-going Commutation Address (ECT
Motor 7 on-going Commutation Address (ECT
Motor 8 on-going Commutation Address (ECT
Motors 1-8 Single cycle size
Microsteps per Ixx70 commutation cycles
Integration
Integration
Integration
Integration
Integration
Integration
Integration
Integration
Result)
Result)
Result)
Result)
Result)
Result)
Result)
Result)
160
Geo Brick LV User Manual
Maximum Achievable Motor Speed, Output Command Limit: Ixx69
In Micro-Stepping, the maximum achievable speed is proportional to the Servo clock and Motor Step
angle. A faster Servo Clock results in higher achievable motor speeds.
To ensure the safety of the application and reliability of the micro-stepping technique, the smaller value
between the Theoratical and the Calculated output command limit Ixx69 must be chosen.
Theoratical Ixx69
Sine Table: 2048
Electrical Length = 2048*32 (5-bit shift) = 65536
Max Electrical Length per Servo Cycle = Electrical Length/6 = 10922.66667
Micro-Stepping Theoratical Ixx69 = Max Electrical Length per Servo Cycle/256 = 42.6667
Calculated Ixx69
Servo Clock (KHz): 8
Stepper Angle: 1.8°
Motor Speed (rpm): 1500
Electrical Cycles per Revolution = 360 / (4*Stepper Angle)
Maximum-Achievable Motor Speed (RPM) =
(Servo Clock*1000) / (Electrical Cycles per Revolution*6)*60
Calculated Ixx69 =
Max Motor Speed* Electrical Cycles per Revolution/ 60 * 2048/6/(Servo Clock *1000)
#define ServoClk
P8003
; [KHz] Computed in Dominant Clock Settings Section
#define StepAngle
1.8
; Step Angle [Degrees] –User Input
#define MotorSpeed
1500
; Motor Speed Spec [RPM] –User Input
#define ElecCyclePerRev
P7004
; Electrical Cycle Per Revolution
ElecCyclePerRev=360/(4* StepAngle)
#define MaxMtrSpeed
P7005
; This is the maximum achievable motor speed
MaxMtrSpeed=( ServoClk*1000)/( ElecCyclePerRev*6)*60
#define CalculatedIxx69
P7006
; Calculated Ixx69
CalculatedIxx69= MotorSpeed*ElecCyclePerRev/60*2048/6/(ServoClk*1000)
Setting up 1.8° Step Motors specified at 1500 rpm and a Servo Clock of 8 KHz results in a maximum
achievable speed (P7001) of 1600 rpm and a calculated Ixx69 (P7002) of 53.3334.
Theoratial Ixx69 < Calculated Ixx69 => I169,8,100= Theoratial Ixx69
I169,8,100=42.667
Motor Setup
; Motors 1 thru 8 Output Command Limit
161
Geo Brick LV User Manual
PWM Scale Factor: Ixx66
If Motor Rated Voltage > Bus Voltage:
I166=0.95 * I7000
; Motor #1 PWM Scale Factor, typical setting
I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1
I566=I166 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. In order to obtain full voltage output it is set to about 10% over PWM
count divided by DC Bus/Motor voltage ratio:
#define DCBusInput
60
; DC Bus Voltage -User Input
#define
#define
#define
#define
#define
#define
#define
#define
24
24
24
24
24
24
24
24
;
;
;
;
;
;
;
;
Mtr1Voltage
Mtr2Voltage
Mtr3Voltage
Mtr4Voltage
Mtr5Voltage
Mtr6Voltage
Mtr7Voltage
Mtr8Voltage
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
I166=I7000*Mtr1Voltage/DCBusInput
I266=I7000*Mtr2Voltage/DCBusInput
I366=I7000*Mtr3Voltage/DCBusInput
I466=I7000*Mtr4Voltage/DCBusInput
I566=I7000*Mtr5Voltage/DCBusInput
I666=I7000*Mtr6Voltage/DCBusInput
I766=I7000*Mtr7Voltage/DCBusInput
I866=I7000*Mtr8Voltage/DCBusInput
Motor Setup
1
2
3
4
5
6
7
8
;
;
;
;
;
;
;
;
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
1
2
3
4
5
6
7
8
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Input
Input
Input
Input
Input
Input
Input
Input
(
(
(
(
(
(
(
(
Geo
Geo
Geo
Geo
Geo
Geo
Geo
Geo
Brick
Brick
Brick
Brick
Brick
Brick
Brick
Brick
LV
LV
LV
LV
LV
LV
LV
LV
Specific)
Specific)
Specific)
Specific)
Specific)
Specific)
Specific)
Specific)
162
Geo Brick LV 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 LV and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick LV (e.g. 15 Amps) then the time allowed at peak
current is set to 1 seconds.
If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at
peak current.
Examples:
For setting up I2T on a Geo Brick LV driving a 3A/9A motor, 3 amps continuous and 9 amps
instantaneous will be used as current limits. And time allowed at peak is that of the motor.
For setting up I2T on a Geo Brick LV driving a 4A/16A motor, 4 amps continuous and 15 amps
instantaneous will be used as current limits. And time allowed at peak is 1 seconds.
The rule of thumb for Stepper magnetization current is Ixx77 = Ixx57/√2
Motors 1 thru 8 have 5-amp continuous, 15-amp peak current limits. With a servo clock of 8 KHz, I2T
protection and magnetization current would be set to:
I15=0
#define
#define
#define
#define
#define
#define
ContCurrent
PeakCurrent
MaxADC
ServoClk
I2TOnTime
VoltOutLimit
5
15
33.85
P8003
1
P7007
;
;
;
;
;
;
;
Trigonometric calculation in degrees
Continuous Current Limit [Amps] –User Input
Instantaneous Current Limit [Amps] –User Input
Brick LV full range ADC reading (see electrical specifications)
[KHz] Computed in Dominant Clock Settings Section
Time allowed at peak Current [sec]
This is Ixx69 normally used in direct digital PWM
I157=INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I177=I157/SQRT(2)
VoltOutLimit=INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158=INT((VoltOutLimit*VoltOutLimit-I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
I257=I157
I357=I157
I457=I157
I557=I157
I657=I157
I757=I157
I857=I157
I277=I177
I377=I177
I477=I177
I577=I177
I677=I177
I777=I177
I877=I177
Note
Motor Setup
I258=I158
I358=I158
I458=I158
I558=I158
I658=I158
I758=I158
I858=I158
This software I2T is designed to primarily protect the motor. The Geo
Brick LV’s hardware built-in I2T protects the amplifier and presents
an added layer of system safety.
163
Geo Brick LV User Manual
Phasing, Power-On Mode: Ixx80, Ixx73, Ixx74, Ixx81, Ixx91
I180=0
I280=0
I380=0
I480=0
I580=0
I680=0
I780=0
I880=0
I173=0
I273=0
I373=0
I473=0
I573=0
I673=0
I773=0
I873=0
I174=0
I274=0
I374=0
I474=0
I574=0
I674=0
I774=0
I874=0
;
;
;
;
;
;
;
;
I181=$3503
I281=$3506
I381=$3509
I481=$350C
I581=$350F
I681=$3512
I781=$3515
I881=$3518
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Power-On
Power-On
Power-On
Power-On
Power-On
Power-On
Power-On
Power-On
Commutation,
Commutation,
Commutation,
Commutation,
Commutation,
Commutation,
Commutation,
Commutation,
Integrated
Integrated
Integrated
Integrated
Integrated
Integrated
Integrated
Integrated
Output
Output
Output
Output
Output
Output
Output
Output
#1
#2
#3
#4
#5
#6
#7
#8
I191,8,100=$500000
; Mtrs 1-8 Pwr-on Pos. format Read 16 (11+5) bits of X register Ixx81
Position-Loop PID Gains: Ixx30…Ixx39
I130,8,100=1024
I131,8,100=0
I132,8,100=85
I133,8,100=1024
I134,8,100=1
I135,8,100=0
I136,8,100=0
I137,8,100=0
I138,8,100=0
I139,8,100=0
Motor Setup
;
;
;
;
;
;
;
;
;
;
164
Geo Brick LV User Manual
Current-Loop Gains: Ixx61, Ixx62, Ixx76
The current-loop tuning can be performed as in any Turbo PMAC digital current loop setup. The
PMACTuningPro2 automatic or interactive utility can be used to fine-tune the current loop gains.
Ixx61=0.005, Ixx62=0, and Ixx76=0.05 is a good/safe starting point for interactive current-loop tuning.
Typically, an acceptable current-loop step response would look like the following:
Number of Counts per Revolution (Stepper Motors)
With a count equal to a micro-step, and 512 micro-steps per 1.8-degree full step (2048 per cycle), you
should expect to see 360*512/1.8= 102,400 counts per revolution of the motor.
Note
Motor Setup
Some stepper motors have unconventional specifications making top
speeds unattainable with the basic micro-stepping technique.
Adjusting the direct current on the fly might be necessary (i.e. using
open servo).
165
Geo Brick LV User Manual
Brushless Motor Setup
Before you start
Remember to create/edit the motor type and protection power-on PLC
At this point of the setup 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.
Detailed description of motor setup parameters can be found in the Turbo SRM
Flag Control, Commutation Angle, Current Mask: Ixx24, Ixx72, Ixx84
I124,8,100=$800001
I172,8,100=683
I184,8,100=$FFFC00
; Motors 1-8 Flag control, High true amp fault (Geo Brick LV specific)
; Motors 1-8 Commutation phase angle (Geo Brick LV specific)
; Motors 1-8 Current-Loop Feedback Mask Word (Geo Brick LV specific)
PWM Scale Factor: Ixx66
If Motor Rated Voltage > Bus Voltage:
I166=0.95 * I7000
; Motor #1 PWM Scale Factor, typical setting
I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1
I566=I166 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. In order to obtain full voltage output it is set to the PWM count divided by
DC Bus/Motor voltage ratio:
#define DCBusInput
60
; DC Bus Voltage -User Input
#define
#define
#define
#define
#define
#define
#define
#define
24
24
24
24
24
24
24
24
;
;
;
;
;
;
;
;
Mtr1Voltage
Mtr2Voltage
Mtr3Voltage
Mtr4Voltage
Mtr5Voltage
Mtr6Voltage
Mtr7Voltage
Mtr8Voltage
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
I166=I7000*Mtr1Voltage/DCBusInput
I266=I7000*Mtr2Voltage/DCBusInput
I366=I7000*Mtr3Voltage/DCBusInput
I466=I7000*Mtr4Voltage/DCBusInput
I566=I7000*Mtr5Voltage/DCBusInput
I666=I7000*Mtr6Voltage/DCBusInput
I766=I7000*Mtr7Voltage/DCBusInput
I866=I7000*Mtr8Voltage/DCBusInput
1
2
3
4
5
6
7
8
;
;
;
;
;
;
;
;
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
1
2
3
4
5
6
7
8
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Input
Input
Input
Input
Input
Input
Input
Input
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Current Feedback Address: Ixx82
I182=$078006
I282=$07800E
I382=$078016
I482=$07801E
I582=$078106
I682=$07810E
I782=$078116
I882=$07811E
Motor Setup
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Current
Current
Current
Current
Current
Current
Current
Current
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Address
Address
Address
Address
Address
Address
Address
Address
166
Geo Brick LV 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. And
Ixx01 should be equal to 1, indicating commutation from an X-register:
I183=$078001
I283=$078009
I383=$078011
I483=$078019
I583=$078101
I683=$078109
I783=$078111
I883=$078119
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
source
source
source
source
source
source
source
source
address
address
address
address
address
address
address
address
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register
SSI / EnDat / BiSS
Technique 1
PMAC expects the commutation data to be left most shifted. With technique 1, this is satisfied if the
encoder data fulfills or exceeds 24 bits. But if the data length is less than 24 bits then it is recommended,
for simplicity, to use the processed encoder conversion table result. Ixx01 is then set up correspondingly
for either a Y- or X- register.
If the Singleturn + Multiturn data fulfills 24 bits; ST+MT ≥ 24 bits:
I183=$78B20
I283=$78B24
I383=$78B28
I483=$78B2C
I583=$78B30
I683=$78B34
I783=$78B38
I883=$78B3C
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
source
source
source
source
source
source
source
source
address
address
address
address
address
address
address
address
I101,8,100=3
; Motors 1-8 Commutation Enabled, from Y-register
If the Singleturn + Multiturn data does not fulfill 24 bits; ST+MT < 24 bits:
I183=I104
I283=I204
I383=I304
I483=I404
I583=I504
I683=I604
I783=I704
I883=I804
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
source
source
source
source
source
source
source
source
address
address
address
address
address
address
address
address
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register
Technique 2/3
With techniques 2 and 3, the commutation-dedicated encoder conversion table (see feedback setup
section) result is the commutation source. And Ixx01 should be equal to 1 indicating an X-register:
// These addresses can
I183=$3512
; Motor
I283=$3514
; Motor
I383=$3516
; Motor
I483=$3518
; Motor
I583=$351A
; Motor
I683=$351C
; Motor
I783=$351E
; Motor
I883=$3520
; Motor
I101,8,100=1
Motor Setup
differ depending on the encoder conversion table management
1 Commutation source address -User Input
2 Commutation source address -User Input
3 Commutation source address -User Input
4 Commutation source address -User Input
5 Commutation source address -User Input
6 Commutation source address -User Input
7 Commutation source address -User Input
8 Commutation source address -User Input
; Motors 1-8 Commutation Enabled, from X-register
167
Geo Brick LV 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 Commutation Position
6 On-going Commutation Position
7 On-going Commutation Position
8 On-going Commutation Position
conversion table management
Address
Address
Address
Address
Address
Address
Address
Address
; Motors 1-8 Commutation Enabled, from X-register
Yaskawa
With Yaskawa feedback devices, it is recommended to use the processed data in the Encoder Conversion
Table (same as position):
I183=I104
I283=I204
I383=I304
I483=I404
I583=I504
I683=I604
I783=I704
I883=I804
;
;
;
;
;
;
;
;
I101,8,100=1
; Motors 1-8 Commutation Enabled, from X-register
Motor Setup
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
On-going
On-going
On-going
On-going
On-going
On-going
On-going
On-going
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Commutation
Position
Position
Position
Position
Position
Position
Position
Position
Address
Address
Address
Address
Address
Address
Address
Address
168
Geo Brick LV User Manual
I2T Protection: Ixx57, Ixx58, Ixx69
The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo
Brick LV and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick LV (e.g. 15 Amps) then the time allowed at peak
current is set to 1 seconds.
If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at
peak current.
Examples:
For setting up I2T on a Geo Brick LV driving a 3A/9A motor, 3 amps continuous and 9 amps
instantaneous will be used as current limits. And time allowed at peak is that of the motor.
For setting up I2T on a Geo Brick LV driving a 4A/16A motor, 4 amps continuous and 15 amps
instantaneous will be used as current limits. And time allowed at peak is 1 seconds.
Motors 1 thru 8 have 5-amp continuous, 15-amp peak current limits.
#define
#define
#define
#define
#define
ServoClk
ContCurrent
PeakCurrent
MaxADC
I2TOnTime
P8003
5
15
33.85
1
;
;
;
;
;
[KHz] Computed in Dominant Clock Settings Section
Continuous Current Limit [Amps] –User Input
Instantaneous Current Limit [Amps] –User Input
Brick LV full range ADC reading (see electrical specifications)
Time allowed at peak Current [sec]
I157=INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169=INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158=INT((I169*I169-I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
I257=I157
I357=I157
I457=I157
I557=I157
I657=I157
I757=I157
I857=I157
I258=I158
I358=I158
I458=I158
I558=I158
I658=I158
I758=I158
I858=I158
Note
Motor Setup
I269=I169
I369=I169
I469=I169
I569=I169
I669=I169
I769=I169
I869=I169
This software I2T is designed to primarily protect the motor. The Geo
Brick LV’s hardware built-in I2T protects the amplifier and presents
an added layer of system safety.
169
Geo Brick LV 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}. The commutation cycle size Ixx71, is equal to the electrical cycle
length or pole-pair pitch in units of encoder counts:
Feedback Type
Quadrature
Sinusoidal / HiperFace
Resolver
Motor Scale Factor (SF)
[counts/rev]
Ixx71
SF= Lines x 4
SF= Sine/Cosine cycles per rev * 128
SF= 4096
= SF
= SF/32
= SF*32= 131072
SSI / EnDat / BiSS
Technique 1
SF= 2ST
= SF= 2ST
= 32*SF= 32*2ST
SSI / EnDat / BiSS
Technique 2
SF= 2ST-5 = 2ST /32
SSI / EnDat / BiSS
Technique 3
SF= 2ST
If Ixx01= 3
If Ixx01= 1
= 218= 262144
Yaskawa Sigma II
SF= 2ST
Where ST:
is the rotary encoder Singleturn resolution in bits
= 32*SF= 32*2ST
For a linear motor: the number of commutation cycles Ixx70 is typically equal to 1: Ixx70=1. The
commutation cycle size Ixx71, is equal to the Electrical Cycle Length (ECL) or pole-pair pitch in units of
encoder counts:
Motor Scale Factor (SF)
Feedback Type
Ixx71
[counts/mm]
Quadrature
SF= (1/RESmm)*4
= SF*ECLmm= ECLmm / RESmm
SF= 128/RESmm
= SF*ECLmm/32= 4* ECLmm / RESmm
SSI / EnDat / BiSS
Technique 1
SF= 1/RESmm
= ECLmm * SF= ECLmm / RESmm
= 32* ECLmm*SF
= 32* ECLmm/ RESmm
SSI / EnDat / BiSS
Technique 2
SF= 1/(32*RESmm)
SSI / EnDat / BiSS
Technique 3
SF= 1/RESmm
Sinusoidal / HiperFace
If Ixx01= 3
If Ixx01= 1
= ECLmm*SF/2Offset
= ECLmm/(RESmm*2Offset)
Yaskawa Sigma II
SF= 1/RESmm
= 32* ECLmm*SF = 32* ECLmm/ RESmm
Where RES: is the linear scale resolution in user units (e.g. mm)
ECL: is the electrical cycle length of the linear motor in the same units as RES (e.g. mm)
Offset: is the ECT commutation offset; = linear encoder protocol bit length - 18
Motor Setup
170
Geo Brick LV 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.
But remember, the ratio of Ixx71/Ixx70 is what really matters. Dividing Ixx70 and Ixx71 by a common
integer divisor could alleviate settings which are out of range.
Example: For an 8-pole brushless rotary motor, with a high resolution encoder (producing 33,554,432
counts/revolution), Ixx70 and Ixx71 are usually set to 4 (pole pairs), and 33554432 respectively. These
settings are not acceptable since Ixx71 exceeds the maximum permissible value in its 24-bit register,
dividing both Ixx70 and Ixx71 by 4 results in acceptable settings:
Ixx70= 4/4= 1
Ixx71= 33554432/4= 8388608
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. However,
they should ultimately be set to minimize measurement offsets from the A and B-phase current feedback
circuits, respectively (read in Suggested M-variables Mxx05, Mxx06).
ADC offsets compensation can be done using the following procedure (starting from a killed motor).
This can be implemented in a one-time test PLC:
1. Record the current loop tuning gains: Ixx61, Ixx62, and Ixx76. Then set them to zero, these will
be restored at the end of the test.
2. Issue a #no0 (zero open loop output)
3. Sample ADC phases A, and B. Using suggested M-Variables Mxx05 and Mxx06 respectively.
E.g. store snapshots in two separate arrays of P-Variables.
4. Average readings over the number of sampled points.
5. Write the opposite value of the averaged ADCA readings in Ixx29
Write the opposite value of the averaged ADCB readings in Ixx79
6. Issue a #nK (Kill motor)
7. Restore the original current loop gains.
Geo Brick LVs dating 10/1/2012 and later perform automatic ADC
offset compensation. Leave Ixx29 and Ixx79 at zero.
Note
Motor Setup
171
Geo Brick LV User Manual
Current-Loop Gains: 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:
Motor Setup
172
Geo Brick LV User Manual
Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91
The Geo Brick LV supports a variety of phasing procedures for commutated (brushless) motors. This
section discusses the following phasing methods:
Manual | Custom Phasing
2-Guess Phasing Method
Stepper Phasing Method
Hall Effect Phasing: Digital quadrature encoders
Hall Effect Phasing: Yaskawa Incremental encoders
Absolute Power-On Phasing: HiperFace
Absolute Power-On Phasing: EnDat | SSI | BiSS
Absolute Power-On Phasing: Yaskawa absolute encoders
WARNING
Note
Motor Setup
An unreliable phasing search method can lead to a runaway
condition. Test the phasing search method carefully to make sure
it works properly under all conceivable conditions, and various
locations of the travel. Make sure the Ixx11 fatal following error
limit is active and as tight as possible so the motor will be killed
quickly in the event of a serious phasing search error.
In general, it is NOT recommended to execute any phasing search
move on power up using Turbo PMAC’s automatic setting (Ixx80).
Motor phasing should be inserted in a power-on plc before which it is
ensured that the bus power has been applied.
173
Geo Brick LV 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). When implemented properly (locking the motor tightly
to a phase), it is considered to be one of the finest phasing methods.
The following is the most common manual phasing procedure:
a. Record the values of Ixx29, and Ixx79. These will be restored at the end of test.
b. Set Ixx29=0, and write a positive value in Ixx79
Ixx79=500 is a good starting point for most motors.
c. Issue #nO0 where n is the motor number
d. Increase (for larger motors) or decrease (for smaller motors) Ixx79 as necessary until the motor
is locked tightly onto one of its phases.
e. Wait for the motor to settle. In some instances, it oscillates around the phase for an extended
period of time. Some motors are small enough that you could safely stabilize by hand.
f. Zero the phase position register , suggested M-variable Mxx71=0
g. Issue a #nK to kill the motor
h. Restore Ixx29, and Ixx79 to their original values
i. Clear the phasing search error bit, Suggested M-Variable Mxx48=0
j. The motor is now phased. It is ready for open loop or closed loop commands (if the position loop
is tuned).
The aforementioned procedure can be done online from the terminal window, or implemented in a PLC
for convenience.
Manual Phasing Example 1:
#define Mtr1PhasePos
Mtr1PhasePos->X:$B4,0,24,S
#define Mtr1PhaseErrBit
Mtr1PhaseErrBit->Y:$C0,8
M171
; Motor 1 Phase Position Register, Suggested M-Variable
M148
; Motor 1 Phasing Search Error Bit, Suggested M-Variable
Open plc 1 clear
I5111=500*8388608/I10 while(I5111>0) Endw
P129=I129 P179=I179
; Store Ixx29, and Ixx79
I129=0 I179=1000
; Set Ixx29=0 and Ixx79 to positive value (adjustable)
I5111=100*8388608/I10 while(I5111>0) Endw
; 100 msec delay
CMD"#1o0"
; Issue 0% open loop command output
I5111=3000*8388608/I10 while(I5111>0) Endw
; 3 seconds delay to allow motor to settle
Mtr1PhasePos=0
; Set phase register to zero
I5111=500*8388608/I10 while(I5111>0) Endw
; 1/2 second delay
CMD"#1K"
; Kill Motor
I5111=100*8388608/I10 while (I5111>0) Endw
; 100 msec delay
I129=P129 I179=P179
; Restore Ixx29 and Ixx79 to original values
Mtr1PhaseErrBit=0
; Clear Phasing search error bit
I5111=500*8388608/I10 while (I5111>0) Endw
; 1/2 second delay
Dis plc 1
; Execute PLC once
Close
Motor Setup
174
Geo Brick LV User Manual
Alternately, a more refined manual phasing method can be implemented. Knowing a good value which
would lock the motors onto a phase (using the above procedure), the following example locks (in small
incremental steps) the motor onto one phase then steps it back into the other phase:
Manual Phasing Example 2:
#define Mtr1PhasePos
Mtr1PhasePos->X:$B4,0,24,S
#define Mtr1PhaseErrBit
Mtr1PhaseErrBit->Y:$C0,8
M171
; Motor 1 Phase Position Register, Suggested M-Variable
M148
; Motor 1 Phasing Search Error Bit, Suggested M-Variable
Open plc 1 clear
I5111=100*8388608/I10 while(I5111>0) Endw
P129=I129
P179=I179
I129=0
I179=0
; Delay
; Store Ixx29, and Ixx79
; Set ADC offsets to zero
I5111=100*8388608/I10 while(I5111>0) Endw
CMD"#1o0"
I5111=100*8388608/I10 while(I5111>0) Endw
; Delay
; Issue #nO0
; Delay
while (I129!>1500)
I129=I129+10 I179=0
I5111=100*8388608/I10 while(I5111>0) Endw
Endw
while (200 < ABS(M166))endw
I5111=1000*8388608/I10 while(I5111>0) Endw
; Force motor to Phase A
; by pushing current incrementally
; Delay
while (I179!>1500)
I179=I179+10 I129=I129-10
I5111=100*8388608/I10 while(I5111>0) Endw
Endw
while (200 < ABS(M166))endw
I5111=1000*8388608/I10 while(I5111>0) Endw
; Force motor to Phase B
; by pushing current incrementally
; Delay
Mtr1PhasePos=0
I5111=250*8388608/I10 while(I5111>0) Endw
CMD"#1K"
I5111=100*8388608/I10 while (I5111>0) Endw
I129=P129 I179=P179
Mtr1PhaseErrBit=0
I5111=500*8388608/I10 while (I5111>0) Endw
Dis plc 1
Close
;
;
;
;
;
;
;
;
Motor Setup
; Wait for motor to settle
; Delay
; Wait for motor to settle
; Delay
Set phase position register to zero
1/2 second delay
Kill Motor
Delay
Restore Ixx29 and Ixx79 to original values
Clear Phasing search error bit
Delay
Run PLC once
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Geo Brick LV 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. Example of typical settings:
Ixx73=1200
; Phase finding output value (adjustable) in units of 16-bit DAC
Ixx74=12
; Units of servo cycles (adjustable)
Ixx80=4
; 2-guess method, no absolute position read, no power-on phasing
Stepper Phasing Method
The stepper is a finer phasing method than the 2-guess. It is generally used for motors with significant
loads and higher torque demands. It can be used with any type of feedback. Example of typical settings:
Ixx73=1200
; Phase finding output value (adjustable) in units of 16-bit DAC
Ixx74=80
; Units of Servo Cycles * 256 (adjustable)
Ixx80=6
; Stepper method, no absolute position read, no power-on phasing
The 2-guess or stepper method(s) phase the motor upon issuing a #n$.
Note
Motor Setup
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Geo Brick LV 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.
Note
Inherently, digital hall sensors have an error of about ±30°, resulting
in a torque loss of about 15%. It needs to be corrected (fine phasing)
for top operation.
The Geo Brick LV supports the conventional 120° spacing hall sensors’ type, each nominally with 50%
duty cycle, and nominally 1/3 cycle apart. The Geo Brick LV has no automatic hardware or software
features to work with 60° spacing. The 120° spacing format provides six distinct states per cycle:
Channel U
Channel V
Channel W
-60°
0°
60° 120° 180° -120° -60°
0°
60°
Follow these steps to implement hall sensor phasing:
1. Start with Ixx81=0, and Ixx91=0, which eventually are the parameters to be configured
2. Phase the motor manually or using the 2-guess/stepper method.
3. Jog the motor slowly (with rough PID gains), or move in open loop/by hand in the positive direction of
the encoder while plotting Halls UVW (Mxx28) versus Phase Position (Mxx71).
4. Set up the detailed plot, scaling and processing for Halls UVW and Phase Position
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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. Phase Position
Phase Position Mxx71 (degrees)
State 6
Hall Sensors UVW Mxx28
State 5
State 4
State 3
State 2
State 1
Time (sec)
Primarily, we are interested in two occurrences on the plot; the transition of the halls data between
states 1 & 3, and the point of intersection of Mxx28 and Mxx71 at this transition. This represents the
Hall Effect Zero (HEZ).
Motor Setup
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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 zero
Intermediate calculation
Bit #22=0 for standard transition
Degrees – User Input
Processing hall effect zero
Shift 16 bits left and set transition bit
With positive movement of the motor, if the halls state transition is from 3 to 1 then use
the following set of equations:
I181=$78000
#define HallsTrans3_1 M7025
#define Mtr1HEZ
P7025
#define Mtr1HEZTemp
P7026
HallsTrans3_1->*
HallsTrans3_1=$C00000
Mtr1HEZ=180
Mtr1HEZTemp = INT(((Mtr1HEZ%360)/360)*64)
I191=(Mtr1HEZTemp*65536)+HallsTrans3_1
;
;
;
;
;
;
;
;
;
Channel 1 power-on phase address (see table below)
Reversed direction, 3 to 1
Hall effect zero
Intermediate calculation
Bit #22=1 for reversed transition
Degrees – User Input
Processing hall effect zero
Shift 16 bits left and set transition bit
The only user input in the above set of equations is the Hall Effect
Zero angle, derived from the plot.
Note
Power-On Phase Position Address
Ixx81 For Hall Sensors
Channel 1 $78000 Channel 5 $78100
Channel 2 $78008 Channel 6 $78108
Channel 3 $78010 Channel 7 $78110
Channel 4 $78018 Channel 8 $78118
Alternatively, the above procedure can be performed using the Halls Automatic Utility software available
on our forum.
Note
Motor Setup
The automatic software utility requires jogging the motor; make sure
the motor is phased (custom, 2-guess, or stepper method) and that the
position-loop tuning is acceptable for closed loop movement.
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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. Record the phase position Mxx71 at the home location
The above procedure reveals the optimum phase position at home or zero location of the motor.
Subsequently, the motor is “roughly phased” on power up using hall sensors. And the phase position
Mxx71 is then corrected (overwritten) after the motor is homed (to known location). This is usually done
in a PLC routine.
Example:
Channel 1 is driving a motor with home capture done using home flag and index pulse (high true). The
recorded phase position from the manual phasing reference test was found to be 330. It is stored (saved)
in a user defined variable.
I7012=3
I7013=0
; Motor 1 Capture Control, Index high and Flag high
; Motor 1 Capture Control flag select, Home Flag
#define Mtr1DesVelZero
M133
Mtr1DesVelZero->X:$0000B0,13,1
#define Mtr1InPosBit
M140
Mtr1InPosBit->Y:$0000C0,0,1
#define Mtr1PhasePos
M171
Mtr1PhasePos->X:$B4,0,24,S
#define Mtr1RecPhasePos
P7027
Mtr1RecPhasePos=330
;
;
;
;
;
;
;
;
Motor 1 Desired-velocity-zero bit, Suggested M-Variable
Motor 1 Background in-position bit, Suggested M-Variable
Motor 1 Phase Position Register, Suggested M-Variable
Recorded Phase Position (Manual phasing reference test)
-- User Input
Open plc 1 clear
I5111=500*8388608/I10 while(I5111>0)Endw
CMD"#1$"
I5111=50*8388608/I10 while(I5111>0)Endw
While(Mtr1DesVelZero=0 or Mtr1InPosBit=0) Endw
CMD"#1hm"
I5111=50*8388608/I10 while(I5111>0)Endw
While(Mtr1DesVelZero=0 or Mtr1InPosBit=0)Endw
Mtr1PhasePos =Mtr1RecPhasePos
I5111=500*8388608/I10 while(I5111>0)Endw
CMD"#1K"
Disable plc 1
Close
Motor Setup
;
;
;
;
;
;
;
;
;
;
;
1/2 sec delay
Phase motor, using Hall Effect Sensors
50 msec Delay
Wait until motor settles, and in position
Issue a home command
50 msec Delay
Wait until motor settles, and in position
Adjust Phase Position
1/2 sec delay
Kill Motor (Optional)
Execute once
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Geo Brick LV 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. In terms of Turbo PMAC’s
commutation cycle, the boundaries should be at 180°, -120°, -60°, 0°, 60°, and 120°.
Zone
1
2
3
Definitions
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
Zone
1
5
4
6
2
3
2
3
1
5
4
6
3
1
5
4
6
2
4
5
6
Definitions
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
Phase30Deg
Phase90Deg
Phase150Deg
Phase210Deg
Phase270Deg
Phase330Deg
4
6
2
3
1
5
5
4
6
2
3
1
6
2
3
1
5
4
In order to decide which set of definitions to use for a motor, a one-time test needs to be done. It consists
of forcing/locking the motor to a phase with a current offset and reading the state output of the hall
sensors.
Record the values of Ixx29, and Ixx79 to restore them at the end of test
Set Ixx29=0, write a positive value to Ixx79 and issue a #nO0. 500 is a reasonable value for
Ixx79 to start with. Increment as necessary to force the motor to tightly lock onto a phase.
Record the Yaskawa Incremental Sensors Data. The result is an integer number between 1 and 6
(a value of 0 or 7 is not valid) representing the zone of which definitions to be used in the
subsequent PLC. Remember, Turbo PMAC allows only nibble based register definitions, so in
order to read bits 1 thru 3, a 1-bit right shift or division by 2 is necessary:
Motor Setup
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#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.
Data
Data
Data
Data
Data
Data
Data
Data
(first
(first
(first
(first
(first
(first
(first
(first
;
;
;
;
;
;
;
;
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.
Hall
Hall
Hall
Hall
Hall
Hall
Hall
Hall
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
Sensors
4
4
4
4
4
4
4
4
bits)
bits)
bits)
bits)
bits)
bits)
bits)
bits)
Ch1YasIncBits0_3->Y:$78B20,0,4
Ch2YasIncBits0_3->Y:$78B24,0,4
Ch3YasIncBits0_3->Y:$78B28,0,4
Ch4YasIncBits0_3->Y:$78B2C,0,4
Ch5YasIncBits0_3->Y:$78B30,0,4
Ch6YasIncBits0_3->Y:$78B34,0,4
Ch7YasIncBits0_3->Y:$78B38,0,4
Ch8YasIncBits0_3->Y:$78B3C,0,4
#define Ch1YasIncHalls
M128
#define Ch2YasIncHalls
M228
#define Ch3YasIncHalls
M328
#define Ch4YasIncHalls
M428
#define Ch5YasIncHalls
M528
#define Ch6YasIncHalls
M628
#define Ch7YasIncHalls
M128
#define Ch8YasIncHalls
M828
M128,8,100->*
Ch1YasIncHalls=Ch1YasIncBits0_3/2
Ch2YasIncHalls=Ch2YasIncBits0_3/2
Ch3YasIncHalls=Ch3YasIncBits0_3/2
Ch4YasIncHalls=Ch4YasIncBits0_3/2
Ch5YasIncHalls=Ch5YasIncBits0_3/2
Ch6YasIncHalls=Ch6YasIncBits0_3/2
Ch7YasIncHalls=Ch7YasIncBits0_3/2
Ch8YasIncHalls=Ch8YasIncBits0_3/2
Data
Data
Data
Data
Data
Data
Data
Data
Restore Ixx29, and Ixx79 to their original values
Motor Setup
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Geo Brick LV User Manual
Example:
Channel 1 is driving a Yaskawa Incremental Encoder, with the test procedure above resulting in zone-1
definitions. Halls power-on phasing can be done in a PLC as follows:
#define Ch1IncData
#define Ch1Halls
M7030
M7031
Ch1IncData->Y:$78B20,0,24
Ch1Halls->*
#define Mtr1PhasePos
#define Mtr1PhaseSrchErr
M171
M148
Mtr1PhasePos->X:$0000B4,24,S
Mtr1PhaseSrchErr->Y:$0000C0,8,1
; Suggested M-Variable definition
; Suggested M-Variable definition
; #1 Present phase position (counts *Ixx70)
; #1 Phasing error fault bit
// Zone-1 Definitions –User Input
#define Phase30Deg
1
#define Phase90Deg
5
#define Phase150Deg
4
#define Phase210Deg
6
#define Phase270Deg
2
#define Phase330Deg
3
Open plc 1 clear
Ch1Halls = int ((Ch1IncData & $E) / 2);
If (Ch1Halls = Phase30Deg)
Mtr1PhasePos = I171 * 30 / 360;
Endif
If (Ch1Halls = Phase90Deg)
Mtr1PhasePos = I171 * 90 / 360;
Endif
If (Ch1Halls = Phase150Deg)
Mtr1PhasePos = I171 * 150 / 360;
Endif
If (Ch1Halls = Phase210Deg)
Mtr1PhasePos = I171 * 210 / 360;
Endif
If (Ch1Halls = Phase270Deg)
Mtr1PhasePos = I171 * 270 / 360;
Endif
If (Ch1Halls = Phase330Deg)
Mtr1PhasePos = I171 * 330 / 360;
Endif
Mtr1PhaseSrchErr = 0;
disable plc 1
close
Motor Setup
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Geo Brick LV 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.
Note
Prior to implementing a power-on phasing routine, the user should
verify that the motor can be phased manually, be able to execute openloop moves successfully (output and encoder direction matching), and
possibly perform jog commands (requires PID tuning).
A one-time simple test (per installation) is performed, preferably on an unloaded motor, to find the motor
phase position offset:
a. Execute the power-position read PLC to ensure that the actual position is correct and up to date
b. Record the values of Ixx29, and Ixx79 to restore them at the end of test (if applicable)
c. Set Ixx29=0, and write a positive value to Ixx79 then issue a #nO0 (where n is the motor
number). 500 is a conservative value for Ixx79 to start with. Adjust appropriately (most likely to
increase) to force the motor to lock tightly onto a phase
d. Wait for the motor to settle
e. Record the absolute position from the position window or issue a #nP to return the motor
position in the terminal window
f. Issue a #nK to kill the motor
g. Restore Ixx29, and Ixx79 to their original values (if applicable)
h. Enter the recorded value in the corresponding motor/channel definition in the example plc below
The following example PLC computes and corrects for the phase position register (Mxx71) for channels 1
through 8. It is pre-configured for the user to input their encoder/motor information, also to specify which
channels are to perform an absolute power-on phasing.
Using the Absolute Power-On Phasing Example PLC
Under the User Input section:
1. In MtrxSF, enter the motor scale factor.
For rotary encoders, this is the number of counts per revolution = 2 Single-Turn Resolution
For Linear encoders, this is the number of counts per user units (i.e. mm) = 1/Encoder Resolution
2. In MtrxPhaseTest, enter the position value recorded in the manual phasing test described above.
3. In ChPhaseSel, specify which channels are desired to perform an absolute power-on phasing.
This value is in hexadecimal. A value of 1 in the corresponding field specifies that this channel is
connected, 0 specifies that it is not connected and should not perform phasing. Examples:
Motor Setup
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Geo Brick LV 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 they are downloaded)
// Make sure that current and/or future configurations do not create conflicts with
// these parameters.
//=========================================================================================//
P7050..7079=0
; Reset P-Variables at download
//==================================== USER INPUT =========================================//
#define Mtr1SF P7050
#define Mtr5SF P7054
; Motors scale factor
#define Mtr2SF P7051
#define Mtr6SF P7055
; cts/rev for rotary encoders
#define Mtr3SF P7052
#define Mtr7SF P7056
; cts/user units (i.e. mm, inches) for linear
#define Mtr4SF P7053
#define Mtr8SF P7057
;
Mtr1SF=0
Mtr5SF=0
; --User Input
Mtr2SF=0
Mtr6SF=0
; --User Input
Mtr3SF=0
Mtr7SF=0
; --User Input
Mtr4SF=0
Mtr8SF=0
; --User Input
#define Mtr1PhaseTest P7058
#define
#define Mtr2PhaseTest P7059
#define
#define Mtr3PhaseTest P7060
#define
#define Mtr4PhaseTest P7061
#define
Mtr1PhaseTest=0 Mtr5PhaseTest=0
Mtr2PhaseTest=0 Mtr6PhaseTest=0
Mtr3PhaseTest=0 Mtr7PhaseTest=0
Mtr4PhaseTest=0 Mtr8PhaseTest=0
#define ChPhaseSel P7066
ChPhaseSel=$0
Mtr5PhaseTest
Mtr6PhaseTest
Mtr7PhaseTest
Mtr8PhaseTest
; --User Input
; --User Input
; --User Input
; --User Input
P7062
P7063
P7064
P7065
; Phase force test values
;
;
;
; Select channels to perform power-on phasing (in Hexadecimal)
; Channels selected for power-on phasing --User Input
//=============================== DEFINITIONS & SUBSTITUTIONS =============================//
#define ChNo
P7067
; Present addressed channel
#define PhaseOffset
P7068
; Holding register for computing phase position offset
#define ActPos
P7069
; Indirect addressing index for actual position, 162
#define PresPhasePos
P7070
; Holding register for computing present phase position
#define Ixx70
P7071
; Indirect addresssing index for No of commutation cycles, 170
#define Ixx71
P7072
; Indirect addresssing index for commutation cycle size, 171
#define Mxx71
P7073
; Indirect addresssing index for phase position register, 171
#define PhaseErrBit
P7074
; Indirect addresssing index for phasing search error bit, 148
#define PhaseTest
P7075
; Indirect addresssing index for force phase test values, 7058
#define MtrSF
P7076
; Indirect addresssing index for motor scale factor, 7050
#define ChNoHex
P7077
; Channel number in hex
#define Ixx08
P7078
; Indirect addresssing index for position scale factor, 108
#define ChPhaseTrue
P7079
; Present channel power-on phasing flag, =1 true =0 false
//=================================== PLC SCRIPT CODE =====================================//
Open plc 1 clear
ChNo=0
; Reset channel number
While(ChNo!>7) ; Loop for 8 channels
ChNo=ChNo+1
ChNoHex=exp((ChNo-1)*ln(2))
ChPhaseTrue=(ChPhaseSel&ChNoHex)/ChNoHex
If (ChPhaseTrue!=0)
; Absolute read on this channel?
MtrSF=7050+(ChNo-1)*1
PhaseTest=7058+(ChNo-1)*1
Ixx70=170+(ChNo-1)*100
Ixx71=171+(ChNo-1)*100
ActPos=162+(ChNo-1)*100
Motor Setup
185
Geo Brick LV 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=PresPhasePos%I(Ixx71)
I5111= 100*8388608/I10 while(I5111>0) endw
// Correct for Mxx71 to apply power-on phasing, and clear phase error search bit
M(Mxx71)=(PresPhasePos-PhaseOffset)%I(Ixx71)
M(PhaseErrBit)=0
I5111= 100*8388608/I10 while(I5111>0) endw
EndIf
Endw
Dis plc 1
close
//=========================================================================================//
Motor Setup
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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). It also requires specifying the power-on phase source (Ixx81), and format (Ixx91).
The following, is a summary of the settings with the various proposed setup techniques:
Technique 1
PhaseOffset
(found experimentally)
For Ixx01= 3
For Ixx01= 1
Technique 2/3
(Ixx01=1)
Read from
Serial data register A
Read from
Position ECT result
Read from
Commutation ECT result
Ixx81
= Serial data register A = Ixx83 (Pos. ECT result)
Ixx91
= Unsigned, Y-register
ST bits
= Unsigned, X-register,
(ST + 5bit shift) bits
= Comm. ECT result
= Unsigned, X-register,
18 bits
= ( - PhaseOffset * Ixx70 ) % Ixx71
Ixx75
Note
The automatic power-on phasing routine (Ixx75, Ixx81, and Ixx91)
expects the least significant bit of the data to be right most shifted (at
bit 0).
Remember that the serial data register A address for each of the channels is:
Serial Data Register A
!
Caution
Motor Setup
Channel 1
Y:$78B20
Channel 5
Y:$78B30
Channel 2
Y:$78B24
Channel 6
Y:$78B34
Channel 3
Y:$78B28
Channel 7
Y:$78B38
Channel 4
Y:$78B2C Channel 8
Y:$78B3C
Prior to implementing an absolute power-on phasing routine, make
sure that the motor can be phased manually, and that open-loop and/or
closed-loop moves (require PID tuning) can be performed
successfully.
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Geo Brick LV User Manual
Finding the Phase Offset
The phase offset is found experimentally by performing a one-time phase force test on an
uncoupled/unloaded (preferably) motor:
1. Read/update the absolute position (must be read correctly for the phasing to work).
Issue a #n$* 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. Set Ixx29=0, and write a positive value to Ixx79 (500 is a good starting value).
4. Issue a #nO0 to send a zero open loop output.
5. Increase Ixx79 until the motor is tightly locked onto a phase.
6. Make sure the motor is settled and stationary (locked onto a phase)
7. Record the following value (this is the motor’s phase offset):
Technique 1
Technique 2/3
For Ixx01=1
For Ixx01=3
Query the motor’s corresponding Query the motor’s corresponding Query the motor’s corresponding
commutation ECT result
position ECT result
serial data register A
e.g.: RX:$3512
e.g.:
RX:$3502
e.g. RY:$78B20
8. Issue a #nK to kill the motor
9. Restore Ixx29, and Ixx79 to their original values
Setting up Ixx81, the power-on phase position address:
Technique 1
For Ixx01= 3
For Ixx01= 1
Technique 2/3
(Ixx01=1)
= Serial data register A
= Ixx83 (Pos. ECT result)
= Comm. ECT result
Technique 1:
If Ixx01= 3;
Ixx81 is equal to the motor’s corresponding serial data register A. (e.g.: I181=$78B20).
If Ixx01=1;
Ixx81 is equal to the motor’s corresponding position ECT result. (e.g.: I181=$3502).
Technique 2/3:
Ixx81 is equal to the motor’s corresponding commutation ECT result. (e.g.: I181=$3512).
Motor Setup
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Geo Brick LV User Manual
Setting up Ixx91, the power-on phase position format:
Technique 1
For Ixx01= 3
For Ixx01= 1
= Unsigned, Y-register
= Unsigned, X-register,
ST bits
(ST + 5bit-shift) bits
Technique 2/3
(Ixx01=1)
= Unsigned, X-register,
18 bits
The following diagram displays how Ixx91 is set up:
Bit 22: =1 X-Register
=0 Y-Register
Bit 23: =1 Signed
=0 Unsigned
Ixx91
Bits16-21: Number of Bits to read
Bits 0-15: reserved
(always 0)
Binary: 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Hex($):
0
0
0
0
0
0
Technique 1:
If Ixx01=3;
Ixx91 is set up for unsigned, Y-register, Singleturn bits.
For example: A 30-bit (18-bit Singleturn, 12-bit Multiturn) rotary encoder would yield Ixx91= $120000.
If Ixx01=1;
Ixx91 is set up for unsigned, X-register, (Singleturn +5) bits.
For example: A 20-bit (20-bit Singleturn, 0-bit Multiturn) rotary encoder, or linear scale with similar
protocol resolution (20 bits) would yield Ixx91= $590000.
Technique 2/3:
Since the commutation is limited to 18 bits, and processed separately in the encoder conversion table,
Ixx91 is always= $520000 (unsigned, X-register, 18 bits).
Note
Motor Setup
Ixx91 is a 24-bit hexadecimal word. The upper most two digits are the
only relevant ones. The lower 16 bits are reserved and should always
be left at zero.
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Geo Brick LV User Manual
Setting up Ixx75, the phase position offset
The Phase position offset is set up using the following equation:
Where: PhaseOffset is the recorded value (found earlier) from the phase force test.
In this mode, and upon issuing a #n$ 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.
Caution
If closing the position loop is not desired with the #n$ command then it is advised to create a simple PLC,
in which the current and PID loop gains are set to zero prior to issuing #n$ then restored (and motor
killed) after the phase position has been set, e.g.:
Open PLC 1 Clear
// Make sure that the absolute position is read and reported prior to this script code
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"#1K"
; Make sure motor is killed
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"I130..139=0"
; Zero PID loop gains
I161=0 I162=0 I176=0
; Zero Current loop gains
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"#1$"
; Phase command
I5111=500*8388608/I10 While(I5111>0) Endw
; 500 msec delay
CMD"#1K"
; Kill Motor
I5111=500*8388608/I10 While(I5111>0) Endw
; 500 msec delay
// Here: ok to restore PID and current loop gains
// I130=X I131=X I132=X I133=X I134=X I135=X I136=X I137=X I138=X I139=X
// I161=X I162=X I176=X
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
Dis PLC 1
Close
Motor Setup
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Geo Brick LV 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). Remember to increase the fatal following error
limit with high resolution encoders when executing closed-loop moves
The U-phase in the Yaskawa motor/encoder assemblies is usually aligned with the index pulse, which
should result in the same motor phase offset per one revolution for each encoder type (i.e. 16, 17, or 20bit).
Yaskawa Absolute Encoders Single-Turn Data
16-bit
17-bit
20-bit
#define Mtr1STD4_15 M180
#define Mtr2STD4_15 M280
#define Mtr3STD4_15 M380
#define Mtr4STD4_15 M480
#define Mtr5STD4_15 M580
#define Mtr6STD4_15 M680
#define Mtr7STD4_15 M780
#define Mtr8STD4_15 M880
Mtr1STD4_15->Y:$278B20,4,16
Mtr2STD4_15->Y:$278B24,4,16
Mtr3STD4_15->Y:$278B28,4,16
Mtr4STD4_15->Y:$278B2C,4,16
Mtr5STD4_15->Y:$278B20,4,16
Mtr6STD4_15->Y:$278B34,4,16
Mtr7STD4_15->Y:$278B38,4,16
Mtr8STD4_15->Y:$278B3C,4,16
#define Mtr1STD0_23 M180
#define Mtr2STD0_23 M280
#define Mtr3STD0_23 M380
#define Mtr4STD0_23 M480
#define Mtr5STD0_23 M580
#define Mtr6STD0_23 M680
#define Mtr7STD0_23 M780
#define Mtr8STD0_23 M880
Mtr1STD0_23->Y:$278B20,0,24
Mtr2STD0_23->Y:$278B24,0,24
Mtr3STD0_23->Y:$278B28,0,24
Mtr4STD0_23->Y:$278B2C,0,24
Mtr5STD0_23->Y:$278B20,0,24
Mtr6STD0_23->Y:$278B34,0,24
Mtr7STD0_23->Y:$278B38,0,24
Mtr8STD0_23->Y:$278B3C,0,24
#define Mtr1STD4_23 M180
#define Mtr2STD4_23 M280
#define Mtr3STD4_23 M380
#define Mtr4STD4_23 M480
#define Mtr5STD4_23 M580
#define Mtr6STD4_23 M680
#define Mtr7STD4_23 M780
#define Mtr8STD4_23 M880
Mtr1STD4_23->Y:$278B20,4,20
Mtr2STD4_23->Y:$278B24,4,20
Mtr3STD4_23->Y:$278B28,4,20
Mtr4STD4_23->Y:$278B2C,4,20
Mtr5STD4_23->Y:$278B20,4,20
Mtr6STD4_23->Y:$278B34,4,20
Mtr7STD4_23->Y:$278B38,4,20
Mtr8STD4_23->Y:$278B3C,4,20
A one-time simple test (per installation) is performed on an unloaded motor to find the motor phase
position offset:
Enable the Absolute position read PLC. Previously created in the feedback section.
Record the values of Ixx29, and Ixx79 to restore them at the end of test.
Set Ixx29=0, and write a positive value to Ixx79 then issue a #nO0. 500 is a reasonably
conservative value for Ixx79 to start with. Adjust appropriately (most likely increase) to force the
motor (unloaded) to lock tightly onto a phase.
Record the Single-Turn Data value (defined in the table above) and store in the user defined
motor phase offset.
Issue a #nK to kill the motor
Restore Ixx29, and Ixx79 to their original values
Yaskawa Absolute Encoders Motor Phase Offset (found from above test procedure)
16-bit
17-bit
20-bit
#define PhaseOffset_16Bit P184
PhaseOffset_16Bit=5461
#define PhaseOffset_17Bit P184
PhaseOffset_17Bit=10922
#define PhaseOffset_20Bit P184
PhaseOffset_20Bit=30000
Appropriate masking is required with 17-bit encoders to process the
data correctly.
Note
Motor Setup
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Geo Brick LV User Manual
Absolute Power-On Phasing Example PLCs (Yaskawa):
With the motor phase position offset established, the phase position register can now be modified on
power-up to compensate for the calculated offset. This allows the user to issue jog commands or close the
loop and run a motion program on power-up or reset.
Channel 1 driving a 16-bit Yaskawa absolute encoder
#define Mtr1PhasePos
M171
; Suggested M-Variables
Mtr1PhasePos->X:$B4,24,S
#define Mtr1PhaseErr
M148
; Suggested M-Variables
Mtr1PhaseErr->Y:$C0,8
#define Mtr1CommSize
I171
;
#define Mtr1CommCycles
I170
;
#define Mtr1CommRatio
P170
; Motor 1 commutation cycle size (Ixx71/Ixx70 counts)
Mtr1CommRatio=Mtr1CommSize/Mtr1CommCycles
Open plc 1 clear
Mtr1PhasePos = ((Mtr1STD4_15 % Mtr1CommRatio) - PhaseOffset_16Bit) * 32 * Mtr1CommCycles
Mtr1PhaseErr = 0
Disable plc 1
Close
Channel 1 driving a 17-bit Yaskawa absolute encoder
#define Mtr1PhasePos
M171
; Suggested M-Variables
Mtr1PhasePos->X:$B4,24,S
#define Mtr1PhaseErr
M148
; Suggested M-Variables
Mtr1PhaseErr->Y:$C0,8
#define Mtr1CommSize
I171
#define Mtr1CommCycles
I170
#define Mtr1CommRatio
P170
; Motor 1 commutation cycle size (Ixx71/Ixx70 counts)
Mtr1CommRatio=Mtr1CommSize/Mtr1CommCycles
Open plc 1 clear
Mtr1PhasePos = ((Int((Mtr1STD0_23&$1FFFF0)/$F) % Mtr1CommRatio) - PhaseOffset_17Bit) * 32 *
Mtr1CommCycles
Mtr1PhaseErr = 0
Disable plc 1
Close
Channel 1 driving a 20-bit Yaskawa absolute encoder
#define Mtr1PhasePos
M171
; Suggested M-Variables
Mtr1PhasePos->X:$B4,24,S
#define Mtr1PhaseErr
M148
; Suggested M-Variables
Mtr1PhaseErr->Y:$C0,8
#define Mtr1CommSize
I171
#define Mtr1CommCycles
I170
#define Mtr1CommRatio
P170
; Motor 1 commutation cycle size (Ixx71/Ixx70 counts)
Mtr1CommRatio=Mtr1CommSize/Mtr1CommCycles
#define TwoToThe20th
1048576
Open plc 1 clear
If (Mtr1STD4_23 !< PhaseOffset_20Bit)
Mtr1PhasePos = (Mtr1STD4_23 - PhaseOffset_20Bit) * 32
Else
Mtr1PhasePos = (TwoToThe20th - PhaseOffset_20Bit + Mtr1STD4_23) * 32
EndIf
Mtr1PhaseErr = 0;
Disable plc 1
Close
Note
Motor Setup
It is highly recommended to try the sequence in this PLC manually at
first (using the terminal window). In some cases, the Motor Phase
Position Offset has to be added instead of subtracted depending on the
direction of the encoder mounting/decoding. The Geo Brick LV has
no control on the direction of the serial encoder data
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Geo Brick LV 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. The open-loop test can
be done manually from the terminal window (e.g. #1O5) while gathering position, velocity data, or by
simply monitoring the direction of the velocity in the position window. The PMACTuningPro2 Software
provides an automatic open loop utility, which is convenient to use.
A successful open-loop test should look like the following:
The open loop magnitude (output) is adjustable, start off with 1 - 2 percent command output and
increment gradually until you see a satisfactory result.
Motor Setup
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Geo Brick LV 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.
With Quadrature | Sinusoidal | HiperFace encoders:
Change I7mn0 to 3 from 7 (default) or vice-versa.
Make sure Ixx70 and Ixx71 are correct.
HiperFace sends absolute encoder data on power-up. If the on-going position direction is
reversed, one needs to make sure that the absolute data sent on power-up agrees with the new
direction of the encoder.
With Resolvers:
Change the direction from clock wise to counter clock wise in the first encoder conversion table
entry (see resolver feedback setup section).
With Absolute Serial Encoders (EnDat, SSI, BiSS, Yaskawa):
The Geo Brick LV has no control on the direction sense of the serial data stream. There are no
software parameters that allow this change. Normally, the direction sense is set by jumpers or
software at the encoder side. In this scenario, the commutation direction has to be reversed to
match the encoder sense. This is usually done by swapping any two of the motor leads and rephasing.
3. If the motor locks in position (with an open loop command i.e.#nO5 ) like a stepper motor, then
the phasing has failed, and most times this indicates that the commutation cycle size is setup
wrong (check Ixx70, Ixx71). Also it could indicate that the encoder sense is reversed.
Halls Phasing (where applicable) needs to be re-configured if the
motor direction is reversed.
Note
Motor Setup
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Geo Brick LV 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 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.
Good Open Loop Test
Acceptable Step and Parabolic position responses should look like the following:
Position Step Response
Motor Setup
Position Parabolic Response
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Geo Brick LV User Manual
DC Brush Motor Software Setup
Before you start
Remember to create/edit the motor type and protection power-on PLC
At this point of the setup 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.
Detailed description of motor setup parameters can be found in the Turbo SRM Link
Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96)
On power-up, the phasing search error bit has to be cleared to allow motor move commands to DC Brush
motors. The current-loop integrator output should not be allowed to build up over time. The motor (nonexistent) direct current-loop output should be zero-ed periodically. This is equivalent, but more efficient
than setting Ixx96 to 1.
M148->Y:$C0,8,1
M248->Y:$140,8,1
M348->Y:$1C0,8,1
M448->Y:$240,8,1
M548->Y:$2C0,8,1
M648->Y:$340,8,1
M748->Y:$3C0,8,1
M848->Y:$440,8,1
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Phasing
Phasing
Phasing
Phasing
Phasing
Phasing
Phasing
Phasing
M129->Y:$BC,0,24,U
M229->Y:$13C,0,24,U
M329->Y:$1BC,0,24,U
M429->Y:$23C,0,24,U
M529->Y:$2BC,0,24,U
M629->Y:$33C,0,24,U
M729->Y:$3BC,0,24,U
M829->Y:$43C,0,24,U
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Direct
Direct
Direct
Direct
Direct
Direct
Direct
Direct
I196,8,100=1
; Turbo PMAC PWM control for Brush motor.
; This will ensure zero direct current loop output tuning
Open plc 1 clear
If (M148=1)
CMD"M148,8,100=0"
EndIF
M129=0 M229=0 M329=0 M429=0
M529=0 M629=0 M729=0 M829=0
Close
error
error
error
error
error
error
error
error
fault
fault
fault
fault
fault
fault
fault
fault
Current-Loop
Current-Loop
Current-Loop
Current-Loop
Current-Loop
Current-Loop
Current-Loop
Current-Loop
bit
bit
bit
bit
bit
bit
bit
bit
Integrator
Integrator
Integrator
Integrator
Integrator
Integrator
Integrator
Integrator
Output
Output
Output
Output
Output
Output
Output
Output
; Clear Phasing Error Bit
; Axis1-4 Zero Current-Loop Integrator Output
; Axis5-8 Zero Current-Loop Integrator Output
; For Brush Motor Control, PLC has to be executing periodically
Remember to configure the Tuning software to allow this PLC to run
while performing position loop tuning.
Note
Motor Setup
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Geo Brick LV User Manual
Flags, Commutation, Phase Angle, ADC Mask: Ixx24, Ixx01, Ixx72, Ixx84
I124,8,100=$800001
I101,8,100=1
I172,8,100=512
I184,8,100=$FFFC00
;
;
;
;
Motors
Motors
Motors
Motors
1-8
1-8
1-8
1-8
Flag control, High true amp fault (Geo Brick LV specific)
Commutation enabled
Commutation phase angle (Geo Brick LV specific)
Current-Loop Feedback Mask Word (Geo Brick LV specific)
PWM Scale Factor: Ixx66
If Motor Rated Voltage > Bus Voltage:
I166=0.95 * I7000
; Motor #1 PWM Scale Factor, typical setting
I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1
I566=I166 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. In order to obtain full voltage output it is set to about 10% over PWM
count divided by DC Bus/Motor voltage ratio:
#define DCBusInput
60
; DC Bus Voltage -User Input
#define
#define
#define
#define
#define
#define
#define
#define
24
24
24
24
24
24
24
24
;
;
;
;
;
;
;
;
Mtr1Voltage
Mtr2Voltage
Mtr3Voltage
Mtr4Voltage
Mtr5Voltage
Mtr6Voltage
Mtr7Voltage
Mtr8Voltage
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
I166=I7000*Mtr1Voltage/DCBusInput
I266=I7000*Mtr2Voltage/DCBusInput
I366=I7000*Mtr3Voltage/DCBusInput
I466=I7000*Mtr4Voltage/DCBusInput
I566=I7000*Mtr5Voltage/DCBusInput
I666=I7000*Mtr6Voltage/DCBusInput
I766=I7000*Mtr7Voltage/DCBusInput
I866=I7000*Mtr8Voltage/DCBusInput
1
2
3
4
5
6
7
8
;
;
;
;
;
;
;
;
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Rated
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
Voltage
1
2
3
4
5
6
7
8
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
[VDC]-User
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Scale
Input
Input
Input
Input
Input
Input
Input
Input
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Factor
Current Feedback Address: Ixx82
I182=$078006
I282=$07800E
I382=$078016
I482=$07801E
I582=$078106
I682=$07810E
I782=$078116
I882=$07811E
Motor Setup
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
Current
Current
Current
Current
Current
Current
Current
Current
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Feedback
Address
Address
Address
Address
Address
Address
Address
Address
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Geo Brick LV User Manual
Commutation Cycle Size: Ixx70, Ixx71
Set to zero with DC brush motors, commutation is done mechanically.
I170=0
I270=0
I370=0
I470=0
I570=0
I670=0
I770=0
I870=0
I171=0
I271=0
I371=0
I471=0
I571=0
I671=0
I771=0
I871=0
;
;
;
;
;
;
;
;
Motor
Motor
Motor
Motor
Motor
Motor
Motor
Motor
1
2
3
4
5
6
7
8
size
size
size
size
size
size
size
size
and
and
and
and
and
and
and
and
number
number
number
number
number
number
number
number
of
of
of
of
of
of
of
of
commutation
commutation
commutation
commutation
commutation
commutation
commutation
commutation
cycles
cycles
cycles
cycles
cycles
cycles
cycles
cycles
I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77
The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo
Brick LV and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick LV (e.g. 15 Amps) then the time allowed at peak
current is set to 1 seconds.
If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at
peak current.
Examples:
For setting up I2T on a Geo Brick LV driving a 3A/9A motor, 3 amps continuous and 9 amps
instantaneous will be used as current limits. And time allowed at peak is that of the motor.
For setting up I2T on a Geo Brick LV driving a 4A/16A motor, 4 amps continuous and 15 amps
instantaneous will be used as current limits. And time allowed at peak is 1 seconds.
Motors 1 thru 8 have 5-amp continuous, 15-amp peak current limits.
#define ServoClk
P8003
; [KHz] Computed in Dominant Clock Settings Section
#define
#define
#define
#define
5
15
33.85
1
;
;
;
;
ContCurrent
PeakCurrent
MaxADC
I2TOnTime
Continuous Current Limit [Amps] –User Input
Instantaneous Current Limit [Amps] –User Input
Brick LV full range ADC reading (see electrical specifications)
Time allowed at peak Current [sec]
I157=INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169=INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158=INT((I169*I169-I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
I257=I157
I357=I157
I457=I157
I557=I157
I657=I157
I757=I157
I857=I157
I258=I158
I358=I158
I458=I158
I558=I158
I658=I158
I758=I158
I858=I158
Note
Motor Setup
I269=I169
I369=I169
I469=I169
I569=I169
I669=I169
I769=I169
I869=I169
This software I2T is designed to primarily protect the motor. The Geo
Brick LV’s hardware built-in I2T protects the amplifier and presents
an added layer of system safety.
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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. However,
they should ultimately be set to minimize measurement offsets from the A and B-phase current feedback
circuits, respectively (read in Suggested M-variables Mxx05, Mxx06).
Geo Brick LVs dating 10/1/2012 and later perform automatic ADC
offset compensation. Leave Ixx29 and Ixx79 at zero.
Note
Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0
Tuning (fine) the current loop with DC brush motors is neither critical nor required. Set Ixx61 to a
conservative value (i.e. 0.001) and perform an open-loop test. Essentially a positive open loop command
should result in position direction (of the encoder) motion and vice-versa:
Reversed Encoder Decode. I7mn0 needs adjustment
Once the Encoder Decode is verified, increment Ixx61 gradually and redo the Open-Loop test until a solid
saw tooth response is observed. Note that further increasing Ixx61 will not improve the performance.
Correct Encoder Decode - Acceptable Open-Loop Response
Motor Setup
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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. Acceptable Step and Parabolic
position responses would look like:
Position Step Move
Position Parabolic Move
Motor Setup
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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. The RJ45
electrical interface can extend to up to 30 meters (or about 100 feet), and the fiber optic interface can
extend to up to 3 kilometers (or about 2 miles). The following are some of the many advantages
which MACRO offers:
Noise Immunity: MACRO transfers data using light rather than electricity which renders it
immune to electromagnetic noise and capacitive coupling.
Wiring Simplicity: Single-plug connection between controllers, amplifiers, and I/O modules
minimizing wiring complexity in large systems.
High Speed: data transfer rate at 125 Megabits per second, and servo update rates as high as
65 KHz.
Centralized, Synchronized Control: No software intervention is required on the MACRO
stations. One or multiple rings can be controlled, synchronized, and accessed using a single
ring controller.
The following diagram depicts the general formation of a simple MACRO ring.
Station # …
(Motors, I/Os)
Station # 2
(Motors, I/Os)
Station # n
(Motors, I/Os)
Station # 1
(Motors, I/Os)
Ring Controller
Note
MACRO Connectivity
It is possible to have multiple/redundant rings and master/controllers
in one system. For simplicity, we will limit the discussion in the
following section(s) to the basic setting parameters of a single
MACRO ring and controller. Also, we will address the stations as
slaves and the ring controller as master.
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MACRO Configuration Examples
The Geo Brick LV with its’ MACRO interface supports a wide variety of MACRO ring formations. The
following common MACRO configurations are described in detail:
Configuration
Example
MACRO Ring Controller
(Master)
MACRO Ring
Slave(s)
Configuration
Type
1
Geo Brick LV
Geo Brick LV
(DC Brush/Brushless motors)
MACRO Auxiliary
2
Geo Brick LV
Geo Brick LV
(Stepper motors)
MACRO Auxiliary
3
Geo Brick LV
Geo MACRO Drive
MACRO Slave
Notice that the Geo Brick LV can be either a Master or a Slave in a MACRO Ring.
Whenever the Geo Brick LV is a slave, the MACRO configuration is called MACRO auxiliary. This is a
designation which was implemented in the firmware for the Brick family of controllers.
If the Geo Brick LV is a master and the station(s) consist of traditional MACRO hardware (e.g. Geo
MACRO Drive, ACC-65M etc.) then the MACRO configuration is called MACRO Slave. This is the
typical designation which supports the majority of MACRO compatible amplifiers and peripherals.
Note
The Geo Brick LV MACRO option is populated with 1 MACRO IC,
which consists of 8 servo nodes (motors/encoders) and 6 I/O nodes
(432 I/O points)
Configuring a MACRO Auxiliary ring requires communicating (via
USB, Ethernet, or serial) separately to both the master and slave.
Note
MACRO Connectivity
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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 typically used in 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 4 registers; 1 x 24-bit and 3 x16-bit registers (upper):
Geo Brick LV MACRO IC #0 Servo Node Registers
4
5
8
9
12
Node
24-bit
0
1
13
Y:$78420
Y:$78424
Y:$78428
Y:$7842C
Y:$78430
Y:$78434
Y:$78438
Y:$7843C
16-bit
Y:$78421
Y:$78425
Y:$78429
Y:$7842D
Y:$78431
Y:$78435
Y:$78439
Y:$7843D
16-bit
Y:$78422
Y:$78426
Y:$7842A
Y:$7842E
Y:$78432
Y:$78436
Y:$7843A
Y:$7843E
16-bit
Y:$78423
Y:$78427
Y:$7842B
Y:$7842F
Y:$78433
Y:$78437
Y:$7843B
Y:$7843F
Geo Brick LV MACRO IC #0 I/O Node Registers
Node
2
3
6
7
10
11
24-bit
X:$78420
X:$78424
X:$78428
X:$7842C
X:$78430
X:$78434
16-bit
X:$78421
X:$78425
X:$78429
X:$7842D
X:$78431
X:$78435
16-bit
X:$78422
X:$78426
X:$7842A
X:$7842E
X:$78432
X:$78436
16-bit
X:$78423
X:$78427
X:$7842B
X:$7842F
X:$78433
X:$78437
MACRO Connectivity
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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.
Note
Online Commands:
Syntax
MX{anynode},{slave variable}
MX{anynode},{slave variable}={constant}
Example
MX0,P1
MX0,P1=1
Description
Read and report slave variable P1
Write a 1 to slave variable P1
Program “Buffer” Commands:
Syntax
Example
Description
MXR{anynode},{slave variable},{master variable}
MXR0,P2,P1
Copy slave P2 into master P1
MXW{anynode},{slave variable},{master variable}
MXW0,P2,P1
Copy master P1 into slave P2
Where:
{anynode} is a constant (0 to 63) representing the number of any node activated on the slave.
{slave variable} is the name of the variable at the slave side. It can be I, P, Q, or M-variable with a
number from 0 to 8191.
{master variable} is the name of the variable at the master side. It can be I, P, Q, or M-variable with a
number from 0 to 4095 (firmware limited).
MACRO Connectivity
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Configuration Example 1: Brick – Brick (Servo Motors)
MACRO Ring Master
MACRO Ring Slave
Driving Brush/Brushless Motors
This configuration supports two control 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.
PWM Mode: Useful when centralized commutation and tuning (current & PID) are desirable.
However, if the application involves Kinematics and/or high computation frequency, Torque
Mode is advised.
In this mode, the Master bypasses the Slave control functions. The Master handles the
commutation, it closes both the current and position loops, and sends PWM commands directly to
the Slaves’ power amplifier block.
MACRO Connectivity
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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.
Is it ok to have them enabled temporarily while configuring the motors locally, but ultimately in
normal mode operation (MACRO master-slave), I2T settings should be configured on the master side
and set to zero (Ixx57 = 0, Ixx58 = 0) on the slave side. Ixx69 may remain as computed.
Note
In normal operation of MACRO master-slave, I2T settings (Ixx57 and
Ixx58) should be configured on the master side and set to zero on the
slave side.
5. Clock settings considerations
The MACRO ring is synchronized at phase rate. Keep in mind that the phase clock frequency must
be the same on both the master and the slave.
The MACRO IC must be sourcing the clock (parameter I19). A Save followed by a $$$ are
required whenever I19 is changed.
It is advised to have both the MACRO and servo ICs set at the same phase frequency.
I19 =
I6800
I6801
I6802
6807
= I7000
= I7001
= I7002
;
;
;
;
Clock
Macro
Macro
Macro
source, MACRO IC 0
IC 0 MaxPhase/PWM Frequency Control
IC 0 Phase Clock Frequency Control
IC 0 Servo Clock Frequency Control
6. Make sure that the motors are fully operational and can be controlled in closed loop (e.g. jog
commands). Position PID tuning is not critical at this point. Fine tuning of the slave motors should be
eventually performed from the master side.
7. Kill all motors
MACRO Connectivity
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Geo Brick LV 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.
I85=1
; Station number #1 (if multiple slaves) – User Input
I6840=$4080
I6841=$0FF333
; Macro IC0 Ring Configuration/Status, typical slave setting
; Macro IC0 Node Activate Ctrl (Servo nodes 0, 1, 4, 5, 8, 9, 12, 13) – User Input
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
9. Flag Control Ixx24, disable over-travel limits on slave side (enable on master side)
I124,8,100=$820001
; Disable over-travel limits channels 1-8
10. MACRO slave command address
Ixx44 specifies the MACRO command address and mode for slave motors.
I144=$178423
I244=$178427
I344=$17842B
I444=$17842F
I544=$178433
I644=$178437
I744=$17843B
I844=$17843F
;
;
;
;
;
;
;
;
Macro
Macro
Macro
Macro
Macro
Macro
Macro
Macro
IC0
IC0
IC0
IC0
IC0
IC0
IC0
IC0
Node
Node
Node
Node
Node
Node
Node
Node
0
1
4
5
8
9
12
13
Command
Command
Command
Command
Command
Command
Command
Command
Address.
Address.
Address.
Address.
Address.
Address.
Address.
Address.
Torque
Torque
Torque
Torque
Torque
Torque
Torque
Torque
Mode
Mode
Mode
Mode
Mode
Mode
Mode
Mode
Setting Ixx44 to the MACRO command register hands control of the motors to the master. To allow
motor commands from the slave again, Ixx44 needs to be set back to default of zero.
Ixx44 must be set for at least one channel to allow MACRO auxiliary
mode communication, thus enabling MX commands.
Note
11. Issue a Save followed by a reset $$$ to maintain changes.
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The slave motors should be phased (if commutated) before setting Ixx44. This can be done through a
handshaking PLC and using MACRO auxiliary MX commands to trigger the phase routine.
Slave Handshaking PLC Example: Phase then kill Motor#1
M133->X:$0000B0,13,1
M140->Y:$0000C0,0,1
P8000=0
; Mtr1 Desired Velocity bit
; Mtr1 In-position bit
; Handshaking flag
Open PLC 1 Clear
IF (P8000 = 1)
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=0
; Turn Auxiliary Control off
I5111= 250 *8388608/I10 While(I5111>0) EndW
CMD"#1$"
I5111= 250 *8388608/I10 While(I5111>0) EndW
While (M133 = 0 OR M140 = 0) EndW
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=$178423
; Turn Auxiliary Control on
I5111= 250 *8388608/I10 While(I5111>0) EndW
P8000 = 0
EndIf
Close
Issuing MX0,P8000=1 from the master will then initiate the phasing routine.
Note about Slave Motors’ I2T
I2T setting parameters, Ixx69, Ixx57 and Ixx58, should be configured properly, for complete protection,
when the motor is controlled locally.
I2T setting parameters, Ixx57 and Ixx58, should be set to zero on the slave side when it is in auxiliary
mode, and configured for the corresponding channel over MACRO (on the master side).
As a rule of thumb, and for a given channel:
If Ixx44
=0
!= 0
Slave
Master
Ixx57 as computed
Ixx58 as computed
Ixx69 as computed Ixx57 as computed
Ixx58 as computed
Ixx57 = 0
Ixx69 as computed
Ixx58 = 0
Ixx69 as computed
On the master side, the computed values from the slave can be copied into the corresponding motor
MACRO channel.
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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. Clock settings considerations
The MACRO ring is synchronized at phase rate. The phase clock frequency must be the same on
the master and each of the slaves.
It is advised that the MACRO and servo ICs be set to the same phase frequency.
I6800 = I7000
I6801 = I7001
I6802 = I7002
; Macro IC0 MaxPhase/PWM Frequency Control
; Macro IC0 Phase Clock Frequency Control
; Macro IC0 Servo Clock Frequency Control
6. MACRO ring settings
I80, I81 and I82 enable the ring error check function.
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.
I6840=$4030
I6841=$0FF333
I78=32
I70=$3333
I71=0
;
;
;
;
;
Macro IC0 Ring Configuration/Status, typical master IC setting
Macro IC0 Node Activate Ctrl (Servo nodes 0, 1, 4, 5, 8, 9, 12, 13) – User Input
Macro Type 1 Master/Slave Communications Timeout
Macro IC 0 Node Auxiliary Register Enable (for 8 macro motors)
Type 0 MX Mode
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
7. Issue a Save, followed by a reset ($$$) to maintain changes.
8. Activating MACRO motors, Flag Control
The master Geo Brick LV 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.
If I4900 = $1, then only Servo IC 0 is present, and the first macro motor is #5
I500,8,100=1
I524,8,100=$840001
; Activate channels 5-12
; Channels 5-12 flag control ($860001 to disable limits)
If I4900 = $3, then Servo ICs 0 and 1 are present, and the first macro motor is #9
I900,8,100=1
I924,8,100=$840001
MACRO Connectivity
; Activate channels 9-16
; Channels 9-16 flag control ($860001 to disable limits)
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9. Position And Velocity Pointers
If all local motors have digital quadrature encoders (or 1-line ECT entries), and no other entries are
used in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor #
Ixx03, Ixx04
MACRO
motor
Motor #
1st
5 or 9
$350A
5th
9 or 13
$3512
$350C
th
10 or 14
$3514
th
11 or 15
$3516
th
12 or 16
$3518
2
nd
3
rd
4
th
6 or 10
7 or 11
8 or 12
$350E
$3510
6
7
8
Ixx03, Ixx04
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
a.
b.
c.
d.
e.
f.
Click on End of Table to access the next available entry
Conversion Type: Parallel position from Y word with no filtering
No Shifting
Width in Bits: 24
Source Address: Servo node Address (See table below)
Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
g. Repeat steps for additional motors/servo nodes
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Geo Brick LV 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 by hand and see encoder counts in the position
window
10. The flag address Ixx25 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx25
1st
5 or 9
$3440
2
nd
rd
3
th
4
6 or 10
7 or 11
8 or 12
$3441
$3444
$3445
Register
MACRO
motor
Motor #
Servo Node 0
5th
Servo Node 1
th
th
th
Servo Node 4
Servo Node 5
6
7
8
Ixx25
Register
9 or 13
$3448
Servo Node 8
10 or 14
$3449
Servo Node 9
11 or 15
$344C
Servo Node 12
12 or 16
$344D
Servo Node 13
11. The motor command output address Ixx02 is initiated by default in the firmware
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
2nd
6 or 10
$078424
Servo Node 1
6th
10 or 14
$078434
Servo Node 9
Servo Node 4
th
11 or 15
$078438
Servo Node 12
th
12 or 16
$07843C
Servo Node 13
3
rd
4
th
7 or 11
8 or 12
$078428
$07842C
Servo Node 5
7
8
12. Make sure that the slave motors are phased (e.g. MX0,P8000=1 to initiate the slave phasing routine).
Note
It is probably wise at this point, and before trying to close the loop, to
perform some open loop commands/test (e.g. #nO0). This will ensure
the capability of enabling the slave amplifier(s).
13. Tuning the PID-Loop
The PID gains saved on the slave initially can be a good starting point. Otherwise, tuning (from the
master) can be carried out in the traditional manner - see motor setup section in this manual - there are no
special instructions for tuning the MACRO/slave motors.
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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 $$$.
3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software.
4. Clock settings considerations
The MACRO ring is synchronized at phase rate. Keep in mind that the phase clock frequency must
be the same on both the master and the slave.
The MACRO IC must be sourcing the clock (parameter I19). A Save followed by a $$$ are
required whenever I19 is changed.
It is advised to have both the MACRO and servo ICs set at the same phase frequency.
I19 =
I6800
I6801
I6802
6807
= I7000
= I7001
= I7002
;
;
;
;
Clock
Macro
Macro
Macro
source, MACRO IC 0
IC 0 MaxPhase/PWM Frequency Control
IC 0 Phase Clock Frequency Control
IC 0 Servo Clock Frequency Control
5. 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.
Ixx44 specifies the MACRO command address and mode for slave motors.
I85=1
; Station number #1 (if multiple slaves) – User Input
I6840=$4080
I6841=$0FF333
; Macro IC 0 Ring Configuration/Status
; Macro IC 0 Node Activate Ctrl (servo nodes 0, 1, 4, 5, 8, 9, 12, and 13)
I124,8,100=$820001
; Flag mode control, disable limits on slave (enable on master)
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
I144=$078423
I244=$078427
I344=$07842B
I444=$07842F
I544=$078433
I644=$078437
I744=$07843B
I844=$07843F
;
;
;
;
;
;
;
;
MacroIC0
MacroIC0
MacroIC0
MacroIC0
MacroIC0
MacroIC0
MacroIC0
MacroIC0
Node 0
Node 1
Node 4
Node 5
Node 8
Node 9
Node12
Node13
Command
Command
Command
Command
Command
Command
Command
Command
Address.
Address.
Address.
Address.
Address.
Address.
Address.
Address.
PWM
PWM
PWM
PWM
PWM
PWM
PWM
PWM
Mode
Mode
Mode
Mode
Mode
Mode
Mode
Mode
6. Issue a Save followed by a $$$ to maintain changes.
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Setting up the Master in PWM Mode
1. Establish communication to the Geo Brick LV using USB, Ethernet, or Serial.
2. Consider starting from factory default settings.
This can be done by issuing a $$$*** followed by a Save, and a reset ($$$).
3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software.
4. The master’s motors can now be set up as described in the motor setup section of this manual. These
are motors #1 through #8 (or #4 if it is a 4-axis Geo Brick LV).
5. Clock settings considerations
The MACRO ring is synchronized at phase rate. The phase clock frequency must be the same on
the master and each of the slaves (Geo MACRO Drives).
It is also advised that the MACRO and servo ICs be set to the same phase frequency.
I6800 = I7000
I6801 = I7001
I6802 = I7002
; Macro IC0 MaxPhase/PWM Frequency Control
; Macro IC0 Phase Clock Frequency Control
; Macro IC0 Servo Clock Frequency Control
Note
It is not necessary for the master to have the MACRO IC sourcing the
clock. But if it is desired, I19 can be simply set to 6807 followed by a
save and a reset ($$$).
6. MACRO ring settings
I80, I81 and I82 enable the ring error check function.
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.
I6840=$4030
I6841=$0FF333
I78=32
I70=$3333
I71=0
;
;
;
;
;
Macro IC 0 Ring Configuration/Status
Macro IC 0 Node Activate Ctrl 8-axis (servo nodes 0, 1, 4, 5, 8, 9, 12, 13)
Macro Type 1 Master/Slave Communications Timeout
Macro IC 0 Node Auxiliary Register Enable (for 8 Ring motors)
Type 0 MX Mode
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
7. Issue a Save, followed by a reset ($$$) to maintain changes.
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8. Activating MACRO motors, Flag Control
The master Geo Brick LV 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.
If I4900 = $1, then only Servo IC 0 is present, and the first macro motor is #5
I500,8,100=1
I524,8,100=$840001
; Activate channels 5-12
; Channels 5-12 flag control ($860001 to disable limits)
If I4900 = $3, then Servo ICs 0 and 1 are present, and the first macro motor is #9
I900,8,100=1
I924,8,100=$840001
; Activate channels 9-18
; Channels 9-18 flag control ($860001 to disable limits)
9. Position And Velocity Pointers
If all local motors have digital quadrature encoders (1-line ECT entries), and no other entries are used
in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor #
Ixx03, Ixx04
MACRO
motor
Motor #
1st
5 or 9
$350A
5th
9 or 13
$3512
$350C
th
10 or 14
$3514
th
11 or 15
$3516
th
12 or 16
$3518
2
nd
3
rd
4
th
6 or 10
7 or 11
8 or 12
$350E
$3510
6
7
8
Ixx03, Ixx04
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
a.
b.
c.
d.
e.
f.
Click on End of Table to access the next available entry
Conversion Type: Parallel position from Y word with no filtering
No Shifting
Width in Bits: 24
Source Address: Servo node Address (See table below)
Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
g. Repeat steps for additional motors/servo nodes
MACRO Connectivity
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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
MACRO Connectivity
$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 by hand and see encoder counts in the position
window
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10. The flag address Ixx25 for MACRO motors is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx25
1st
5 or 9
$3440
2
nd
rd
3
th
4
6 or 10
7 or 11
8 or 12
$3441
$3444
$3445
Register
MACRO
motor
Motor #
Servo Node 0
5th
Servo Node 1
th
th
th
Servo Node 4
Servo Node 5
6
7
8
Ixx25
Register
9 or 13
$3448
Servo Node 8
10 or 14
$3449
Servo Node 9
11 or 15
$344C
Servo Node 12
12 or 16
$344D
Servo Node 13
11. The motor command output address Ixx02 is initiated by default in the firmware
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
2nd
6 or 10
$078424
Servo Node 1
6th
10 or 14
$078434
Servo Node 9
Servo Node 4
th
11 or 15
$078438
Servo Node 12
th
12 or 16
$07843C
Servo Node 13
3
rd
4
th
7 or 11
8 or 12
$078428
$07842C
Servo Node 5
7
8
12. The Flag Control Ixx24 is typically set to $840001 ($860001 to disable hardware over-travel limits).
13. The commutation position address Ixx83 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx83
Register
MACRO
motor
Motor #
Ixx83
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
2nd
6 or 10
$078424
Servo Node 1
6th
10 or 14
$078434
Servo Node 9
3rd
7 or 11
$078428
Servo Node 4
7th
11 or 15
$078438
Servo Node 12
4th
8 or 12
$07842C
Servo Node 5
8th
12 or 16
$07843C
Servo Node 13
14. The commutation enable Ixx01 should be set to 3, indicating that commutation is performed from Yregisters (specified in Ixx83).
15. 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
2nd
6 or 10
$078426
Servo Node 1
6th
10 or 14
$078436
Servo Node 9
Servo Node 4
th
11 or 15
$07843A
Servo Node 12
th
12 or 16
$07843E
Servo Node 13
3
rd
4
th
7 or 11
8 or 12
MACRO Connectivity
$07842A
$07842E
Servo Node 5
7
8
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16. The current feedback mask Ixx84 should be set to $FFFC00.
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
P8000
#define PWMClk
P8001
#define PhaseClk
P8002
#define ServoClk
P8003
MaxPhaseFreq=117964.8/(2*I6800+3)
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
;
;
;
;
;
Trigonometric calculation in degrees
Max Phase Clock [KHz]
PWM Clock [KHz]
Phase Clock [KHz]
Servo Clock [KHz]
#define
#define
#define
#define
;
;
;
;
Continuous Current Limit [Amps] –User Input
Instantaneous Current Limit [Amps] –User Input
See slave electrical specifications –User Input
Time allowed at peak Current [sec]
Mtr9ContCurrent
Mtr9PeakCurrent
MaxADC
Mtr9I2TOnTime
3
9
33.85
1
I957=INT(32767*(Mtr9ContCurrent*1.414/MaxADC)*cos(30))
I969=INT(32767*(Mtr9PeakCurrent*1.414/MaxADC)*cos(30))
I958=INT((I969*I969-I957*I957)*ServoClk*1000*Mtr9I2TOnTime/(32767*32767))
19. Current-Loop Tuning (Ixx61, Ixx62, Ixx76)
Current loop tuning is performed in the same manner as it would be for any digitally commuted
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like:
MACRO Connectivity
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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. Phasing has to be performed again after this
parameter has been changed.
21. Tuning the Position-Loop
Tuning the position loop PID gains can be carried out in the traditional manner - see motor setup
section in this manual - there are no special instructions for tuning MACRO motors.
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Configuration Example 2: Brick – Brick (Stepper Motors)
MACRO Ring Master
MACRO Ring Slave
Driving Stepper Motors
Setting up the Slave in Torque Mode for Steppers
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 $$$.
3. Consider downloading the suggested M-Variables in the Pewin32Pro2 software.
4. Set up motors per the motor setup section described in this manual.
5. Clock settings considerations
The MACRO ring is synchronized at phase rate. Keep in mind that the phase clock frequency must
be the same on both the master and the slave.
The MACRO IC must be sourcing the clock (parameter I19). A Save followed by a $$$ are
required whenever I19 is changed.
It is advised to have both the MACRO and servo ICs set at the same phase frequency.
I19 =
I6800
I6801
I6802
6807
= I7000
= I7001
= I7002
;
;
;
;
Clock
Macro
Macro
Macro
source, MACRO IC 0
IC 0 MaxPhase/PWM Frequency Control
IC 0 Phase Clock Frequency Control
IC 0 Servo Clock Frequency Control
6. Make sure that the motors are fully operational and can be controlled in closed loop (e.g. jog
commands). Position PID tuning is not critical at this point. Fine tuning of the slave motors should be
eventually performed from the master side.
7. Kill all motors
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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.
I85=1
; Station number #1 (if multiple slaves) – User Input
I6840=$4080
I6841=$0FF333
; Macro IC0 Ring Configuration/Status, typical slave setting
; Macro IC0 Node Activate Ctrl (Servo nodes 0, 1, 4, 5, 8, 9, 12, 13) – User Input
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
9. MACRO slave command address
Ixx44 specifies the MACRO command address and mode for slave motors.
I144=$178423
I244=$178427
I344=$17842B
I444=$17842F
I544=$178433
I644=$178437
I744=$17843B
I844=$17843F
;
;
;
;
;
;
;
;
Macro
Macro
Macro
Macro
Macro
Macro
Macro
Macro
IC0
IC0
IC0
IC0
IC0
IC0
IC0
IC0
Node
Node
Node
Node
Node
Node
Node
Node
0
1
4
5
8
9
12
13
Command
Command
Command
Command
Command
Command
Command
Command
Address.
Address.
Address.
Address.
Address.
Address.
Address.
Address.
Torque
Torque
Torque
Torque
Torque
Torque
Torque
Torque
Mode
Mode
Mode
Mode
Mode
Mode
Mode
Mode
Setting Ixx44 to the MACRO command register hands control of the motors to the master. To allow
motor commands from the slave again, Ixx44 needs to be set back to default of zero.
Ixx44 must be set for at least one channel to allow MACRO auxiliary
mode communication, thus enabling MX commands.
Note
10. Issue a Save followed by a reset $$$ to maintain changes.
11. With Direct Micro-Stepping, the servo-loop command output is integrated in the Encoder Conversion
Table to create a simulated sensor position, so in order to convey the command output from the
Master the Encoder Conversion Table must be modified for MACRO support. Register 0 of each
respective node carries the command output, it will replace the source address of the local servo
command output (see stepper motor setup section in this manual):
Note
MACRO Connectivity
Instead of replacing the current ECT entries with the MACRO support
ECT entries, they can be added on. This way, a PLC program can be
implemented to allow toggling motor control between local (Slave)
and MACRO (Master).
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Geo Brick LV User Manual
Encoder Conversion Table Source Address
Motor #
Local
MACRO
Motor #
Local
MACRO
1
$0000BF
$78420
5
$0002BF
$78430
2
$00013F
$78424
6
$00033F
$78434
3
$0001BF
$78428
7
$0003BF
$78438
4
$00023F
$7842C
8
$00043F
$7843C
We will keep the encoder conversion table entries for local control, and add entries for control over
MACRO. These settings would look like:
Results
Position, Velocity,
Commutation
Pointers
I8000=$6800BF ; Parallel read of Y/X:$BF
I8001=$018018 ; 24 bits starting at X bit0
I8002=$EC0001 ; Integrate result from I8001
$3501
$3502
$3503
I103=$3503
I104=I103
I183=I103
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$018018 ; 24 bits starting at X bit0
I8005=$EC0004 ; Integrate result from I8004
$3504
$3505
$3506
I203=$3506
I204=I203
I283=I203
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$018018 ; 24 bits starting at X bit0
I8008=$EC0007 ; Integrate result from I8007
$3507
$3508
$3509
I303=$3509
I304=I303
I383=I303
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$018018 ; 24 bits starting at X bit0
I8011=$EC000A ; Integrate result from I8010
$350A
$350B
$350C
I403=$350C
I404=I403
I483=I403
I8012=$6802BF ; Parallel read of Y/X:$2BF
I8013=$018018 ; 24 bits starting at X bit0
I8014=$EC000D ; Integrate result from I8013
$350D
$350E
$350F
I503=$350F
I504=I503
I583=I503
I8015=$68033F ; Parallel read of Y/X:$33F
I8016=$018018 ; 24 bits starting at X bit0
I8017=$EC0010 ; Integrate result from I8016
$3510
$3511
$3512
I603=$3512
I604=I603
I683=I603
I8018=$6803BF ; Parallel read of Y/X:$3BF
I8019=$018018 ; 24 bits starting at X bit0
I8020=$EC0013 ; Integrate result from I8019
$3513
$3514
$3515
I703=$3515
I704=I703
I783=I703
I8021=$68043F ; Parallel read of Y/X:$43F
I8022=$018018 ; 24 bits starting at X bit0
I8023=$EC0016 ; Integrate result from I8022
$3516
$3517
$3518
I803=$3518
I804=I803
I883=I803
For local control (to command motor from Slave)
MACRO Connectivity
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Results
Position, Velocity,
Commutation
Pointers
I8024=$6F8420 ; Parallel read of Y/X:$78420
I8025=$018000 ; 24 bits starting at Y bit0
I8026=$EC0019 ; Integrate result from I8025
$3519
$351A
$351B
I103=$351B
I104=I103
I183=I103
I8027=$6F8424 ; Parallel read of Y/X:$78424
I8028=$018000 ; 24 bits starting at Y bit0
I8029=$EC001C ; Integrate result from I8028
$351C
$351D
$351E
I203=$351E
I204=I203
I283=I203
I8030=$6F8428 ; Parallel read of Y/X:$78428
I8031=$018000 ; 24 bits starting at Y bit0
I8032=$EC001F ; Integrate result from I8031
$351F
$3520
$3521
I303=$3521
I304=I303
I383=I303
I8033=$6F842C ; Parallel read of Y/X:$7842C
I8034=$018000 ; 24 bits starting at Y bit0
I8035=$EC0022 ; Integrate result from I8030
$3522
$3523
$3524
I403=$3524
I404=I403
I483=I403
I8036=$6F8430 ; Parallel read of Y/X:$78430
I8037=$018000 ; 24 bits starting at Y bit0
I8038=$EC0025 ; Integrate result from I8037
$3525
$3526
$3527
I503=$3527
I504=I503
I583=I503
I8039=$6F8434 ; Parallel read of Y/X:$78434
I8040=$018000 ; 24 bits starting at Y bit0
I8041=$EC0028 ; Integrate result from I8040
$3528
$3529
$352A
I603=$352A
I604=I603
I683=I603
I8042=$6F8438 ; Parallel read of Y/X:$78438
I8043=$018000 ; 24 bits starting at Y bit0
I8044=$EC002B ; Integrate result from I8043
$352B
$352C
$352D
I703=$352D
I704=I703
I783=I703
I8045=$6F843C ; Parallel read of Y/X:$7843C
I8046=$018000 ; 24 bits starting at Y bit0
I8047=$EC002E ; Integrate result from I8046
$352E
$352F
$3530
I803=$3530
I804=I803
I883=I803
For MACRO control (to command motor from Master)
For Micro-Stepping, the parallel read and integration ECTs combine
to a 3-line entry. The processed data (result) lies in the 3rd line.
Note
12. Issue a Save followed by a $$$ to maintain changes.
MACRO Connectivity
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The motors attached to the slave(s) have to be phased locally before allowing the Master to take over their
control. This can be done using Macro auxiliary MX commands from the master and creating a
handshaking flag to trigger local phasing followed by a kill on the slave side.
Slave Handshaking PLC Example: Phase then kill Motor #1
P8000=0 ; Handshaking flag
Open PLC 1 Clear
IF (P8000 = 1)
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=0
; Turn Auxiliary Control off
I103=$3503
; Set position pointer to local control ECT
I104=$3503
; Set velocity pointer to local control ECT
I183=$3503
; Set commutation pointer to local control ECT
I5111= 250 *8388608/I10 While(I5111>0) EndW
CMD"#1$"
I5111= 500 *8388608/I10 While(I5111>0) EndW
CMD"#1K"
I5111= 250 *8388608/I10 While(I5111>0) EndW
I144=$178423 ; Turn Auxiliary Control on
I103=$351B
; Set position pointer to MACRO control ECT
I104=I103
; Set velocity pointer to MACRO control ECT
I183=I103
; Set commutation pointer to MACRO control ECT
I5111= 250 *8388608/I10 While(I5111>0) EndW
P8000 = 0
EndIf
Close
Issuing MX0, P8000=1 from the Master will allow the execution of
this code on the slave.
Note
MACRO Connectivity
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Setting up the Master in Torque Mode for Steppers
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. Clock settings considerations
The MACRO ring is synchronized at phase rate. The phase clock frequency must be the same on
the master and each of the slaves.
It is advised that the MACRO and servo ICs be set to the same phase frequency.
I6800 = I7000
I6801 = I7001
I6802 = I7002
; Macro IC0 MaxPhase/PWM Frequency Control
; Macro IC0 Phase Clock Frequency Control
; Macro IC0 Servo Clock Frequency Control
6. MACRO ring settings
I80, I81 and I82 enable the ring error check function.
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.
I6840=$4030
I6841=$0FF333
I78=32
I70=$3333
I71=0
;
;
;
;
;
Macro IC0 Ring Configuration/Status, typical master IC setting
Macro IC0 Node Activate Ctrl (Servo nodes 0, 1, 4, 5, 8, 9, 12, 13) – User Input
Macro Type 1 Master/Slave Communications Timeout
Macro IC 0 Node Auxiliary Register Enable (for 8 macro motors)
Type 0 MX Mode
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
7. Issue a Save, followed by a reset ($$$) to maintain changes.
8. Activating MACRO motors, Flag Control (Ixx00, Ixx24)
The master Geo Brick LV 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.
If I4900 = $1, then only Servo IC 0 is present, and the first macro motor is #5
I500,8,100=1
I524,8,100=$840001
; Activate channels 5-12
; Channels 5-12 flag control
If I4900 = $3, then Servo ICs 0 and 1 are present, and the first macro motor is #9
I900,8,100=1
I924,8,100=$840001
MACRO Connectivity
; Activate channels 9-16
; Channels 9-16 flag control
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9. Position And Velocity Pointers (Ixx03, Ixx04)
If all local motors have digital quadrature encoders (or 1-line ECT entries), and no other entries are
used in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor #
Ixx03, Ixx04
MACRO
motor
Motor #
Ixx03, Ixx04
1st
5 or 9
$350A
5th
9 or 13
$3512
$350C
th
10 or 14
$3514
th
11 or 15
$3516
th
12 or 16
$3518
2
nd
3
rd
4
th
6 or 10
7 or 11
8 or 12
$350E
$3510
6
7
8
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
4.
5.
6.
7.
8.
9.
Click on End of Table to access the next available entry
Conversion Type: Parallel position from Y word with no filtering
No Shifting
Width in Bits: 24
Source Address: Servo node Address (See table below)
Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
10. Repeat steps for additional motors/servo nodes
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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
$78424
$78428
$7842C
Register
MACRO
motor
Motor #
Servo Node 0
5th
Servo Node 1
th
th
th
6
Servo Node 4
7
Servo Node 5
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
Ixx25
Register
10. The flag address Ixx25 is initiated by default in the firmware:
MACRO
motor
Motor #
Ixx25
1st
5 or 9
$3440
2
nd
rd
3
th
4
6 or 10
7 or 11
8 or 12
$3441
$3444
$3445
Register
MACRO
motor
Motor #
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
6
Servo Node 4
7
Servo Node 5
8
11. The motor command output address Ixx02 is initiated by default in the firmware:
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
Servo Node 1
th
10 or 14
$078434
Servo Node 9
th
2
nd
6 or 10
$078424
6
rd
7 or 11
$078428
Servo Node 4
7
11 or 15
$078438
Servo Node 12
4th
8 or 12
$07842C
Servo Node 5
8th
12 or 16
$07843C
Servo Node 13
3
12. Tuning the PID-Loop
With stepper motors, these are computed empirically, and can be set to the following:
Ixx30=1024
Ixx31=0
Ixx32=85
Ixx33=1024
Ixx34=1
13. Issue a SAVE followed by a $$$ to maintain changes
The motor setup is now finished and both Master and Slave units are in post-reset mode (power-up),
therefore local and Macro motors need to be phased.
Motors attached directly to the master are initialized and phased in the traditional manner. Motors
attached to the slave are initialized by executing the handshaking PLC (e.g. issuing MX0, P8000=1).
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Configuration Example 3: Brick – Geo MACRO Drive
This configuration example discusses the necessary
steps for setting up a MACRO ring with an 8-axis
Geo Brick LV as a master and up to 4 x dual axes
Geo MACRO drives as slaves.
For simplicity, we will cover guidelines for setting
up one Geo MACRO drive in detail. The others
can be configured similarly.
Geo MACRO Drive
(Slave #4)
For non-MACRO experienced users, it may be
practical to configure one Geo MACRO drive at a
time (as shown below). That is by connecting it to
the Geo Brick LV via two fiber optic cables while
leaving the other drives outside of the ring.
Geo Brick LV
(Master)
Geo MACRO Drive
(Slave #3)
Geo Brick LV
(Master)
in
out
Geo MACRO Drive
(Slave #2)
Geo MACRO Drive
(Slave)
Geo MACRO Drive
(Slave #1)
The following table summarizes the basic clock (Geo Brick LV recommended) and MACRO settings for
the ring in the diagram above. MS commands are allowed once the clocks are synchronized and nodes are
enabled properly on the master and each of the slaves. The slaves’ settings can be implemented via
MACRO ASCII communication.
Clock Settings
I6800=1473
I6801=3
I6802=1
I7100=1473
I7101=3
I7102=1
I7000=1473
I7001=3
I7002=1
I10=1677653
MACRO Settings
Master
I6840=$4030
I6841=$0FF333
I78=32
I70=$3333
I71=$3333
I80=101
I81=3
I82=30
MACRO Connectivity
Slave #1
(Servo nodes 0,1)
Slave #2
(Servo nodes 4,5)
Slave #3
(Servo nodes 8,9)
Slave #4
(Servo nodes 12,13)
MS0,I992=1473
MS0,I997=3
MS4,I992=1473
MS4,I997=3
MS8,I992=1473
MS8,I997=3
MS12,I992=1473
MS12,I997=3
MS0,I995=$4080
MS0,I996=$F4003
MS4,I995=$4080
MS4,I996=$F4030
MS8,I995=$4080
MS8,I996=$F4300
MS12,I995=$4080
MS12,I996=$F7000
MS0,I11=1
MS4,I11=2
MS8,I11=3
MS12,I11=4
MS0,I8=202
MS0,I9=18
MS0,I10=120
MS4,I8=202
MS4,I9=18
MS4,I10=120
MS8,I8=202
MS8,I9=18
MS8,I10=120
MS12,I8=202
MS12,I9=18
MS12,I10=120
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The following steps are guidelines for setting up one Geo Macro Drive slave:
1. Establish communication to the Geo Brick LV 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. These
are motors #1 through #8 (or #4 if it is a 4-axis Geo Brick LV).
5. Clock settings considerations
The MACRO ring is synchronized at phase rate. The phase clock frequency must be the same on
the master and each of the slaves (Geo MACRO Drives).
It is also advised that the MACRO and servo ICs be set to the same phase frequency.
I6800 = I7000
I6801 = I7001
I6802 = I7002
; Macro IC0 MaxPhase/PWM Frequency Control
; Macro IC0 Phase Clock Frequency Control
; Macro IC0 Servo Clock Frequency Control
Note
It is not necessary for the master to have the MACRO IC sourcing the
clock. But if it is desired, I19 can be simply set to 6807 followed by a
Save and a reset $$$.
6. MACRO ring settings
I80, I81 and I82 enable the ring error check function.
I6840 specifies whether this is a master or a slave.
I6841 specifies which MACRO nodes are enabled. Note, that it is not advised to enable nodes
which will not be used.
I6840=$4030
I6841=$0FC003
I78=32
I70=$3
I71=$3
;
;
;
;
;
Macro IC0 Ring Configuration/Status, typical master IC setting
Macro IC0 Node Activate Ctrl (Servo nodes 0, 1) – User Input
Macro Type 1 Master/Slave Communications Timeout
Macro IC 0 Node Auxiliary Register Enable (for 2 macro motors)
Type 1 MX Mode
#define RingCheckPeriod
20
; Suggested Ring Check Period [msec]
#define FatalPackErr
15
; Suggested Fatal Packet Error Percentage [%]
I80=INT(RingCheckPeriod *8388608/I10/(I8+1)+1)
; Macro Ring Check Period [Servo Cycles]
I81=INT(I80* FatalPackErr /100+1)
; Macro Maximum Ring Error Count
I82=I80-I81*4
; Macro Minimum Sync Packet Count
7. Issue a Save, followed by a reset $$$ to maintain changes.
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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.
The following commands can then be issued to reset the Geo MACRO Drive(s) back to its factory
default settings:
MS$$$***15 will broadcast a global reset to stations associated with all enabled nodes
MSSAV15 will broadcast a Save to stations associated with all enabled nodes
MS$$$15 will broadcast a reset ($$$) to stations associated with all enabled nodes
9. Assuming that the Geo MACRO Drive(s) is or has been reset to factory default settings, we will now
try to establish MACRO ASCII communication by issuing:
MACSTA255
This command will establish MACRO ASCII (direct) communication with the first unassigned Geo
MACRO Drive (if more than one is in the ring) starting from the OUT/Transmit fiber or RJ45 out of
the Geo Brick LV.
10. When in ASCII mode, download from the editor or issue the following commands in the terminal
window:
I995 = $4080
; MACRO IC ring configuration, typical slave setting
I996 = $0F4003 ; Node activation (servo nodes 0, 1) –User Input
11. Issue a Control^T in the terminal window to exit ASCII mode communication
Master Slave (MS) commands should now be available for nodes 0 and 1 (per this example).
12. Clock Settings
The phase frequency should be set the same as the master’s. Set the following:
MS0, I992 = Value of I7000 (or I6800)
; Max Phase Clock
MS0, I997 = Value of I7001 (or I6801)
; Phase Clock Divider
13. Ring Check Error
Enabling the ring check error function on the Geo MACRO drive requires computing and setting the
following parameters:
MS0,I8
-> I80*(I6802+1)
MS0,I9
-> I81*(I6802+1)*(I8+1)
MS0,I10 -> I82*(I6802+1)*(I8+1)
Where I8, I80, I81, I82, and I6802 are masters’ parameters.
14. Station Number
The station number is used for ASCII communication.
MS0, I11 = 1
; Assign Station Number #1 –User Input
15. Issue MSSAV0 followed by MS$$$0 to maintain changes on the Geo MACRO Drive.
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16. Activating MACRO Motors
Variable I4900 reports how many servo ICs is the Geo Brick LV 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=
Servo ICs present
$1
IC0 only (4-axis)
$3
IC0, and IC1(8-axis)
Local
Motors
1-4
First Motor#
On The Ring
5
Activation
2-axis Slave
I500,2,100=1
1–8
9
I900,2,100=1
17. Position, Velocity pointers
If all local motors have digital quadrature encoders (1-line ECT entries), and no other entries are used
in the Encoder Conversion Table then the position (Ixx03) and Velocity (Ixx04) pointers of the
MACRO motors are valid by default (set by firmware) and need not be changed:
MACRO
motor
Motor #
Ixx03, Ixx04
MACRO
motor
Motor #
1st
5 or 9
$350A
5th
9 or 13
$3512
$350C
th
10 or 14
$3514
th
11 or 15
$3516
th
12 or 16
$3518
2
nd
3
rd
4
th
6 or 10
7 or 11
8 or 12
$350E
$3510
6
7
8
Ixx03, Ixx04
However, if the Encoder Conversion Table has been modified then the MACRO motors/nodes entries
need to be configured properly. This can be done using the Encoder Conversion Table utility in the
PewinPro2 under Configure>Encoder Conversion Table:
a.
b.
c.
d.
e.
f.
Click on End of Table to access the next available entry
Conversion Type: Parallel position from Y word with no filtering
No Shifting
Width in Bits: 24
Source Address: Servo node Address (See table below)
Record the processed data address.
This is where the position and velocity pointers will be set to for a specific node/motor number.
E.g. I903,2=$351A
g. Repeat steps for additional motors/servo nodes
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Servo Node Addresses
MACRO
Motor # Address
motor
1st
5 or 9
$78420
Register
MACRO
Motor #
motor
Address
Register
Servo Node 0
5th
9 or 13
$78430
Servo Node 8
th
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
4
th
8 or 12
Note
MACRO Connectivity
$7842C
8
At this point of the setup, you should be able to move the
motor/encoder shaft by hand and see encoder counts in the position
window
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18. Typical MACRO motor settings
The motor command output address Ixx02 is initiated by default in the firmware
MACRO
motor
Motor #
Ixx02
Register
MACRO
motor
Motor #
Ixx02
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
2nd
6 or 10
$078424
Servo Node 1
6th
10 or 14
$078434
Servo Node 9
3rd
7 or 11
$078428
Servo Node 4
7th
11 or 15
$078438
Servo Node 12
Servo Node 5
th
12 or 16
$07843C
Servo Node 13
4
th
8 or 12
$07842C
8
The flag address Ixx25 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx25
Register
MACRO
motor
Motor #
Ixx25
Register
1st
5 or 9
$3440
Servo Node 0
5th
9 or 13
$3448
Servo Node 8
Servo Node 1
th
10 or 14
$3449
Servo Node 9
th
2
nd
6 or 10
$3441
6
3
rd
7 or 11
$3444
Servo Node 4
7
11 or 15
$344C
Servo Node 12
4th
8 or 12
$3445
Servo Node 5
8th
12 or 16
$344D
Servo Node 13
The Flag Control Ixx24 is typically set to $40001 ($60001 to disable hardware over-travel limits).
The commutation position addresses Ixx83 is initiated by default in the firmware.
MACRO
motor
Motor #
Ixx83
Register
MACRO
motor
Motor #
Ixx83
Register
1st
5 or 9
$078420
Servo Node 0
5th
9 or 13
$078430
Servo Node 8
th
nd
6 or 10
$078424
Servo Node 1
6
10 or 14
$078434
Servo Node 9
3rd
7 or 11
$078428
Servo Node 4
7th
11 or 15
$078438
Servo Node 12
4th
8 or 12
$07842C
Servo Node 5
8th
12 or 16
$07843C
Servo Node 13
2
The commutation enable Ixx01 should be set to 3, indicating that commutation is performed from
Y registers (specified in Ixx83).
The PWM Scale Factor Ixx66 is set up as follows:
If Motor Voltage > Bus Voltage:
Ixx66 = 1.1 * 16384
If Motor Voltage < Bus Voltage:
Ixx66 = 1.1 * 16384 * MtrVolt / BusVolt
The commutation angle Ixx72 should be set to 1365.
The current feedback mask Ixx84 should be set to $FFF000.
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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 Cycle Size
Ixx70 = {Number of pair poles}
Ixx71 = {Number of counts per revolution * 32}
I2T Settings (example for motor #9):
8
I15=0
#define MaxPhaseFreq
P8000
#define PWMClk
P8001
#define PhaseClk
P8002
#define ServoClk
P8003
MaxPhaseFreq=117964.8/(2*I6800+3)
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
;
;
;
;
;
Trigonometric calculation in degrees
Max Phase Clock [KHz]
PWM Clock [KHz]
Phase Clock [KHz]
Servo Clock [KHz]
#define
#define
#define
#define
;
;
;
;
Continuous Current Limit [Amps] –User Input
Instantaneous Current Limit [Amps] –User Input
See Geo MACRO electrical specifications –User Input
Time allowed at peak Current [sec]
Mtr9ContCurrent
Mtr9PeakCurrent
MaxADC
Mtr9I2TOnTime
3
9
16.3
2
I957=INT(32767*(Mtr9ContCurrent*1.414/MaxADC)*cos(30))
I969=INT(32767*(Mtr9PeakCurrent*1.414/MaxADC)*cos(30))
I958=INT((I969*I969-I957*I957)*ServoClk*1000*Mtr9I2TOnTime/(32767*32767))
19. Current-Loop Tuning (Ixx61, Ixx62, Ixx76)
Current loop tuning is performed in the same manner as it would be for any digitally commuted
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like:
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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. Phasing has to be
performed again after this parameter has been changed.
21. Tuning the Position-Loop
Tuning the position loop PID gains can be carried on in the traditional manner - see motor setup
section in this manual- there are no special instructions for tuning MACRO motors.
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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.
A Geo Brick LV, used as a MACRO slave, can be populated with up to:
32 digital inputs / 16 digital outputs (connectors J6, J7)
4 x 12-bit filtered PWM DAC outputs (connectors X9, X10, X11, X 12)
4 x 16-bit analog inputs (connectors X9, X10, X11, X 12)
8 x 12-bit analog inputs (connector J9)
There is a variety of ways to transfer I/O data over MACRO:
Using I/O nodes.
This method consists of assembling the data in a PLC code at the slave side, and conveying it
over to MACRO I/O nodes. These I/O nodes are then extracted in a PLC code on the master side
and placed into open memory registers. This technique is suitable for digital inputs and outputs.
Using servo nodes
This method is primarily used for the X9-X12 analog inputs and outputs which, in some
applications, may require being processed at servo or phase rate (e.g. servo feedback, cascaded
loop or output to a spindle drive). This is the fastest transfer method possible. Note that in this
mode, axes 5-8 on the slave cannot be configured to drive motors. The corresponding servo nodes
will be occupied.
Using MACRO Auxiliary MX reads and writes in a background PLC
This method is ideal for transferring a large amount of data without much coding and complexity.
It is suitable for monitoring and toggling inputs and outputs. But it is not deterministic (relies on
background PLCs, and phase cycle delays with MX commands) or as fast as other methods.
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Transferring the Digital (Discrete) Input and Outputs
A Geo Brick LV 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/O node data transfer method. MACRO I/O node 2 will
be used to carry all 48 points of data:
Note
MACRO Connectivity
I/O Node
Address
Register-Description
2
X:$78420
X:$78421
X:$78422
X:$78423
24-bit register
1 16-bit register (Upper)
2nd16-bit register (Upper)
3rd 16-bit register (Upper)
st
Some Geo Brick LVs may not be fully populated with all the
inputs/outputs bytes shown above. The non-existent bytes can be
simply deleted from the example codes below.
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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. At the Slave side, this MACRO I/O node register is copied, using a PLC code, into
the local outputs’ registers which will reflect the user’s outputs’ desired state.
Inputs: At the slave side, the machine’s inputs’ state is copied into first 2 x 16-bit registers of MACRO
I/O node 2. At the master side, these MACRO I/O node registers are copied, using a PLC code, into predefined open memory registers (bitwise definitions) where the user can monitor the machine’s inputs’
state.
The following diagram summarizes the abovementioned transfer technique:
Open
Memory
Open Memory
2nd Byte
Copy
Outputs to
IO node
1st Byte
2nd Byte
3rd Byte
Write
Inputs to
Master
4th Byte
Master
PLC Operations
MACRO Connectivity
24-bit register
1st 16-bit register
(upper 16 bits)
2nd 16-bit register
(upper 16 bits)
Brick Slave
Write
outputs to
Slave
1st Byte
2nd Byte
1st Byte
Copy
Inputs to
IO node
2nd Byte
3rd Byte
Inputs
INPUTS
User Read
1st Byte
MACRO I/O Node 2
Outputs
OUTPUTS
User Write
Brick Master
4th Byte
Slave
PLC Operations
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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
2nd
3rd
4th
Byte
Byte
Byte
Byte
of
of
of
of
Inputs
Inputs
Inputs
Inputs
// Digital Inputs/Outputs Latch Registers
M7009..7013->*
M7009..7013=0
#define LatchOut
M7009
#define LatchIn1
M7010
#define LatchIn2
M7011
#define LatchIn3
M7012
#define LatchIn4
M7013
// MACRO I/O Node Registers
#define N2Twenty4
M7016
#define N2First16
M7017
#define N2Second16
M7018
N2Twenty4->X:$78420,0,24,U
N2First16->X:$78421,8,16,U
N2Second16->X:$78422,8,16,U
; 24-bit register, node 2
; 1st 16-bit register, node 2
; 2nd 16-bit register, node 2
// Digital I/O Data Transfer PLC
Open plc 1 clear
If (LatchOut!=N2Twenty4)
LatchOut=N2Twenty4
OutByte1= LatchOut&$0000FF
OutByte2=(LatchOut&$00FF00)/256
EndIf
;
;
;
;
Change in state?
Latch data
Update Outputs 1-8,
Update Outputs 9-15,
J6
J7
If (LatchIn1!=InByte1 Or LatchIn2!=InByte2 Or LatchIn3!=InByte3 Or LatchIn4!=InByte4)
LatchIn1=InByte1
; Latch data
LatchIn2=InByte2
; Latch data
LatchIn3=InByte3
; Latch data
LatchIn4=InByte4
; Latch data
N2First16= LatchIn1+LatchIn2*256
; Assemble Input bytes 1-2 in 1st 16-bit register node 2
N2Second16=LatchIn3+LatchIn4*256
; Assemble Input bytes 3-4 in 2nd 16-bit register node 2
EndIf
Close
MACRO Connectivity
238
Geo Brick LV 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..7002=0
;
;
;
;
;
;
;
Open memory register 16, Y-word
Open memory register 16, X-word
Open memory register 15, Y-word
Holding 24 digital Outputs
Holding 1st 16-bit digital Inputs
Holding 2nd 16-bit digital Inputs
Initialization
// Latching Words
M7004..7006->*
M7004..7006=0
#define LatchOut
#define LatchIn1
#define LatchIn2
;
;
;
;
;
Self referenced
Initialization
Digital Outputs Latch
Digital Inputs Latch 1
Digital Inputs Latch 2
M7004
M7005
M7006
// MACRO I/O Node Registers
#define N2Twenty4
M7008
#define N2First16
M7009
#define N2Second16
M7010
N2Twenty4->X:$78420,0,24,U
N2First16->X:$78421,8,16,U
N2Second16->X:$78422,8,16,U
; Node 2, 24-bit register
; Node 2, 1st 16-bit register
; Node 2, 2nd 16-bit register
// Digital I/O Data Transfer PLC
Open plc 1 clear
If (LatchOut!=OpenReg16Y)
; Output Open Register Changed?
LatchOut=OpenReg16Y
; Latch data
N2Twenty4=LatchOut
; Update Output Word
EndIf
If (LatchIn1!=N2First16)
LatchIn1=N2First16
OpenReg16X=LatchIn1
EndIf
; Input Node word changed?
; Latch data
; Update Input Open Register word
If (LatchIn2!=N2Second16)
LatchIn2=N2Second16
OpenReg15Y=LatchIn2
EndIf
Close
; Input Node word changed?
; Latch data
; Update Input Open Register word
MACRO Connectivity
239
Geo Brick LV 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
// J6 Inputs
#define Input1
#define Input2
#define Input3
#define Input4
#define Input5
#define Input6
#define Input7
#define Input8
#define Input9
#define Input10
#define Input11
#define Input12
#define Input13
#define Input14
#define Input15
#define Input16
M7131
M7132
M7133
M7134
M7135
M7136
M7137
M7138
M7139
M7140
M7141
M7142
M7143
M7144
M7145
M7146
Input1->X:$10FF,8,1
Input2->X:$10FF,9,1
Input3->X:$10FF,10,1
Input4->X:$10FF,11,1
Input5->X:$10FF,12,1
Input6->X:$10FF,13,1
Input7->X:$10FF,14,1
Input8->X:$10FF,15,1
Input9->X:$10FF,16,1
Input10->X:$10FF,17,1
Input11->X:$10FF,18,1
Input12->X:$10FF,19,1
Input13->X:$10FF,20,1
Input14->X:$10FF,21,1
Input15->X:$10FF,22,1
Input16->X:$10FF,23,1
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Output9 ->Y:$10FF,8,1
Output10->Y:$10FF,9,1
Output11->Y:$10FF,10,1
Output12->Y:$10FF,11,1
Output13->Y:$10FF,12,1
Output14->Y:$10FF,13,1
Output15->Y:$10FF,14,1
Output16->Y:$10FF,15,1
;
;
;
;
;
;
;
;
Output
Output
Output
Output
Output
Output
Output
Output
Input17->Y:$10FE,8,1
Input18->Y:$10FE,9,1
Input19->Y:$10FE,10,1
Input20->Y:$10FE,11,1
Input21->Y:$10FE,12,1
Input22->Y:$10FE,13,1
Input23->Y:$10FE,14,1
Input24->Y:$10FE,15,1
Input25->Y:$10FE,16,1
Input26->Y:$10FE,17,1
Input27->Y:$10FE,18,1
Input28->Y:$10FE,19,1
Input29->Y:$10FE,20,1
Input30->Y:$10FE,21,1
Input31->Y:$10FE,22,1
Input32->Y:$10FE,23,1
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
Input
// J7 Outputs
#define Output9
#define Output10
#define Output11
#define Output12
#define Output13
#define Output14
#define Output15
#define Output16
// J7 Inputs
#define Input17
#define Input18
#define Input19
#define Input20
#define Input21
#define Input22
#define Input23
#define Input24
#define Input25
#define Input26
#define Input27
#define Input28
#define Input29
#define Input30
#define Input31
#define Input32
M7109
M7110
M7111
M7112
M7113
M7114
M7115
M7116
M7147
M7148
M7149
M7150
M7151
M7152
M7153
M7154
M7155
M7156
M7157
M7158
M7159
M7160
M7161
M7162
MACRO Connectivity
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
240
Geo Brick LV User Manual
Transferring The X9-X12 Analog Inputs/Outputs
A Geo Brick LV 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
Note
;
;
;
;
ADC
ADC
ADC
ADC
Input
Input
Input
Input
Analog Outputs, connectors X9-X12
1
2
3
4
M502->Y:$078102,8,16,S
M602->Y:$07810A,8,16,S
M702->Y:$078112,8,16,S
M802->Y:$07811A,8,16,S
;
;
;
;
Analog
Analog
Analog
Analog
DAC
DAC
DAC
DAC
1
2
3
4
Some Geo Brick LVs may not be fully populated with all the analog
inputs and outputs. The non-existent ones can be simply deleted from
the example codes.
We will use the Servo Node method to transfer the X9-X12 analog data. Servo nodes 8, 9, 12, and 13 will
carry the analog output data in the 24-bit register, and the analog input data in the first 16-bit register.
The auxiliary mode Ixx44 is set to PWM mode to allow automatic transferring of ADCs.
This method cannot be used if servo nodes 8, 9, 12, and 13 are already
in use, or if motors 5-8 on the slave are configured.
Note
Servo Node
8
9
12
13
24-bit
Y:$78430
Y:$78434
Y:$78438
Y:$7843C
DAC Output Data
16-bit
Y:$78431
Y:$78435
Y:$78439
Y:$7843D
ADC Input Data
16-bit
Y:$78432
Y:$78436
Y:$7843A
Y:$7843E
16-bit
Y:$78433
Y:$78437
Y:$7843B
Y:$7843F
MACRO Connectivity
241
Geo Brick LV 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.
PWM
PWM
PWM
PWM
Mode
Mode
Mode
Mode
For
For
For
For
ADC
ADC
ADC
ADC
I500,4,100=0
; De-activate channels to allow direct DAC writes
Transfer
Transfer
Transfer
Transfer
Master Settings
I6841=I6841|$3300
; Enable servo nodes 8,9,12,13
M1302->Y:$78430,8,16,S
M1402->Y:$78434,8,16,S
M1502->Y:$78438,8,16,S
M1602->Y:$7843C,8,16,S
;
;
;
;
Analog
Analog
Analog
Analog
DAC
DAC
DAC
DAC
1
2
3
4
M1305->Y:$78431,8,16,S
M1405->Y:$78435,8,16,S
M1505->Y:$78439,8,16,S
M1605->Y:$7843D,8,16,S
;
;
;
;
Analog
Analog
Analog
Analog
ADC
ADC
ADC
ADC
1
1
1
1
At the master side:
The analog DAC (filtered PWM) outputs can now be written to using Mxx02 variables.
The analog ADC inputs can now be read using Mxx05 variables.
Note
MACRO Connectivity
This setup example assumes that the DAC (filtered PWM) outputs at
the slave side have been set up properly. See X9-X12 connector setup
section.
242
Geo Brick LV User Manual
Transferring The J9 Analog Inputs
A Geo Brick LV MACRO slave with option 12 offers 8 x 12-bit analog inputs on connector J9.
These inputs and outputs are typically mapped using suggested or pre-defined M-Variables at the
following addresses:
Analog Inputs, connector J9
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
;
;
;
;
;
;
;
;
ADC1
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
ADC8
Bipolar
Bipolar
Bipolar
Bipolar
Bipolar
Bipolar
Bipolar
Bipolar
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:$00340A,12,12,U
M6997->Y:$00340C,12,12,U
M6998->Y:$00340E,12,12,U
;
;
;
;
;
;
;
;
ADC1
ADC2
ADC3
ADC4
ADC5
ADC6
ADC7
ADC8
Unipolar
Unipolar
Unipolar
Unipolar
Unipolar
Unipolar
Unipolar
Unipolar
We will use the MACRO auxiliary MX read commands to transfer the J9 analog inputs. This is done in a
background PLC which copies M6991-M6998 from the slave into eight consecutive self-referenced
Mxx05 variables at the master.
Master Settings
M1705,8,100->*
Open PLC 1 Clear
// Analog Inputs (J9)
MXR0,M6991,M1705
; J9 Analog Input 1
MXR0,M6992,M1805
; J9 Analog Input 2
MXR0,M6993,M1905
; J9 Analog Input 3
MXR0,M6994,M2005
; J9 Analog Input 4
MXR0,M6995,M2105
; J9 Analog Input 5
MXR0,M6996,M2205
; J9 Analog Input 6
MXR0,M6997,M2305
; J9 Analog Input 7
MXR0,M6998,M2405
; J9 Analog Input 8
I5111=1*8388608/I10 while(I5111>0) Endw
close
; 1 msec delay
At the slave side, the J9 analog ADC inputs can now be read using these Mxx05 variables.
This setup example assumes that the J9 ADC inputs have been set up
properly at the slave side. See J9 connector setup section.
Note
MACRO Connectivity
243
Geo Brick LV 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.
Homing from Master
If it is desired to home from the master (centralized control) then the position capture should be set to
software capture with Ixx97 = 1.
In this mode, the slave’s Servo IC m Channel n capture control (I7mn2) and flag select control (I7mn3)
have to be configured. This can be achieved from the master side using MX commands:
In a two 8-axis Brick Macro ring, configure Motor #9 to home to User Flag High. Motor #9 corresponds
to Motor#1 on the Slave Station or Servo IC 0 channel 1:
MX0, I7012= 2
MX0, I7013= 3
; Servo IC 0 Channel 1Capture Control (flag high)
; Servo IC 0 Channel 1Capture Flag Select Control (user flag)
In a two 8-axis Brick Macro ring, configure Motor #14 to home to User Flag High. Motor #14
corresponds to Motor#6 on the Slave Station or Servo IC 1 channel 2:
MX0, I7122= 2
MX0, I7123= 3
; Servo IC 1 Channel 2 Capture Control (flag high)
; Servo IC 1 Channel 2 Capture Flag Select Control (user flag)
In this mode, issuing a #nHome from the Master will initiate the home
move search for the corresponding motor #n
Note
Homing from Slave
If the full accuracy of the position capture is desired, then the MACRO motor’s homing routine can be
pre-programmed on the slave in a PLC routine and triggered upon demand with a handshaking flag using
MX commands.
Software capture with Ixx97 introduces up to 1 background cycle
delay which limits the accuracy of the capture.
Note
In this mode, the slave’s Servo IC m Channel n capture control (I7mn2) and flag select control (I7mn3)
have to be configured.
MACRO Connectivity
244
Geo Brick LV 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 enable
node/amplifier
home flag
positive limit
negative limit
user flag
// Macro IC 0 Node 1 Flag Registers
M250->X:$003441,0,24
; Macro IC 0
M251->Y:$003441,0,24
; Macro IC 0
M253->X:$003441,20,4
; Macro IC 0
M254->Y:$003441,14,1
; Macro IC 0
M255->X:$003441,15,1
; Macro IC 0
M256->X:$003441,16,1
; Macro IC 0
M257->X:$003441,17,1
; Macro IC 0
M258->X:$003441,18,1
; Macro IC 0
M259->X:$003441,19,1
; Macro IC 0
Node
Node
Node
Node
Node
Node
Node
Node
Node
1
1
1
1
1
1
1
1
1
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
// Macro IC 0 Node 4 Flag Registers
M350->X:$003444,0,24
; Macro IC 0
M351->Y:$003444,0,24
; Macro IC 0
M353->X:$003444,20,4
; Macro IC 0
M354->Y:$003444,14,1
; Macro IC 0
M355->X:$003444,15,1
; Macro IC 0
M356->X:$003444,16,1
; Macro IC 0
M357->X:$003444,17,1
; Macro IC 0
M358->X:$003444,18,1
; Macro IC 0
M359->X:$003444,19,1
; Macro IC 0
Node
Node
Node
Node
Node
Node
Node
Node
Node
4
4
4
4
4
4
4
4
4
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
// Macro IC 0 Node 5 Flag Registers
M450->X:$003445,0,24
; Macro IC 0
M451->Y:$003445,0,24
; Macro IC 0
M453->X:$003445,20,4
; Macro IC 0
M454->Y:$003445,14,1
; Macro IC 0
M455->X:$003445,15,1
; Macro IC 0
M456->X:$003445,16,1
; Macro IC 0
M457->X:$003445,17,1
; Macro IC 0
M458->X:$003445,18,1
; Macro IC 0
M459->X:$003445,19,1
; Macro IC 0
Node
Node
Node
Node
Node
Node
Node
Node
Node
5
5
5
5
5
5
5
5
5
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
// Macro IC 0 Node 8 Flag Registers
M550->X:$003448,0,24
; Macro IC 0
M551->Y:$003448,0,24
; Macro IC 0
M553->X:$003448,20,4
; Macro IC 0
M554->Y:$003448,14,1
; Macro IC 0
M555->X:$003448,15,1
; Macro IC 0
M556->X:$003448,16,1
; Macro IC 0
M557->X:$003448,17,1
; Macro IC 0
M558->X:$003448,18,1
; Macro IC 0
M559->X:$003448,19,1
; Macro IC 0
Node
Node
Node
Node
Node
Node
Node
Node
Node
8
8
8
8
8
8
8
8
8
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
MACRO Connectivity
245
Geo Brick LV User Manual
// Macro IC 0 Node 9 Flag Registers
M650->X:$003449,0,24
; Macro IC 0
M651->Y:$003449,0,24
; Macro IC 0
M653->X:$003449,20,4
; Macro IC 0
M654->Y:$003449,14,1
; Macro IC 0
M655->X:$003449,15,1
; Macro IC 0
M656->X:$003449,16,1
; Macro IC 0
M657->X:$003449,17,1
; Macro IC 0
M658->X:$003449,18,1
; Macro IC 0
M659->X:$003449,19,1
; Macro IC 0
Node
Node
Node
Node
Node
Node
Node
Node
Node
9
9
9
9
9
9
9
9
9
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
// Macro IC 0 Node 12
M750->X:$00344C,0,24
M751->Y:$00344C,0,24
M753->X:$00344C,20,4
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
Flag Registers
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
12
12
12
12
12
12
12
12
12
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
// 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
Flag Registers
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
; Macro IC 0 Node
13
13
13
13
13
13
13
13
13
flag status register
flag command register
TUVW flags
amplifier enable flag
node/amplifier fault flag
home flag
positive limit flag
negative limit flag
user flag
MACRO Connectivity
246
Geo Brick LV 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 LV 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).
Example: Retrieving motor #9’s absolute position from motor #1 on a slave Brick yields the online
command (using suggested M-Variables Mxx62): MXR0,M162,M962 which could be ultimately
inserted in the initialization PLC.
MACRO Connectivity
247
Geo Brick LV User Manual
MACRO Configuration Power-Up Sequence
Typically, in a MACRO master-slave configuration, it is desirable to power up the slave first and then the
master. This ensures proper establishment of MACRO communication. If this is not desirable or possible,
the following procedure should ensure that MACRO communication is properly initiated. But either way,
clearing MACRO ring faults is always recommended on power up in the following order:
1. Power up slave (logic power).
2. Issue a local clear fault command – in an initialization PLC.
CMD"CLRF"
3. Power-up master (logic power).
4. Insert a 1 second delay in an initialization PLC
This allows the slave to clear its own fault locally first.
5. Issue a local clear fault command – in the initialization PLC.
CMD"CLRF"
6. Insert a 250 millisecond delay
7. Broadcast a MACRO clear fault command – in the same PLC
CMD"MSCLRF15"
8. Insert a 250 millisecond delay
!
Caution
MACRO Connectivity
Make sure that the PLC logic is latched properly (scan initialization
PLCs once), sending CLRF and MSCLRF commands repeatedly locks
up MACRO communication.
248
Geo Brick LV User Manual
TROUBLESHOOTING
Serial Number and Board Revisions Identification
The following Serial Number Page provides the users with information about their Geo Brick LV
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 (Brick Drive LV)
Part numbers and revision numbers of the sub-assembly boards
Top assembly original ship date
Top assembly last ship date (e.g. if it has ever been back for repair)
Note
Troubleshooting
This page is strictly for identification purposes. Some information
may not be meaningful to the user and pertains to Delta Tau’s internal
use only.
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D1: Error Codes
The Geo Brick LV utilizes a scrolling single-digit 7-segment display to exhibit amplifier
faults. In normal operation mode (logic and DC bus power applied), the Geo Brick LV will
display a solid dot indicating that the software and hardware are running normally.
DISPLAY
DESCRIPTION
Solid Dot:
Normal mode operation. No fault (s)
GLOBAL FAULTS
Under Voltage:
Indicates that the bus voltage is not present or less than 12Volts
Over Voltage:
Indicates that the bus voltage has exceeded 85Volts
Over Temperature:
Indicates that the (internal) electronics have exceeded 65°C
AXIS n FAULT (n = 1 through 8)
n
n
Axis n Over load:
Indicates that channel n ‘s current rating (0.75A / 3A / 15A) has been exceeded
Axis n Over Current:
Indicates that channel n ‘s peak current has exceeded the permissible limit (20 A)
Note
Troubleshooting
In order to reset (clear) the amplifier faults through software, the
power-on PLC (which specifies the motor types, clears error bits, and
activates the strobe word write-protect) must be enabled.
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Strobe Word and Axes Data Structures
The amplifier processor in the Geo Brick LV conveys data and certain status bits to the PMAC user. This
information, pertaining to a specific channel, is sent over using the ADC registers of each channel.
Strobe Word Structure
These functions are established by sending commands to the amplifier processor from the PMAC using
the ADC Strobe Word:
PMAC Variable
Description
Address
I7006
Axis 1-4 ADC Strobe Word
X:$78014
I7106
Axis 5-8 ADC Strobe Word
X:$78114
Address Axis $F
=000 ($0) Axis 1
=001 ($1) Axis 2
=010 ($2) Axis 3 =0 Protect
=011 ($3) Axis 4 =1 Write
=0 Servo
=1 Stepper
Bit # 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Value 1 1 1 1 1 0 0 0 0 1 0 0 1 1 0 1 1 1 1 1 1 1 1 0
=0 Save
=1 Write
See decription
=0 No Reset
=1 Reset
Always $FE
=0 I2T fault
=1 I2T Warning
About bits [12:9]:
Before 8/18/2009
These bits are used to set the I2T limit of the axis.
8/18/2009 – 10/1/2012
These bits have no significance. I2T is set automatically in the firmware.
After 10/1/2012
Bits [11:10] are command bits for displaying either firmware version or current option in ADC B.
If bits [11:10] = 11 then ADC B bits [9:6] display the amplifier firmware version.
If bits [11:10] = 00 then ADC B bits [7:6] display the axis current option.
Troubleshooting
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ADC A Status Word
ADC A Current Value
Status Bits
Reserved
Bit # 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
=0 Servo
=1 Stepper
Bits [8:6] (hex)
Error Code
000 ($0)
No error, Not ready
001 ($1)
No error, Ready
010 ($2)
Bus Under-Voltage Warning
011 ($3)
Over-Temperature ( > 70°C)
100 ($4)
Over Voltage ( > 85 VDC)
101 ($5)
I2T Warning/Fault
110 ($6)
Over-Current Fault
These status bits can be useful for custom-written graphic user
interface allowing the display of faults to the operator.
Note
ADC B Status Word
ADC B Current Value
Axis Current Option
Reserved
Bit # 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Amplifier Firmware
Version Code
If bits [11:10] of the Strobe Word are = 11 then ADC B bits [9:6] display the amplifier firmware version.
If bits [11:10] of the Strobe Word are = 00 then ADC B bits [7:6] display the axis current option:
Bits [7:6] Current Option
00
5A / 15A
01
1A / 3A
10
11
0.25A / 0.75A
Troubleshooting
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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
Off
Green
Unlit
Green when Axis#4 Enabled or
Brake/Relay#4 output is true
+5V
+5V Logic Power
On
Off
Green
Unlit
Green indicates good +5V controller power.
Normal mode operation.
WD
Watchdog
On
Off
Red
Unlit
Red when watchdog has tripped.
Unlit is normal mode operation.
On
Off
On
Off
Red
Unlit
Green
Unlit
Red when +24V is disconnected
(ABORT is true)
Active
Abort Status
Inactive
Abort Status
Green when +24V is applied
(ABORT is not true, Normal mode operation)
The abort functionality is only available with Turbo PMAC firmware
1.947 or newer, and with I35=1.
Note
Troubleshooting
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Boot Switch SW (Firmware Reload) – Write-Protect Disable
This momentary button switch has two essential functions:
1. Putting the Geo Brick LV in Boostrap Mode for reloading PMAC firmware.
2. Disabling the USB/Ethernet communication write-protection for
Changing IP address, Gateway IP or MASK
Enabling ModBus
Reloading communication boot and firmware
These functions are accessible through the Configure Ethernet 100 BaseT utility found in the
Windows Start menu under PMAC Executive Pro2 Suite > Delta Tau Common > Configure
Ethernet 100 BaseT:
Note
Troubleshooting
This utility only works with USB communication.
The Pewin32Pro2 or any other software communicating to the
Brick must be closed before launching this utility.
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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.
Click ok for message “The PMAC is in Boostrap Mode”
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Step4: The download utility will prompt for a .BIN file. MAKE SURE you open the correct file.
Regardless of the version number, The PMAC firmware file for Geo
Brick LV MUST ALWAYS be TURBO2.BIN
Note
Step4: Wait until download is finished, and click done.
Step5: Close all PMAC applications (i.e. Pewin32Pro2), and recycle power.
Troubleshooting
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Changing IP Address, Gateway IP, Or 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. The following steps ensure proper configuration:
Step1:
Step2:
Step3:
Change the desired address field
Hold the BOOT SW switch down
Press on the corresponding Store button
Store IP for changing IP address
Gateway IP for changing Gateway IP
Gateway Mask for changing Gateway
Mask
Step4: Release the BOOT SW switch after the corresponding confirmation message is received:
For changing the IP address, follow
through the subsequent messages for setting
up windows registry for Pcomm32.
Gateway IP
Gateway Mask
Step5: Click on Done, and recycle logic power (24V) on the Brick
Troubleshooting
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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. Installing this feature successfully requires the following procedure:
Step1: Hold the BOOT SW switch button down
Step2: Click on ModBus Option. The utility will prompt for the .bin file.
MAKE SURE you open the correct file.
Step3: Release the BOOT SW switch button after the ModBus unlocked message is generated.
Step4: Click on Done, and recycle logic power (24V) on the Brick
Troubleshooting
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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 Forums. The following steps ensure proper configuration:
!
Downloading the wrong boot or communication files will severely
corrupt the functionality of the communication processor.
Caution
Step1: Hold the BOOT SW switch down
Step2: Click on Store Boot
Step3: The utility will prompt for the boot file. MAKE SURE you open the correct .IIC file (ending with
BootFx2.iic) and wait for “firmware load successful” message
Step4: Click on Store F/W
Note
The BOOT SW switch button can be released temporarily (between
file downloads). But it MUST to be held down the entire time the boot
or firmware files are being written.
Step5: The utility will prompt for the Firmware file. MAKE SURE you open the correct .IIC file (ending
with ETHUSB307FX2.iic) and wait for “firmware load successful” message
Step6: Release the BOOT SW switch. Click Done, and recycle logic power (24V) on the Brick.
Troubleshooting
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Reset Switch SW (Factory Reset)
This momentary switch button is used to reset the Geo Brick LV 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. The factory default parameters are now restored
from the firmware EEPROM into the active memory. Issue a SAVE and a $$$ to maintain the factory
default settings.
For traditional PMAC users, this switch is the equivalent of Jumper
E51 on PC-based or standalone boards.
Note
Troubleshooting
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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.
+24V Abort not applied (firmware 1.947 or later, and I35=1).
In this mode, the Abort Input bit is highlighted in the Global Status window.
Troubleshooting
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Watchdog Timer Trip
The watchdog timer trigger in the Geo Brick LV 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.
Wrong clock settings
In this mode, the user has downloaded or written bad values to clock setting parameters.
Hardware +5V failure (internal)
In this mode, the internal 5V logic circuitry has failed. Check 5V Led Status.
Downloading wrong configuration file (I4900).
In this mode, the user has reloaded a bad configuration file.
For example, a configuration file uploaded from a 4-axis Geo Brick LV (Servo IC 1 parameters
set to zero) and restored into an 8-axis unit, thus writing zero to the second Servo IC clock
parameters will cause a watchdog. Commenting out variables I7100…7106 (or forcing them to
hold the same values as I7000…I7106) eliminates the watchdog problem.
Troubleshooting
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APPENDIX A
D-Sub Connector Spacing Specifications
X1-X8: DA-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: DE-9 Connectors for Analog I/O
2.45±.05
1.213+.015
5
4
9
3
8
2
7
1
5
6
4
9
3
8
2
7
1
6
Screw Lock Size for all D-sub connectors
.18
7
#4-40 FEMALE SCREWLOCK
QTY 2 per connector
Steel, Zinc Plated
Appendix A
.235
DIA
.126
DIA
LOCKWASHER
QTY 2 per connector
Clear Chromate
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APPENDIX B
Control Board Jumpers (For Internal Use)
E6 – E9: AENA/GPIO Selection Jumper
E-Point
E6
2
1
2
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
Default
3
E7
1
Description
E10 – E12: Power-Up/Reset Load Source
E-Point
Description
Default
E10
1
2
E10 removed to load active memory from Flash IC on power-up
No Jumper
E11
1
2
Jump1-2 for normal mode operation
Installed
Jump1-2 for normal mode operation
Installed
E12
1
2
Appendix B
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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.
Default
No Jumper
E25-28: Select Encoder Index input or AENA output (channels 1-4)
E-Point
E25
1
2
E26
1
2
E27
1
2
E28
1
2
Description
Default
No Jumper for TTL Level input for Ch1 Index signal (C)
Jumper 1-2 to output AENA1 at Ch1 encoder connector
No Jumper
No Jumper for TTL Level input for Ch2 Index signal (C)
Jumper 1-2 to output AENA2 at Ch2 encoder connector
No Jumper
No Jumper for TTL Level input for Ch3 Index signal (C)
Jumper 1-2 to output AENA3 at Ch3 encoder connector
No Jumper
No Jumper for TTL Level input for Ch4 Index signal (C)
Jumper 1-2 to output AENA4 at Ch4 encoder connector
No Jumper
E35-38: Select Encoder Index input or AENA output (channels 5-8)
E-Point
E35
1
2
E36
1
2
E37
1
2
E38
1
2
Description
Default
No Jumper for TTL Level input for Ch5 Index signal (C)
Jumper 1-2 to output AENA5 at Ch5 encoder connector
No Jumper
No Jumper for TTL Level input for Ch6 Index signal (C)
Jumper 1-2 to output AENA6 at Ch6 encoder connector
No Jumper
No Jumper for TTL Level input for Ch7 Index signal (C)
Jumper 1-2 to output AENA7 at Ch7 encoder connector
No Jumper
No Jumper for TTL Level input for Ch8 Index signal (C)
Jumper 1-2 to output AENA8 at Ch8 encoder connector
No Jumper
E40: USB/Ethernet Communication Firmware Load Enable
E-Point
E40
1
2
Appendix B
Description
Remove Jumper to reload communication firmware
Default
Installed
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APPENDIX C
Schematic Samples
Watchdog: X15
Inputs: J6 & J7
Appendix C
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Outputs: J6 & J7 (603793 – 109 and earlier)
Outputs: J6 & J7 (603793 – 10A and later)
Appendix C
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Limits & Flags: J4
Appendix C
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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.
Quick Comparison
Parameter/Description
Resolution
Scale Factor (SF)
Technique 1/3
SF =2
Rotary
SF =1/(32*RES)
2 *ServoClk
2 *3/(Ixx08*32)
Rotary
47
2 /SF =2
47-ST
47
2 /SF =2
counts/revolution
counts/user unit
counts/msec
47-(ST-5)
247/SF
Linear
Units
counts/msec
23
Maximum closed-loop velocity
Where ST:
RES:
ServoClk:
Ixx08:
ST-5
18
Maximum open-loop velocity
Maximum travel
before rollover
SF =2
SF =1/RES
Linear
Technique 2
ST
revolutions
user units
is the rotary encoder Singleturn resolution in bits
is the linear encoder resolution in user units (e.g. mm)
is the PMAC servo update rate in KHz
is Motor xx’s position scale factor
Resolution Scale Factor (SF)
Turbo PMAC expects the motor count Least Significant Bit LSB to be left-shifted (5 bits), per techniques
1 or 3. The only difference then with technique 2, when unshifted, is that the motor position loop will
now consider 1 LSB of the source to be 1/32 of a motor count, instead of 1.
Example: Take a 37-bit absolute serial rotary encoder (25-bit single turn, 12-bit multi-turn) and its
equivalent linear scale (e.g.10 nm resolution):
Technique 1/3
(5-bit shift)
Rotary
2ST
225= 33,554,432
counts/revolution
Linear
1/RES
1/0.00001= 100,000
counts/mm
Technique 2
(no shift)
Rotary
2ST-5
220= 1,048,576
counts/revolution
Linear
1/(32*RES)
1/32*0.00001= 3,125
counts/mm
Note
Appendix D
Regardless of the processing technique, the servo algorithm utilizes
“internally” the entire data bits stream (i.e. 25 bits) for its calculation.
The performance is not compromised.
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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. You will see saturation plateau lines in the position data if it is plotted during the
move. At this point, re-establishing an absolute position read (using custom plc, or automatic settings) is
necessary to avoid fatal following errors in closed loop and or to be able to perform proper motor phasing.
Example: Take a 37-bit absolute serial rotary encoder (25-bit single turn, 12-bit multi-turn) and its
equivalent linear scale (e.g.10 nm resolution), and compare for two different clock settings:
With the default servo clock of 2.258 KHz, the maximum actual open-loop velocity is
MaxActVel=218*2.258= 591,921 [counts/msec] yielding:
Technique 1/3 (5-bit shift)
Rotary [rpm]
=MaxActVel*60000/SF
1,058
Linear [mm/sec]
=MaxActVel*1000/SF
5,919
Technique 2 (no shift)
33,870
189,414
With a servo clock setting of 4.500 KHz, the maximum actual open-loop velocity is
MaxActVel=218*4.500= 1,179,648 [counts/msec] yielding:
Technique 1/3 (5-bit shift)
Technique 2 (no shift)
Note
Appendix D
Rotary [rpm]
=MaxActVel*60000/SF
2,109
Linear [mm/sec]
=MaxActVel*1000/SF
11,796
67,500
377,487
The maximum actual velocity attainable is directly proportional to the
servo clock frequency. The faster the servo update, the higher is the
actual velocity threshold.
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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.
Example: Take a 37-bit absolute serial rotary encoder (25-bit Singleturn, 12-bit Multiturn) and its
equivalent linear scale (e.g.10 nm resolution). The maximum ‘commanded” closed-loop velocity (Ixx16,
Ixx22) setting programmable in Turbo PMAC is:
786,432 [counts/msec] with Ixx08=1
8,192 [counts/msec] with Ixx08=96
With Ixx08=1
Technique 1/3 (5-bit Shift)
Technique 2 (no Shift)
With Ixx08=96
Technique 1/3 (5-bit Shift)
Technique 2 (no Shift)
Note
Rotary [rpm]
=MaxCmdVel*60000/SF
1,406
Linear [mm/sec]
=MaxCmdVel*1000/SF
7,864
45,000
251,658
Rotary [rpm]
=MaxCmdVel*60000/SF
14.645
Linear [mm/sec]
=MaxCmdVel*1000/SF
81.916
468.667
2621.334
Notice the lower programmable closed-loop velocity settings with
techniques 1 and 3 (5-bit shift), associated with the default position
scale factor Ixx08 of 96.
Maximum Motor Travel
In Jog mode, the rollover is handled gracefully by PMAC and jogging can be virtually performed forever.
However, this can be problematic when running a motion program indefinitely in incremental mode
where the 48-bit fixed motor register can roll over much sooner than the 48-bit floating axis register.
Note
Absolute Serial Encoders with limited multi-turn range normally do
roll over way before the motor position register in Turbo PMAC does
(i.e. 12-bit multi-turn is 2048 revolutions in each direction)
Example: Take a 37-bit absolute serial rotary encoder (25-bit single turn, 12-bit multi-turn) and its
equivalent linear scale (e.g.10 nm resolution):
Technique 1/3 (5-bit shift)
Technique 2 (no shift)
Appendix D
Rotary
Linear
Rotary
Linear
Total Travel Span
In each direction = Span/2
Units
247-25 = 4,194,304
247/SF
247-20= 134,217,728
247/SF
2,097,152
1,407,374,883
67,108,864
45,035,996,274
revolutions
mm
revolutions
mm
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