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Delta Tau TURBO CLIPPER User's Manual

1. 66 Serial Number and Board Revisions 66 Write Prot ct Disable Jumper 67 Changing IP Address Gateway IP Gateway 66 Enabling 69 Reloading Boot and Communication Firmware 70 Reloading PMAC firmware E13 71 Re initialization jumper Factory Reset 73 Watchdog TET oori iaiia tomeavates 73 APPENDIX E POINT JUMPERS cccsssssssscssssscscsscccsscssccccsssscsccsssscsccsessccsessssscsessssssseesessees 74 Forced Reset Control 74 E2 Serial Port Selection rev 102 and below 74 Normal Re Initializing Power Up Reset 74 E4 Watchdog Disable EDU EE DEEP 74 Table of Contents vii Turbo Clipper 5 Reserved for factory use only 74 ADC Inputs Enable 75 E8 USB Ethernet Reset Jumpers ro 75 E10 E12 Flash IC 75 E13 Power Up Reset Load 76 14 Ports Direction iiic iu eek 76 APPENDIX SCHEMATICS Table of Contents Turbo C
2. feature 2 Machine Port CPU Connector 9 6 9 6 6 34 Pin Symbol Function Description Notes 1 FLG_1_2_V Input Flags 1 2 Pull Up 2 34 V Input Flags 3 4 Pull Up 3 GND Common Digital Common 4 GND Common Digital Common 5 1 Home Flag 1 10 6 HOME2 Input Home Flag 2 10 7 PLIM1 Input Positive End Limit 1 8 9 8 Positive End Limit 2 8 9 9 MLIM1 Input Negative End Limit 1 8 9 10 MLIM2 Input Negative End Limit 2 8 9 11 USERI Input User Flag 1 12 USER2 Input User Flag 2 13 PUL 1 Output Pulse Output 1 14 PUL 2 Output Pulse Output 2 15 DIR 1 Output Direction Output 1 16 DIR 2 Output Direction Output 2 17 EQUI Output Encoder Comp Equal 1 18 EQU2 Output Encoder Comp Equal 2 19 HOME3 Input Home Flag 3 10 20 HOMEA Input Home Flag 4 10 21 PLIM3 Input Positive End Limit 3 8 9 22 PLIMA Input Positive End Limit 4 8 9 23 MLIM3 Input Negative End Limit 3 8 9 24 MLIMA Input Negative End Limit 4 8 9 25 USER3 Input User Flag 3 26 USER4 Input User Flag 3 Connections and Software Setup 29 Turbo PMAC Clipper Hardware Reference Manual 27 PUL_3 Output Pulse Output 3 28 PUL_4 Output Pulse Output 4 29 DIR_3 Output Direction Output 3 30 DIR_4 Output Direction Output 4 31 EQU3 Output Encoder Comp Equal 3 32 EQU4 Output Encoder Comp
3. 2290 Servo 1 13 Servo 1 2427 Output Command Channels 9 12 PFM Clock Settings 2290 Servo IC 2 13 Servo IC 2 2427 Output Command Output Command Limit Clock divider equal Pulse Width Control Clock divider equal Pulse Width Control Limit Clock divider equal Pulse Width Control Limit to 6 equal to 13 to 6 equal to 13 to 6 equal to 13 First Acc 1P First Acc 1P First Acc 1P Second 1 Second 1 Second 1 E Note The following example assumes that there is no encoder attached to the motor and the feedback is internally generated Drive Motor Setup 54 Turbo PMAC Clipper Hardware Reference Manual PFM Setup Example Encoder Conversion Table for channels 1 4 8000 5 78000 8001 5 78008 8002 5 78010 8003 5 78018 7016 4 10 3 7010 4 10 8 102 578004 202 57800 302 578014 402 57801 8004 5 78100 8005 C78108 8006 5 78110 8007 5 78118 7116 4 10 3 7110 4 10 8 502 78104 602 7810C 702 78114 802 57811 8008 5 79200 8009 5 79208 8010 C79210 8011 C79218 Channels 9 12 7216 4 10 3 7210 4 10 8 Channels 9 12 Entry 1 incremental encoder no extension Entry 2 incremental encoder no extension Entry 3 incremental encoder no extension Entry 4 incremental encoder no extensi
4. amp 515 603 53512 1604 53512 Ace 1P 518 703 53515 704 53515 amp 515 1803 53518 804 53518 515 At this point of the setup you should be able to move E motor encoder shaft by hand and see motor counts in the position window Note 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 1024 Sine Cosine periods per revolution of a rotary encoder produces 1024 x 128 131 072 cts rev A 20 um linear encoder resolution produces 128 0 02 6400 cts mm Connections and Software Setup 24 Turbo PMAC Clipper Hardware Reference Manual Wiring the DAC Output Example for Clipper Channel 1 Single Ended DAC Output Differential DAC Output COM Analog DAC1 Device 1 VEvice 0 1 13 13 JMACH1 The analog outputs intended to drive high impedance inputs with no significant current draw 10mA max 2200 output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry but any current draw above 10 mA can Note result in noticeable signal distortion Connections and Software
5. 5 24 VDC Power supply 32 Turbo PMAC Clipper Hardware Reference Manual While normally closed to ground switches are required for the overtravel limits inputs the home switches could be either normally close normally open types The polarity is determined by the home sequence setup through the I variables Note 17 2 Limits and Flags Axis 1 4 Suggested M Variables Either the user flags or other not assigned axes flag on the base board can be used as general purpose I O for up to 20 inputs and 4 outputs at 5 24Vdc levels The indicated suggested M variables definitions allow accessing each particular line as shown below 114 gt 5078005 14 output status 115 gt 5078000 19 User 1 flag input status M120 gt X 078000 16 Home flag 1 input status 121 gt 5078000 17 Positive Limit 1 flag input status 122 gt 5078000 18 Negative Limit 1 flag input status M214 gt X 07800D 14 AENA2 output status M215 gt X 078008 19 User 2 flag input status M220 gt X 078008 16 Home flag 2 input status M221 gt X 078008 17 Positive Limit 2 flag input status 222 gt 5078008 18 Negative Limit 2 flag input status 314 gt 5078015 14 output status 315 gt 5078010 19 User 3 flag input status M320 gt X 078010 16 Home flag 3 input status 321 gt 8078010 17 Positive Limit 3 flag input status M322 gt X 0
6. 1 5 DAGE SOMNIA an er 3 25 amp SERVO j FALT3 FALTA GUARD BANDING REQ D _ 196608 5 RESET ADON 1 ab ADON 2 GND GND 48 12 t9 12V 50 P O FLIFLGV _ 12V 12V GND SSM 125 L DV LC Flag 12 Flag T JMACH2 i PWM T PWM B T 4 PWM 2 PWM A T2 PWM B T2 2 PWM A B2 PWM B B2 9 Sr 2 PWM T3 9 PWM B T3 MLM1 MLM2 B3 11 B B3 USERI dir USEF2 13 PWM B T4 PUL 1 T 2 PWM A B4 PWM B B4 DR 1 i DR 2 PWM C ADC A1 EQU 1 16 p EQU 2 PWM C B1 ADC 2 PWM C T2 ADC A3 PWM C B2 23 ADC 4 MLM3 i 2 C T3 25 ADC 81 USER 24 27 52 PUL 9 28 PUL 4 PWM 20 ADC B3 DR 3 28 DR 4 B4 4 EQU 3 i 30 4 3 ADC STR WDO 355 INT AENA 1 35 FAULT 1 AENA 2 37 FAULT 2 AENA 3 39 FAULT 3 AENA 4 41 FAULT 4 BAD A 4 i5 BAS 2 gt 51 NAT gt gt ware 1 SSM 125 L DV LC ADC A1 FALLT 1 YAN 2 FAULT 2 FAULT 3 2 5 ADC AS FAULT 4 ADC BI 5 7__
7. 34 Pin Symbol Function Description Notes 1 MIS Input Machine Input 8 12 13 2 GND Common PMAC Common 3 Input Machine Input 7 12 13 4 GND Common PMAC Common 5 MI6 Input Machine Input 6 12 13 6 GND Common PMAC Common 7 5 Input Machine Input 5 12 13 8 GND Common PMAC Common 9 MI4 Input Machine Input 4 12 13 10 GND Common PMAC Common 11 MI3 Input Machine Input 3 12 13 12 GND Common PMAC Common 13 MI2 Input Machine Input 2 12 13 14 GND Common PMAC Common 15 Machine Input 1 12 13 16 GND Common PMAC Common 17 MO8 Output Machine Output 8 11 13 18 GND Common PMAC Common 19 MO7 Output Machine Output 7 11 13 20 GND Common PMAC Common 21 MO6 Output Machine Output 6 11 13 22 GND Common PMAC Common 23 Machine Output 5 11 13 24 GND Common PMAC Common 25 MO4 Output Machine Output 4 11 13 26 GND Common PMAC Common Connections and Software Setup 39 Turbo PMAC Clipper Hardware Reference Manual 27 MO3 Output Machine Output 3 11 13 28 GND Common PMAC Common 29 MO2 Output Machine Output 2 11 13 30 GND Common PMAC Common 31 MOI Output Machine Output 1 11 13 32 GND Common PMAC Common 33 5 5 34 GND Common PMAC Common gt Note 11 To configure MOI MOS as inputs install jumper E16 To configure MOS as out
8. 15 gt 578400 15 Digital Input MI8 32 gt 578400 0 8 Direction Control bits 0 7 l output 0 input M34 gt X 78400 8 8 Direction Control bits 8 15 l output 0 input 40 gt 578404 0 24 Inversion control 0 0 1 5V 42 gt 578404 0 24 29 port data type control 1 I O In order to properly setup the digital outputs an initialization PLC must be written scanning through once on power up reset then disabling itself PLC SCRIPT CODE OPEN PLC1 CLEAR M32 SFF BITS 0 8 are assigned as output M34 S0 BITS 9 16 are assigned as input 40 6 00 Define inputs outputs M42 SFFFF All lines are I O type DIS Disable PLC1 scanning through once power up reset CLOSE After loading this program set 15 2 3 ENABLE Note Connections and Software Setup 41 Turbo PMAC Clipper Hardware Reference Manual J10 Handwheel and Pulse Dir Connector JHW PD Port JHW PD port provides two Quadrature encoder inputs and PFM or PWM output pairs from the DSPGate2 supplemental channels 1 and 2 J10 JHW Handwheel Encoder Connector 9 26 Pin Header Pin Symbol Function Description 1 GND Common Refe
9. BWR_A L DPRCSO 542 Lap L BRD Busy m _ 1 PX 88 92 1 83
10. gt 1102 to read flash power up reset Set 75 Turbo PMAC Clipper Hardware Reference Manual E13 Power Up Reset Load Source gt 1 to 2 to reload firmware through serial or bus port Factory gt Remove jumper for normal operation Set gt 1 to 2 to DATx lines inputs Factory gt Remove jumper to make DATx lines outputs Set gt 1 to 2 to make SELx lines inputs Factory Remove jumper to make SELx lines outputs Set gt 1 to 2 to make lines inputs Factory Remove jumper to make MOx lines outputs Set to 2 to make MIx lines inputs Factory gt Remove jumper to make lines outputs Set Jumper Configuration Default i e 2 3 1102 Turbo Power Factory gt 203 for Legacy MACRO CPUs Rev 103 or older Set gt 1 to 2 to sample at Servo Rate i a gt 2 to 3 to sample at Phase Rate Appendix A 76 Turbo PMAC Clipper Hardware Reference Manual APPENDIX B SCHEMATICS x AREQEESERQUEREQEES ERG 8 1 6 HW1 1 B1 HW2 A2 Appendix B PERE n OUT A OUT C OUT B EN B D
11. 2 EQU 2 5 VIN 5 8 ADC B3 3 ADC B EQU 4 YA 5 33K Gt C137 62 4 T JUMP E6 w 5 TO ENABLE ADC SEB Appendix B 80 Turbo PMAC Clipper Hardware Reference Manual 5V g12V 2 p RP24 27 FLAG A1 RP25 HOME 1 FLAG 1 sw ua ee 8 wna FLAG C1 em r FLAG A2 1 RPS 2 HOME2 FLAG 2 PLN2 SB ww E MLM2 FLAG C2 M H USERO FLAG 02 FLAG FLAG B3 RP28 PLM3 FLAG MLM3 FLAG 63 USERS FLAG A4 FLAG B4 Fy 4 FLAG C4 FLAG D4 USER4 10K 5V 5V 5V RP44 RP47 FLAG Ti RPS CHTI FLAG U1 wey AS CHU 1 CHVT FLAG V1 144 CHAT FLAG Wi m 10K 42 FLAG 2 RP46 CHT2 FLAG U2 La A l1 1 z CHV2 FLAG V2 apum v CHN2 FLAG W2 a FLAG T3 26 FLAG U3 RP4B CHT3 CHU FLAG V3 CHV3 FLAG W3 282 C CHAS E FLAG FLAG U4 RP49 CHT4 285 B FLAG V4 GND 8 4 FLAG W4 2B6 CHN4 287 201 2 2 81 Turbo PMAC Clipper
12. Calculations for Steppers Ixx69 2114 Max PFM 317 11 kHz Width 1 53 usec Modify 12104 and PFM Clock 17m03 PWM Frequency 29 4 KHz PWM 1 4 Phase Clock 9 8 KHz Servo Clock 2 45 KHz ADC frequency Servo PWM Frequency 29 4 K Phase Clock 9 8 KHz Servo Clock 2 45 KHz ADC frequency Servo Servo Interrupt Time DAC Limit 10 VDC Output Mode PWM DAC Limit 10 VDC Output Mode PWM Servo IC 0 Servo IC 0 Ic 0 Hz PWM 5 8 Acc 1P Servo IC 1 1 1 Acc 1P IC 1 Acc 1P S 1 4 Default Acc 1P s 5 8 Default Acc 1P Drive Motor Setup 46 Turbo PMAC Clipper Hardware Reference Manual Flag Control 1 24 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 0 Use amp enable output Always 21 for Turbo PMAC Clipper 1 Disable amp fault input 1 Don t use amp enable Turbo PMAC Bit 23 22 21 20 E 18 17 16 14 13 12 11 10 9817 6 5 413 2 10 Amplifier Fault Polarity Bit Overtravel Limit Use Bit 0 For low true amp 0 Enable hardware over travel limits 1 For high true amp 1 Disable hardware over travel limits Example Setting Ixx24 for a low true
13. 17002 4 Controlling the output This section includes the memory address settings that you would need in order to change the PWM duty cycle PFM frequency EQU output mode and EQU selection Please Set 128 1 and issue a SAVE and before the following EU settings become active The 28 1 will disable the DISPLAY output p port which in this case will over write the CTRL outputs ote define CTRLO M7000 define CTRL1 M7001 define CTRL2 M7002 define CTRL3 M7003 define M7004 define M7005 define M7006 define M7007 define M7008 define M7009 VAL 7010 define VAL M7011 define EQUI ON M112 1M111 1 define EQU1_OFF 112 0 111 1 define EQU2 212 1 211 1 Laser Control Output 5g Turbo PMAC Clipper Hardware Reference Manual EQU2 OFF 212 0 211 1 define EQU3_ON M312 1M311 1 define EQU3 OFF 312 0 311 1 define EQU4 ON M412 1M411 1 EQU4 OFF 412 0 411 1 CTRL gt 5078407 8 4 5078407 8 4 5078403 8 4 5078403 8 4 CMD VAL gt Y 078414 8 16 S CMD VAL gt Y 07841C 0 24 S 111 gt 8078005 compare initial state write enable 112 gt 5078005 12 compare initial state 116 5078000 9 1
14. Command Limit esses 46 47 BI Protection DAIZ 47 Open Loop Test Encoder Decode 47 Position Loop PID Gains 30 35 49 True DAC Output ELOV 50 Clock Setin oS E 50 Tias COHTOL DX24 50 I2T Protection IAAI 50 Open Loop Test Encoder Decode 51 Position Loop PID Gains 30 1 39 52 Pulse and Direction Output 54 Clock Settings Example 54 Setup Example 55 Writing directly to the register 55 Issuing Open Loop Commands 56 Issuing Closed Loop 5 56 Setup of a Fifth Motor Using Opt 12 on Clipper 59 LASER CONTROL OUTPUT e 61 Understanding Option 11A Capabilities 62 COCKE SEUNS Sse eases 63 64 ROBLES
15. Command PFM KHz 0 0 50 11 100 22 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 00 1100 4 100 1 1500 4 100 1 1900 4 100 1 Channels 1 4 active Channels 5 8 active Channels 9 12 active First Acc 1P Second 1 Assigning position and velocity pointers 03 and Ixx04 1103 53501 1104 53501 Channel 1 position and velocity pointers 1203 53502 1204 53502 Channel 2 position and velocity pointers 03 53503 04 53503 Channel 3 position and velocity pointers 403 53504 1404 53504 Channel 4 position and velocity pointers 1503 53505 1504 3505 Channel 5 position and velocity pointers First 1 Drive Motor Setup 56 Turbo PMAC Clipper Hardware Reference Manual 1603 53506 1604 53506 Channel 6 position and velocity pointers First 1703 53507 704 53507 Channel 7 position and velocity pointers First 1803 53508 804 53508 Channel 8 position and velocity pointers First 1 1903 53509 904 53509 Channel 9 position and velocity pointers Second 1 11003 5350 11004 350 Channel 10 position and velocity poi
16. Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT Code Program Store Boot Store Bootstrap firmware has not been programmed this session IP Address Application firmware has not been programmed this session 192 xc 94 10 Store IP Reg DHCP Success Modbus feature unlocked Gateway IP 255 255 25 255 Protocol Modbus Option UDP 1025 HAW UMAC ACCS4E EthUSBConfigure CPCI C PC104 Geo PMAC C Geo Brick Serial No Gateway Mask 255 255 255 0 Store 00 50 2 74 9 41 Step4 Click Done recycle logic power 5V on Clipper Troubleshooting Bootstrap fimware has not been not been programmed this session Option C MAC Geo Yuasa Geo Brick IP Address Store IP Reg DHCP Gateway IP Gateway Mask 255 255 255 255 69 Turbo PMAC Clipper Hardware Reference Manual Reloading Boot and Communication Firmware The boot and firmware files are required for this procedure They are normally obtained directly from Delta Tau or downloaded from the PMAC forum Webpage The following steps ensure proper configuration Downloading the wrong boot or communication files will severely corrupt the functionality of the communication processor Caution Step1 Insta
17. Example for Channel 1 TTL level output 116 gt 5078000 9 EQUI compare output value M216 gt X 078008 9 EQU2 ENC2 compare output value 316 gt 5078010 9 EQU3 compare output value 416 gt 5078018 9 EQU4 ENC4 compare output value Connections and Software Setup 35 Turbo PMAC Clipper Hardware Reference Manual J7 Machine Connector Port This machine interface connector is labeled JMACH3 or J7 on the Turbo PMAC Clipper It contains the pins for four channels of U V and W flags normally used for hall device commutation J7 JMACH3 Machine Port 14 Pin Header 00000000 000000 Pins Symbol Function Description Notes 1 GND Common Digital Common 2 GND Common Digital Common 3 CHU1 Input U Flag Channel 1 4 CHU2 Input U Flag Channel 2 5 1 V Flag Channel 1 6 CHV2 Input V Flag Channel 2 7 CHW1 Input W Flag Channel 1 8 CHW2 Input W Flag Channel 2 9 CHU3 Input U Flag Channel 3 10 CHU4 Input U Flag Channel 4 11 CHV3 Input V Flag Channel 3 12 CHV4 Input V Flag Channel 4 13 CHW3 Input W Flag Channel 3 14 CHW4 Input W Flag Channel 4 14 pin female flat cable connector Delta Tau P N 014 0 14 0 T amp B Ansley P N 609 1441 171 14 T amp B Ansley standard flat cable stranded 14 wire Phoenix varioface modules type FLKM14 male pins P N 22 81 02 1 Connect
18. Factory use only The board will not operate with EO installed Set gt 1 to 2 for main CPU 1 2 gt 2 to 3 for Ethernet CPU gt 1 to 2 for main CPU gt 2 to 3 for Ethernet CPU gt 1 to 2 to re initialize on power up reset loading factory default settings Factory gt Remove jumper for normal power up reset Set loading user saved settings gt 1 to 2 to disable Watchdog timer for test purposes only Factory gt Remove jumper to enable Watchdog timer Set E5 Reserved for factory use only Version 102 and higher Configuration Default gt Factory use only The board will not communicate via Factory Ethernet or USB if jumper 5 is installed Set Appendix A 74 Turbo PMAC Clipper Hardware Reference Manual Version 101 and lower Factory use only The board will not communicate via 1 2 Ethernet unless jumper is installed pins 1 to 2 gt 1 to 2 to enable the Option 12 ADC inputs Remove jumper to disable the ADC inputs which is Factory necessary for reading current feedback signals from digital Set amplifiers Factory use only Install E7 for normal operation gt Install E8 to reload communication Boot Firmware or change IP Address Factory gt Remove E8 to enable write protection for normal Set operation Factory Remove E10 to read flash IC on power up reset Set Factory gt 1 to 2 to read flash IC on power up reset Set
19. PWM outputs directly available from the Clipper board and you have to use ACC 8ES Analog Servo Interface in order to get the DAC outputs for servo amplifier commands If the PWM frequency required for the laser is less than 30kHz required for the Filtered PWM outputs which mostly is the case then the PWM frequency of the DSPGatel 30kHz should be divisible by PWM frequency of the DSPGate2 which is used for generating the laser output signal The clock source on the Clipper by default is the DSPGatel which in this case needs to be changed to DSPGate2 In order to change the clock source the following steps should be followed carefully in exact explained order or else you may cause a watchdog Switching the clock source 1 Set 11926807 Laser Control Output 63 Turbo PMAC Clipper Hardware Reference Manual 2 Issue SAVE and 3 Set 16807 0 and 17007 3 the same line 4 Issue SAVE and This will change the clock source from DSPGatel to DSPGate2 Once the clock source is switched the following settings will give you different PWM frequencies on the laser output while keeping the 30 kHz PWM requirement for Filtered PWM outputs Laser Required PWM Frequecy kHz 10 01569027 v Filtered PWM Frequecy kHz 30 0165 Phase Clock Divider 1 Servo Clock Divider 5 Settings 1 Phase Clock kHz 20 03138 16800 2943 I Servo Clock kHz 4 006276 16801 0 16802 4 17000 981 17001 2
20. The 12V lines from the supply including the ground reference can be brought in either from the 1 terminal block or from JMACHI connector 12 to 15 V 4 5W 0 30 A Eight channel configuration with a typical load of encoders 12 to 15 V 3 8W 0 25 Eight channel configuration with a typical load of encoders Flags Power Supply Each channel of PMAC has five dedicated digital inputs on the machine connector PLIMn MLIMn overtravel limits HOMEn home flag FAULTn amplifier fault and USERn A power supply from 5 to 24V must be used to power the circuits related to these inputs This power supply can be the same used to Turbo PMAC Clipper and can be connected from the terminal block or J3 connector Connections and Software Setup 13 Turbo Clipper RECEIVING AND UNPACKING Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the Turbo PMAC Clipper is received there are several things to be done immediately gt gt Observe the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the board Remove the Turbo PMAC Clipper 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
21. amp 515 Channel 4 8009 SFF8018 High resolution interpolator Clipper amp 515 8010 5078806 A D converter address Clipper 6 518 8011 5000000 Bias Term and Entry result Clipper amp 515 Channel 5 8012 SFF8100 High resolution interpolator Acc 1P amp 515 8013 078808 A D converter address Acc 1P amp 515 8014 000000 Bias Term and Entry result 1 amp 515 Channel 6 8015 5 8108 High resolution interpolator 1 amp 515 8016 07880 A D converter address Acc 1P amp 515 8017 000000 Bias Term and Entry result 1 amp 515 Channel 7 8018 5 8110 High resolution interpolator 1 amp 515 8019 507880 A D converter address 1 amp 515 8020 000000 Bias Term and Entry result amp 515 Channel 8 8021 SFF8118 High resolution interpolator Acc 1P amp 515 8022 07880 A D converter address Acc 1P amp Acc 51S 8023 000000 Bias Term and Entry result Acc 1P amp 515 Position and Velocity feedback pointers should now be set to the corresponding ECT result 1103 53503 104 53503 Clipper amp 515 1203 53506 204 53506 Clipper amp 515 303 53509 304 53509 Clipper amp 515 1403 350 1404 350C Clipper 515 1503 350 1504 5350
22. 0 1 8 inputs IO 9 16 Outputs Do not invert anything 1 4 GP 1 0 578 flags 9 16 GP I O mot 9 mot 10 for this motor use 11024 5520001 to disable amp fault and overtravel limits mot 9 mot 10 Internal pulse and direction mot 9 PFM on C Internal pulse and direction mot 10 PFM on C For motor 9 use 1903 and 1904 appropriate ECT entry performing a extension of quadrature encoder pointing to 78410 For motor 10 use 11003 and 11004 appropriate ECT entry performing a No extension of quadrature encoder pointing to 78418 Drive Motor Setup 60 Turbo PMAC Clipper Hardware Reference Manual LASER CONTROL OUTPUT Clipper s Option 11 consists of a programmable lattice chip which can be programmed based upon customer s requirements The main objective for this option is to be used as a laser controller Different programs can be loaded in this chip based upon customers requirements and each code will be designated an alpha numeric suffix after options number if the code is developed by Delta Tau and can be ordered at a later time with the same suffix Clipper s option 11A is developed as a general command signal needed for CO2 lasers Usually CO2 lasers require a few digital I O signals in order to control the status and mode of the laser and a control signal which based upon the signal features controls the output power of the laser The laser can be in a few different
23. 167 4 gt gt As you see idea is to switch the output between signal signal based upon either of the EQU outputs EQU outputs are fast responding outputs which can either be activated manually or based upon position compare feature of the PMAC CTRL outputs control which of the EQUs or what combination of EQUs will be used to control the output mode As an example if a user wants to use EQUI to switch between the Tickle pulse and Output mode PWM then CTRLO must be turned on As a safety measure no output will be generated unless at least one of the CTRL outputs is set to 1 Clock Settings The clock used for PWM 15 related to the Max Phase Clock which is used to generate the Phase and Servo clock selecting an appropriate PWM frequency which satisfies both the laser requirements and servo requirements can be challenging especially if user is trying to use Filtered PWM outputs as DAC outputs for amplifier commands In most of the applications the PWM frequency is a set value and is not change at all however in some applications this is not the case and the PWM has to change based upon the material being cut or worked on If you are required to change the PWM based upon the material you won t be able to use the filtered
24. 2 1 DNZ OIN3 8 DINS DING 2 2 0 Jumper 2 1 with JP1 SHUNT when 8 Option 11 present gt 519959555 SIS ELS D 4 CMD IN DAT STB STB 4 VLTN CTRL 6 CTRL3 Q 0 10K H 3P3V 11 77 om i4 Customizable Hi Speed oUF Digital Outputs 11 Option 11 5V 2 0 PUL1 IN PGOUT1 code de m N lt ipMS 1 LC4032V 10T48I ce LC4032V 10TN481 Remove Micro Shunt O 1UF for JP1 when OPT 11 Option 11 GND GND is chosen Appendix B Option 11 79 Turbo PMAC Clipper Hardware Reference Manual JEXPA JMACH1 GND 3 5V GND O BD A 3 o9 CHATE 7 8 CHAT CHAZ BDM 9 10 EDSA 1 2 A 11 12 BDU A CHBI CHB2 13 14 BD A CHCTE 12 A BDI A CHCI OE CHC2 2 A 4 014 a 0 1 4 A A CHB4 BD18 A 23 24 CHB3 22 CHES A 25 CHO 27 B CHC3 25 2s A ua Se Ba 25 BA02A BAM A 25 32 P AENAZ lt BAHA 33 34 o 35 EA ME 2 FALTI 2i FALTZ 15 BXY VMECSO 2 36 p 1 csi 38 CSE css 4 DAC n 500 39 40 BWDO A
25. 7 0 4 SEL 5 I 6 3 I S CLKDIR SEL_7 lt 14 RVO o GND 14 PHASE Den p DINI _ lt DINZ IO 16 FLAG_A2 T DINS 10 17 FLAG B2 DIM 10 18 FLAG C2 Frei 2 DINS 10 19 FLAG 02 8 Dine 10 20 FLAG T2 _21 FLAG_U2 DATA STRB 10 22 FLAG V2 VSS2 10 23 FLAG VDD2 VDD 1120 5V 002 119 pe CMD IN 552 3 6500 e CMD OUT epu 200A 24 STROBE DB 116 BD A BD0lA 24 i ES DouTt 083 SORA 24 2 y 24 Eun DBS 119 24 rors 2014 086 111 24 24 DBs 24 o 900 MUN 0810 107 nA 24 p VLTN DB 24 E 58 STROBE OUT TEST Ho RESET 14 57 CTRLO so GND al ee 1 at 02 35V DEPO DSP1 DISPO oc es 0501 66 DISP4 5 DISP3 ag DISP4 8 DSPS VSS DSPS FOE 0685 06 7 71 M 72 DISP 10 24 10 25 10 26 10 26 10 28 0 27 3 10728 GND 10 30 10 29 10 31 10 30 gp 1031 vo 02 DSPGATE2C Option 12 Option 12 Option 12 Option 12 Appendix B 78 Turbo PMAC Clipper Hardware Reference Manual DISP2 DISP3 DISP4 DISP6 E DISP7 0
26. 9152 MHz 4 2 4576 Frequency 39 3216 2290 Choose Servo Frequency DAC Sample Cock ADC Sample Clock Main Clock Hardware Clock I7m03 Phase Frequency PWM Clock Frequency Phase Clock Frequency Servo Clock Frequency Phase High Time Phase Low Time Total Phase Servo High Time Servo Low Time 9 034602 kHz 4517301 kHz 3 034602 kHz 2 258651 kHz Calculated Clock Times 0 05534 0 05534 0 11069 0 3874 0 05534 PFM Calculations for Steppers 9 Width 2427 22 75 kHz 21 16 usec Modify 17 04 Clock 1703 Message Where m is the Servo IC number Non Turbo 2 Turbo 2 Ultralite Turbo Ultralite nsec nsec nsec nsec nsec 22 75556 kHz Step 1 Choose clock by changing 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 PFM Clock Settings Example Take a desired PFM clock frequency of 0 20 KHz and a pulse width of 20 psec Channels 1 4 PFM Clock Settings 7003 7004 169 4 100 7103 7104 569 4 100 7203 7204 969 4 100 2290 Servo IC 0 13 Servo IC 0 P 2427 Channels 1 4 Channels 5 8 PFM Clock Settings
27. D3 This is a dual color LED When this LED is green it indicates that power is applied to 5V input when this LED is red it indicates that the watchdog timer has tripped Connections and Software Setup 43 Turbo PMAC Clipper Hardware Reference Manual DRIVE MOTOR SETUP The Turbo PMAC Clipper supports three types of outputs e Analog 10V 12 bit Filtered PWM e Analog 10V 18 bit True DAC with Acc 8ES Pulse Frequency Modulation The following chart summarizes the steps to implement for setting up a motor properly with the Turbo PMAC Clipper Encoder Motor wiring Factory Default Reset 5 Save recommended Software Setup Verify Feedback rotate shaft Output i e 10 Dominant Clock Settings p Position PID Tuning b 4 The following section assumes that feedback devices have been setup properly and that moving motor encoder shaft by hand shows correct data in the position window Note Drive Motor Setup gg Turbo PMAC Clipper Hardware Reference Manual Filtered PWM Output Analog 10V In this mode 10V analog output is obtained by passing the digital PWM signal through a 10 KHz low pass filter This technique although not as performing as a true digital to analog converter is more than adequate for most servo applic
28. Done and recycle logic power 5V on the Clipper Troubleshooting 68 Turbo PMAC Clipper Hardware Reference Manual Enabling ModBus A Turbo PMAC Clipper 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 Clipper 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 Install the E8 jumper Step2 Click on ModBus Option The utility will prompt for the bin file MAKE SURE you open the correct file 4 Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 GMT X Code Program EEPROM Download Store Boot programmed this session Look in ModBus Unlock Application fimware has MODBUS 00 50 C2 7A 9B 41 BIN Protocol lt Modbus UDP 1025 HAW C UMAC ACCS4E C CPCI C GeoPMAC PCID4 ACCZP C File name MODBUS 00 50 C2 7A 9B 41 BIN Files of type BIN Files BIN Store 00 50 2 40 70 01 Step3 Remove jumper after the ModBus unlocked message is generated 4a Ethernet Configuration
29. Equal 4 33 B_WDO Output Watchdog Out Indicator driver 34 INIT Input PMAC Reset Low is Reset See note 11 gt Note 8 Pins marked PLIMn should be connected to switches at the positive end of travel Pins marked MLIMn should be connected to switches at the negative end of travel gt Note 9 Must be conducting to usually GND for PMAC to consider itself not into this limit Automatic limit function can be disabled with Ixx24 gt Note 10 Functional polarity for homing or other trigger use of HOMEn controlled by Encoder Flag Variable I70n2 HMFLn Note selected for trigger by Encoder Flag Variable I70n3 Must be conducting to usually GND to produce 0 in PMAC software gt Note 11 Even if it is not used but connected long cabling may pull this line low and cause PMAC to unintentionally reset 34 pin female flat cable connector T amp B Ansley P N 609 3441 Standard flat cable stranded 34 wire T amp B Ansley P N 171 34 Phoenix varioface module type FLKM 34 male pins P N 22 81 063 Overtravel Limits and Home Switches When assigned for the dedicated uses these signals provide important safety and accuracy functions PLIMn and MLIMn are direction sensitive over travel limits that must conduct current to permit motion in that direction If no over travel switches will be connected to a particular motor this feature must be disabled in the software setup through the PMAC Ixx24 variable Wiring the Limits an
30. Hardware Reference Manual PATA SETS Appendix B cos 82 Turbo PMAC Clipper Hardware Reference Manual GPFD15 GPFD14 GPFD13 GPFD12 GPFD11 GPFD10 GPIFD0S GPIFD0S GPIFFD07 GPIFD06 GPIFD05 GPIFD04 0 GPFDO2 GPIFDO1 GPIFDOO GPFA12 11 10 GPFAOS GPIFADG GPIFAD5 GPIFAD4 GPIFA03 2 1 GPIFADO DPRWR DPRENA 3 05 03 03 03 WWW WWW 03 03 03 DPRRD BUSYL ww Appendix B lt HDB15 HDB 14 HDB13 HDB12 HD810 BSAD 1 DPRENA DPRRD BUSYL 8K x 16 Dual Port Ram GPIFD15 GPIFD14 GPIFD13 GPIFD12 GPIFD11 GPIFD10 GPIFDOS GPIFDOS GPIFDO7 GPIFDOG GPIFDOS GPIFDO4 GPIFDO3 GPIFDO2 GPIFDO1 GPIFDOO GPIFA12 11 10 GPIFAOS GPIFAO7 GPIFA05 4 GPIFAO3 GPIFAO2 GPIFAO1 Bep T REIS BERE O O Q 5 2222526 8K x 16 Dual Port BD15 8014 BD13 A 0 BD10 09 26 07 A 21 BD06 20 05 A 19 BDO4 02 BDO1 00 11 Y A10 AQ 46 49 5 50 As 55 A3 56 2 57 1 if
31. Mitutoyo direction sense of the serial data stream packets There are no software parameters that allow changing the direction sense of absolute serial encoders Normally it is set by jumpers or software at the encoder side Some amplifiers allow swapping the DAC and DAC signal to invert the direction travel of the motor Otherwise two of the motor leads have to be swapped Drive Motor Setup 48 Turbo PMAC Clipper Hardware Reference Manual If the motor axis direction does not comply now with the machine design then negative jog commands can be issued for positive motion and vice versa Similarly for motion programs the motor can then assigned to a negative axis definition 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 Satisfactory Step and Parabolic move responses would look like Position Step Move Motor 1 Step Move Plot Result Executed at 12 08 07 PM 1 5 2010 11780 00 11650 00 11520 00 11260 00 11130 00 11000 00 10870 00 10740 00 10610 00 0 Actual and Commanded Position cts 100 200 300 400 500 500 700 800 900 Time msec Rise 0 018 s Peak 0 066 s Natural Freq 30 8 Hz Over Shoot 0 0 Damping 1 0 Settling 0 028 Proportional Gain 30 400000 Derivative Gai
32. Setup 25 Turbo PMAC Clipper Hardware Reference Manual Amplifier Enable Signal AENAn DIRn Most amplifiers have an enable disable input that permits complete shutdown of the amplifier regardless of the voltage of the command signal PMAC s AENA line is meant for this purpose AENA1 is pin 33 This signal is an open collector output and an external 3 3 pull up resistor can be used if necessary Example for Clipper Channel 1 Connect to the amplifier enable input 9000000000000 2 13 JMACH1 Connections and Software Setup 26 Turbo PMAC Clipper Hardware Reference Manual Amplifier Fault Signal FAULT This input can take a signal from the amplifier so PMAC knows when the amplifier is having problems and can shut down action The polarity is programmable with I variable 24 1124 for motor 1 and the return signal is ground GND FAULT1 is pin 35 With the default setup this signal must actively be pulled low for a fault condition In this setup if nothing is wired into this input PMAC will consider the motor not to be in a fault condition Example for Clipper Channel 1 5 24 VDC Power Supply Connect to amplifier FAULT1 x fault output 9000000000000 13 1 Connections and Software Setup 27 Turbo PMAC Clipper Hardware Reference Manual
33. T E E A S 25 Amplifier Enable Signal 26 Amplifier Fault Signal 27 Optional Analog Inputs 28 Analog Inputs 5 28 14 Machine Connector 2 29 Overtravel Limits and Home 30 Wiring the Limits and Flags 30 Limits and Flags Axis 1 4 Suggested M Variables seen 33 Step and Direction Output To External Stepper 34 Compare Outputs icis ise dese sed ERE 35 J7 Machine Connector Port 36 J8 Thumbwheel Multiplexer Port JTHW 37 Thumbwheel Port Digital Inputs and 22 2 000000 38 19 General Purpose Digital Inputs and Outputs 39 General Purpose I Os J6 Suggested M Variables eese eene 41 Handwheel and Pulse Dir Connector JHW PD 42 Table of Contents vi Turbo Clipper J12 Ethernet Communications 43 J13 USB Communications 43 OP Palle 43 CED 43 DRIVE MOTOR ed Filtered PWM Output Analog 10 45 Clock Settings Output Mode
34. amplifier and disabling over travel limit switches yields 520001 I124 4 100 20001 I2T Protection Ixx57 Ixx58 is a software thermal model PMAC internal calculation used to protect motor and drive from exceeding current specifications For a safe setup the lower limit of continuous and peak current specifications between the motor and drive should be selected Example A Turbo PMAC Clipper driving a torque mode amplifier that has a gain of 3 amperes volt and a continuous current rating of 10 amperes with a motor rated to 12 amperes continuous Using the amplifier s continuous current rating of 10 Amps define ContCurrent 10 Continuous Current Limit Amps Input define MaxADC 30 full range ADC reading Amplifier Spec User Input define I2TOnTime 2 Time allowed at peak Current Amp motor spec sec User Input define ServoClk 2 45 Servo Clock pre defined in suggested clocks Khz 1157 INT I7000 ContCurrent MaxADC 1158 INT I7000 I7000 I157 1I157 ServoClk 1000 I2TOnTime 17000 17000 1257 1157 1357 1157 1457 1157 1557 1157 1657 1157 1757 1157 1857 1157 1258 1158 1358 1158 1458 1158 1558 1158 1657 1158 1757 1158 1857 1158 Open Loop Test Encoder Decode The open loop test is critical to verify the direction sense of the encoder counting versus the command output A positive command should create a positive velocity and a position counting in the positive direction a neg
35. 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 board received is the same as the part number listed on the purchase order Inspect for external physical damage that may have been sustained during shipment and report any damage immediately to the commercial carrier that delivered the board Electronic components in this product are design hardened to reduce static sensitivity However use proper procedures when handling the equipment If the Turbo PMAC Clipper 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 Turbo PMAC Clipper gt gt gt gt The components built into electrical equipment or machines can be used only as integral components of such equipment The Turbo PMAC Clipper must not be operated on power supply networks without a ground or with an asymmetrical ground If the Turbo PMAC Clipper is used in residential areas or in business or commercial premises implement additional filtering measures The Turbo PMAC Clipper may be operated only in a closed switchgear cabinet taking into account the ambient conditions defined in the environmental specifications Delta Tau guarantees the confo
36. compare output value 211 gt 507800 ENC2 compare initial state write enable M212 gt X 07800D 12 ENC2 compare initial state M216 gt X 078008 9 ENC2 compare output value 311 gt 8078015 ENC3 compare initial state write enable M312 gt X 078015 12 ENC3 compare initial state 316 5078010 9 ENC3 compare output value M411 gt X 07801D ENC4 compare initial state write enable M412 gt X 07801D 12 ENC4 compare initial state M416 gt X 078018 9 ENC4 compare output value Open PLC 1 Clear CTRL DIR F CTRL DAT 1 CTRL INV 0 1681620 OUTPUT ON 1st Supplimental Channel 1682623 PFM Output on 2nd Supplimental Channel Disable PLC 1 Close PWM CMD VAL 0 represents 50 duty cycle PFM CMD VAL 3000 Changes PFM frequency Based upon the settings above you can change the PWM duty cycle by changing the value of PWM CMD VAL and the frequency by changing CMD VAL The duty cycle of the signal however will be changed based upon 16804 and 16803 settings width 16804 Clock The EQU be turned on and off manually to switch the output mode EQU on M112 1 M111 0 EQU off M112 0 M111 0 Also Position Compare function can be used to control the EQU output Please refer to Turbo User s Manual for detailed information about position compare functionality and settings Laser Control Output 65 T
37. discern the direction of travel which would not be possible with a single signal STL L Channel Typically these signals 5 TTL CMOS level whether they 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 Connections and Software Setup 21 Turbo PMAC Clipper Hardware Reference Manual Differential Quadrature Encoder Wiring for Channel 1 J3 JMACH1 Encoder shield gt For single ended encoders leave the complementary signal pins floating do not ground them Alternately some open collector single ended encoders may require tying the negative pins to ground in series with 1 2 KOhm resistors gt Some motor manufacturers bundle the hall sensors with the Note motor lead cable The hall sensors must be brought into J7 connector 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 00 1 the corresponding channel is sufficient to see encoder counts in the position window when motor encoder shaft is moved by hand 1100 4 100 1 Servo ICO Channels 1 4 activated 1500 4 100 1 Servo ICO Channels 5 8
38. integration be carried out in accordance with all regulations pertaining to the installation TB1 Power Supply Input This 4 pin terminal block is used to bring the 5VDC logic power and 12VDC DAC supply into the Turbo PMAC Clipper JPWR Power Supply 4 Pin Terminal Block __Edge of Board Pins Symbol Function Description Notes 1 GND Common Digital Common 2 5V Input Logic Voltage Supplies all PMAC digital circuits 3 12V Input DAC Supply Voltage Ref to Digital GND 4 12V Input DAC Supply Voltage Ref to Digital GND For 12V and 12V a minimum of 22 gauge AWG stranded wire is For 5V and GND 18 gauge AWG stranded wire is recommended recommended Note Connections and Software Setup 17 Turbo PMAC Clipper Hardware Reference Manual J2 Serial Port This connector allows communicating with Turbo PMAC Clipper from a host computer through a RS 232 port Delta Tau provides the Accessory 3L cable that connects the PMAC to a DB 9 connector This port can be used as a primary communication mean or employed as a secondary port that allows simultaneous communication J2 JRS232 Serial Port Connector 60000 10 Pin Header Symbol Function Description Notes 1 PHASE Output Phasing Clock 2 DTR Bidirect Data Terminal Ready Tied to DSR 3 TXD Output Send Data Host receive data 4 CTS Input Clear to Send Host rea
39. most likely the direction sense of the encoder is opposite to the command output 21000 00 0 00 1 42000 00 3 410 00 Apooja 63000 00 82000 Commanded Voltage bits i 84000 00 1230 00 105000 00 1640 00 126000 00 Time msec WAJARNINGII Positive command produced negative velocity You need check phase angle or encoder decode setting or redo rought phase step Commanded Voltage Velocity General recommendation for troubleshooting an unsuccessful open loop test An inverted saw tooth response most times indicates that the direction sense of the encoder is opposite to that of the command output Drive Motor Setup 51 Turbo PMAC Clipper Hardware Reference Manual gt Quadrature Sinusoidal Change I7mn0 to 3 from 7 default or vice versa gt Absolute Serial Encoders EnDat SSI BiSS Yaskawa Panasonic Tamagawa Mitutoyo The Turbo PMAC Clipper has no control on the direction sense of the serial data stream packets There are no software parameters that allow changing the direction sense of absolute serial encoders Normally it is set by jumpers or software at the encoder side Some amplifiers allow swapping the DAC and DAC signal to invert the direction travel of the motor Otherwise two of the motor leads have to be swapped If the motor axis direction does not comply now with the machine design then negative jog commands can be
40. 00 3000 00 0 00 3000 00 6000 00 1013 9000 00 12000 00 5 5 8 S gt g 3 5 5 5 E 15000 00 100 200 300 400 500 600 700 800 900 Time msec Velocity Correlation Time 0 0492 Average Fe Vel Time 0 0095 Acceleration Correlation Timez0 3813 Average Fe Acc Time 0 0215 Max Following Errorz 2 5313 Proportional Gain 30 450000 Derivative Gain Gain 31 4200 Velocity Feedforward Gain 1x32 4250 Integral Gain 33 20000 Integral Mode Ix34 0 Acceleration Feedforward Gain Ix35 15000 Command Limit 1 89 11853 Servo Cycle Extension 60 0 Friction Feedforward Gain 68 0 Fatal Following Error Limit 11 32000 At this point of the setup the motor s is ready to accept Jog commands wa Note Drive Motor Setup Turbo PMAC Clipper Hardware Reference Manual Pulse and Direction Output PFM The Pulse and direction Pulse Frequency Modulation output pins are located on 14 J MACH2 connector The stepper drive specifications dictate the choice of the maximum clock frequency and pulse width DT Calculator Forum Link PMAC2 Clocks Main Clock Calculation Section 6527 0 Step1 Servo Clock D vider I 7m02 3 PWM Pw ITm04 13 3713991 Max Phase 171100 Phase Clock Divider I7m01 110 Setting Step2 Encoder Sample Clock 9 8304 MHz PFM Clock 6 gt 0 6144 MHz 3 m 4
41. 16 5 Channel 6 Min 0 Max Calculated 1669 First Acc 1P 707 578114 8 16 5 Channel 7 0 Max Calculated 1769 First 1 807 gt 57811 8 16 5 Channel 8 Min 0 Max Calculated 1869 First Acc 1P Channels 9 12 Suggested M Variables PFM command output 907 gt 578204 8 16 5 Channel 9 Min 0 Max Calculated 1969 Second 1 1007 gt 57820 8 16 5 Channel 10 Min 0 Max Calculated 11069 Second Acc 1P 1107 gt 578214 8 16 5 Channel 11 Min 0 Max Calculated 11169 Second 1 1207 gt 57821 8 16 5 Channel 12 Min 0 Max Calculated 11269 Second Acc 1P Writing directly to the suggested M variable s values proportional to 69 produces corresponding frequencies Suggested Output Frequency M Variable 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 100 will result in a zero frequency output and an open loop command of 100 10100 will result in the maximum calculated frequency output 1100 4 100 1 1500 4 100 1 Channels 1 4 active Channels 5 8 active Channels 9 12 active First Acc 1P 1900 4 100 1 1 Going back to the setup example these some open loop commands resulting frequencies Open Loop Output Frequency
42. 78010 18 Negative Limit 3 flag input status M414 gt S07801D 14 AENA4 output status 415 gt 5078018 19 User 4 flag input status M420 gt X 078018 16 Home flag 4 input status 421 gt 5078018 17 Positive Limit 4 flag input status M422 gt X 078018 18 Negative Limit 4 flag input status When using these lines as regular I O points the appropriate setting of UG the Ixx24 variable must be used to enable or disable the safety flags feature Note Connections and Software Setup 33 Turbo PMAC Clipper Hardware Reference Manual Step and Direction PFM Output To External Stepper Amplifier The Turbo PMAC Clipper or the Acc 1P has the capability of generating step and direction Pulse Frequency Modulation output signals to external stepper amplifiers The step and direction outputs can be connected in single ended configuration for 5V input signal amplifiers Example for Clipper Channel 1 14 2 Software setup for output found in the Drive Motor setup section Note Connections and Software Setup 34 Turbo PMAC Clipper Hardware Reference Manual Compare Equal Outputs The compare equals EQU outputs have a dedicated use of providing a signal edge when an encoder position reaches a pre loaded value This is very useful for scanning and measurement applications Instructions for use of these outputs are covered in detail in the Turbo PMAC User Manual
43. AC setting s Turbo PMAC script code for a Turbo PMAC Clipper and Acc 8ES 17000 6527 Servo 0 PWM Frequency 4 5 KHz Phase Frequency 9 KHz 17001 0 Servo 0 Phase Clock 9 Khz 17002 3 Servo 0 Servo Clock 2 25 110 3713991 Servo Interrupt Time 17016 4 10 3 Output Mode DAC axis 1 4 17005 57 Servo 0 DAC Strobe 18 bits DAC circuit for Acc 8ES Flag Control 1 24 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 0 Use amp enable output Always 21 for Turbo PMAC Clipper 1 Disable amp fault input 1 Don t use amp enable Turbo PMAC Bit 23 22 21 20 E 18 17 16 14 1312111 10 9 8 7 6 5 14 3 2 0 Amplifier Fault Polarity Bit Overtravel Limit Use Bit 0 For low true amp 0 Enable hardware over travel limits 1 For high true amp 1 Disable hardware over travel limits Example Setting Ixx24 for a low true amplifier and disabling the over travel limit switches yields 20001 1124 4 100 520001 2 Protection Ixx57 58 I2T is a software thermal model PMAC internal calculation used to protect motor and drive from exceeding current specifications For a safe setup the lower limit of continuo
44. AC2 CPU standard 8 24 internal memory 256Kx24 SRAM 1MB flash memory gt C3 80MHz Turbo PMAC2 CPU 8 24 internal memory 1Mx24 SRAM 4M flash memory gt 240MHz Turbo PMAC2 CPU 192Kx24 internal memory 1Mx24 SRAM 4M flash memory Communication Options gt Opt 2 Dual Port RAM required for NC software applications gt Opt 15F Modbus Communication for additional I O s gt OptEX JEXPA amp stack long pins gt Opt C4 JEXPA amp JEXPB stack and connectors long pins for breakout board option Axis Output gt 18 bit true DAC or 12 bit filtered PWM default 10V analog output gt Pulse And Direction PFM Encoder Input gt Four encoder inputs and two handwheel quadrature input default gt Additional four encoder inputs Acc 1P and two handwheel encoder Acc 1P Option1 Digital Inputs Outputs gt 32 general purpose TTL level I O points default gt Additional 8 general purpose I O and multiplexed I O Acc 1P Option1 Analog Inputs gt Two 12 bit analog inputs and a 12 bit filtered PWM 10V outputs Opt 12 gt Additional two 12 bit analog inputs and 12 bit filtered PWM 10V outputs Acc 1P Option2 Host Communication gt USB 2 0 Ethernet 100 Base T RS232 default Stackable Accessories ACC 1P PC 104 format Channel 5 8 board ACC 8AS 4 channel dual 16 bit true DAC output board ACC 8ES 4 channel dual 18 bit true DAC output board ACC 8FS 4 channel direct PWM output board AC
45. C 8TS 4 channel ADC interface board 515 2 4 channel high resolution encoder interpolator board ACC 84S 4 channel serial encoder interface The supported protocols e SSI Synchronous Serial Interface EnDat 2 2 EnDat 2 2 interface from HEIDENHAIN BiSS B Renishaw Biss B Unidirectional BiSS C Renishaw Biss C Unidirectional Yaskawa Yaskawa Sigma and Sigma III feedback support Panasonic Panasonic Feedback Style Tamagawa Tamagawa Feedback Style Mitutoyo Mitutoyo Feedback Style VVVVVVV Connections and Software Setup 12 Turbo Clipper Environmental Specifications Operating Temperature 0 to 45 C Storage Temperature 25 C to 70 C MEE Humidity 10 to 95 96 Non Condensing Electrical Specifications Digital Power Supply The 5V and ground reference lines from the power supply should be connected to TB1 terminal block of the Turbo PMAC Clipper board using 18 AWG stranded wire The power requirement 590 is 5 V 20W 94A Eight channel configuration with a typical load of encoders Boards with revisions 103 and below have the following requirement Mininumum 10 msec rise time 5 45 30 W The Clipper Board and other stackable accessories each require a WARNING 5VDC power supply for normal operation however the Clipper board has an in rush current requirement that can reach so 5VDC power supply is recommended DAC Outputs Power Supply
46. Command Output Register 902 78204 1 9 1002 57820 Channel 10 1102 578214 1 11 1202 57821 1 12 Second Second Second Second In mode it is possible to gt Write directly to the output register using the suggested M Variable definition Mxx07 The corresponding channel has to be deactivated in this mode Ixx00 0 gt Issue open loop commands to a channel motor e g 105 The corresponding channel has to be activated in this mode Ixx00 1 gt Issue closed loop commands to channel motor e g 1J 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 1 4 Suggested M Variables PFM command output 107 gt 578004 8 16 5 Channel 1 0 Max Calculated 1169 207 gt 57800 8 16 5 Channel 2 0 Max Calculated 1269 307 gt 578014 8 16 5 Channel 3 0 Max Calculated 1369 Drive Motor Setup 55 Turbo PMAC Clipper Hardware Reference Manual 407 gt 57801 8 16 5 Channel 4 0 Max Calculated 1469 Channels 5 8 Suggested M Variables PFM command output 507 gt 578104 8 16 5 Channel 5 0 Max Calculated 1569 First 1 607 gt 57810 8
47. HARDWARE REFERENCE MANUAL Turbo PMAC Clipper DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control BaRSaRSASEASAANSASSARRARSANSASSESSEASESSASSSSESESASEERASESSESESESAREESSEHTESEAREN Power Flexibility l Ease of Use 21314 Lassen St Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Turbo Clipper Copyright Information 2014 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 products accessories and amplifiers 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
48. Lucene ees 9 DOCUIMENNON C 9 Downloadable Turbo PMAC Script 3 I HIER ERE 10 SPECIFICATIONS 11 Part NUME iaceo ono 11 DPC Ae e E ERE 12 Environmental Specifications 13 Electrical Eee eri e n OS ERE 13 Digit l Power SUPplY 13 DAG Outputs Power Supply uiia aiii dad dedu d c c 13 Flags Power dud du dud 13 RECEIVING AND UNPACKING 14 Use Equipment ox dee Un 14 erent T 15 Physical SpeCiiCatioms 16 Board Dimensions and 16 CONNECTIONS AND SOFTWARE 17 Power Supply Inputs 5 30 rri iie ERE TREE 17 J2 Serial Port 18 T3 Machine Connector JMACHI 19 Setting Quadrature 22 Setting up Sinusoidal 4 22 Counts per URTEIL 24 Wiring the DAC OUMU RARER a a
49. OUT D RuESEERER GEES go o vec 18 15 inp 2 HW2 B2 IND He HW2 B2 go 2 HW1 1 HW1 A1 LZ HW1 1 INC 8 HW1 1 INC 14 HW2 2 INB HW2 2 uss 1 a 12 1 2A DR2 4A 12 34 EN 2 2 9 UL 2 lt MC3487D 1Y 12 2 4 42 lii DR 1 PUL 1 1 2 DR 2 PUL 2 PUL 2 C188 0 1UF 858580 77 Turbo PMAC Clipper Hardware Reference Manual o VDD2 155 5 55 00 FLAG 188 19 00 DATA 3 FAULT 1 DATA 2 10_01 FLAG_V1 10 0 3 FAULT2 DATA 3 I0 02 FLAG HA 55 DATAS 2 EQU DATA 4 03 FLAG T i i5 0 m DAT EQU2 5 10_04 FLAG_D1 oe 1 DATA 6 10 05 FLAG C1 mE DAL 8 2 7 1008 FLAG B 153 T 24 07 FLAG 1 D GND 24 BADIA DATA 0 ENC C1 191 24 BAOZA A2 ENC B1 0 ry 14 BAYA 1 3 24 A VSS Hia PUL 1 o GND 24 1 PWM C B HZ 24 DIR_1 PWM 7o 05 24 BRDA RD p 24 WR 5 1 cSt TEL cs 142 ADC_STRB SEL 0 ab 9 SELT 2p eR 140 2 SEL 1 VDI _ ADC 2 IO 12 PWM A T2 188 SEL 3 10713 A B2 SEL4
50. Optional Analog Inputs The optional analog to digital converter inputs are ordered either through Option 12 on the Turbo PMAC Clipper or Option 2 on the axis expansion board Each option provides two 12 bit analog inputs with a 10Vdc range and one 12 bit filtered PWM DAC output Example for Analog Input 1 10V Analog Signal ADCIN 1 J3 M variables associated with these inputs provided a range of values between 2048 2048 for the respective 10Vdc input range The following is the software procedure to setup and read these ports Analog Inputs Setup 17003 1746 Set ADC clock frequency at 4 9152 MHz 17006 SIFFFFF Clock strobe set for bipolar inputs 105 gt 578005 12 12 5 ADCIN 1 JMACH1 connector 45 M205 gt Y 7800D 12 12 S ADCIN 2 JMACH1 connector 46 Connections and Software Setup 28 Turbo PMAC Clipper Hardware Reference Manual J4 Machine Connector JMACH2 Port This machine interface connector is labeled JMACH2 J4 on the Turbo PMAC Clipper It contains the pins for four channels of machine I O end of travel input flags home flag and pulse and direction output signals In addition the WDO output allows monitoring the state of the Watchdog safety
51. activated First 1 1900 4 100 1 Servo ICO Channels 9 12 activated Second Setting up Sinusoidal Encoders For sinusoidal position feedback the Acc 51S sine wave input interpolator stacks on top of the Turbo PMAC Clipper or on top of the Acc 1P 5 8 axis board Channels 1 4 of the ACC 51S correspond to PMAC channels 1 4 if the ACC 51S is connected to the main Turbo PMAC Clipper channels 1 4 of the ACC 51S correspond to PMAC channels 5 8 if the ACC 51S is connected to the ACC 1P board Connections and Software Setup 22 Turbo PMAC Clipper Hardware Reference Manual gt ACC 51S channels 1 4 become PMAC channels 1 4 if ACC 51S jumper E1 connects pins 2 and 3 gt ACC 51S channels 1 4 become PMAC channels 5 8 if ACC Note 515 jumper 1 connects pins 1 and 2 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 Turbo Encoder Conversion Table Device 0 QMAC TURBO V1 DAR Select a table entry to view edit 1 End of Table Download Entry Eirst Entry of Table Done Enty 3501 Processed Data 3503 Address Address View All Entries of T able Viewing Conversion High res interpolator ACCs 51 2 5 2 style v Source Address 78000 Servo IC 0 Channel 1 converter address 7880 A D
52. anging IP Address Gateway IP Gateway Mask In order to change any of these addresses install the E8 jumper prior to pressing the corresponding Store button The following steps ensure proper configuration Stepl Change the desired address field Ethernet Configuration Ethernet Firmware version 3 07 create Step2 Install the E8 jumper Code Program Step3 Press on the corresponding Store button E LS R Store IP for changing IP address e Gateway IP for changing Gateway Gateway Mask for changing Gateway Protocol 4 C Modbus Option Mask 1025 HAW Type C UMAC ACC54E C Gateway C PC104 ACC2P C GeoPMAC GeoYuasa 255 255 255 25 6 No LT 6 56 0 Store 00 50 2 7 38 0 Step4 Remove E8 jumper after corresponding confirmation message is received For changing IP address follow Gateway Gateway Mask through the subsequent messages for setting EthUSBConfigure up windows registry for Pcomm32 A Card Gateway IP setup Ethernet Configure IP address successfully stored in EEPROM Would you like to setup the registry for Pcomm32 ay Yes No Pcomm32 Dil Data Codecs D EthUSBConfigure IP 192 6 94 5 setup for Pcomm32 dll device number 0 for embedded ethernet card number 0 Ca Step5 Click
53. anging IP address Gateway IP or MASK gt Enabling ModBus gt 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 gt Delta Tau Common gt Configure Ethernet 100 BaseT B Executive Pro2 Suite Configure Ethernet 10 BaseT Geo Brick Setup Configure Ethernet 100 BaseT Geo PMAC Setup Configure USB 1 1 GeoBrickLVSetup Configure USB 2 0 PiSetup32PRO2 Software Release Notes P2Setup32PRO2 7 PComm32 Driver Installation Instructions Pewin32PRO2 PmacPlot32PRO2 Code Program PmacTuningPRO2 Store Boot e IP Address TurboSetup32PRO2 Application firmware has not been UmacConfigPRO2 _ Store programmed this session Store IP Protocol Reg DHCP C UDP Modbus Option 1025 C UMAC ACC54E QMAC Gateway PC104 ACC2P Geo PMAC Geo Yuasa 255 255 255 255 ACCBSETH Geo Brick _ Gateway Serial No Pa GatewayMask 255 255 255 0 Store 00 50 2 40 70 01 gt This utility only works with USB communication E gt The Pewin32Pro2 or any other software communicating to the Clipper must closed before launching this utility ote Troubleshooting 67 Turbo PMAC Clipper Hardware Reference Manual Ch
54. annel Positive 2 23 CHB3 Input Encoder B Channel Negative 2 3 24 CHB4 Input Encoder B Channel Negative 2 3 25 CHC3 Input Encoder C Channel Positive 2 26 CHC4 Input Encoder C Channel Positive 2 27 CHC3 Input Encoder C Channel Negative 2 3 Connections and Software Setup 19 Turbo PMAC Clipper Hardware Reference Manual 28 CHC4 Input Encoder C Channel Negative 2 3 29 DACI Output Analog Output Positive 1 4 30 DAC2 Output Analog Output Positive 2 4 31 DACI Output Analog Output Negative 1 4 5 32 DAC2 Output Analog Output Negative 2 4 5 33 1 Amplifier Enable 1 34 AENA2 Output Amplifier Enable 2 35 FAULTI Input Amplifier Fault 1 6 36 FAULT2 Input Amplifier Fault 2 6 37 DAC3 Output Analog Output Positive 3 4 38 4 Analog Output Positive 4 4 39 DAC3 Output Analog Output Negative 3 4 5 40 DAC4 Output Analog Output Negative 4 4 5 41 Amplifier Enable 3 42 AENA4 Output Amplifier Enable 4 43 FAULT3 Input Amplifier Fault 3 6 44 FAULT4 Input Amplifier Fault 4 6 45 ADCIN_1 Input Analog Input 1 Option 12 required 46 ADCIN_2 Input Analog Input 2 Option 12 required 47 FLT_FLG_V Input Amplifier Fault pull up V 48 GND Common Digital Common 49 12 DAC Supply Voltage 7 50 12V Input DAC Supply Voltage 7 PMAC s digital circuitry permitted between this signal and it
55. ating 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 AN A Note identifies information critical to the understanding or use of equipment It follows the discussion of interest Note Turbo Clipper REVISION HISTORY DESCRIPTION DATE APPVD Changed name of manual to Turbo PMAC Clipper 11 03 09 Adjusted diagram 31 12 16 09 SM Added pulse and direction setup updated fifth motor setup 06 10 10 SM Updated power supply information 03 17 12 SM General formatting and corrections 04 15 14 RN Older revision correction notes have been removed for clarity Note Turbo Clipper Table of Contents INTRODUC THIN
56. ations The duty cycle of the PWM signal controls the magnitude of the voltage output This is handled internally by the PMAC the user needs not to change any settings However the frequency of the PWM signal determines the output resolution and ripple magnitude disturbance The trade off is as follows PWM Frequency Resolution The higher the PWM frequency lower is resolution with low ripple signal output The lower the PWM frequency the higher is the resolution with a high ripple signal output AN Some amplifiers operate in the X5 V range this can be regulated using motor command output limit parameter 69 Note Both the resolution and the frequency of the Filtered PWM outputs are configured in software on the Turbo PMAC Clipper through the variable 17000 This variable also effects the phase and servo interrupts Therefore as we change 17000 we will also have to change 17001 phase clock divider 17002 servo clock divider and 110 servo interrupt time These four variables are all related and must be understood before adjusting parameters The detailed information for these parameters can be found in the Turbo Software Reference Manual gt Filtered PWM Output Configuration sets the Max PWM frequency very high 29KHz This setting can be problematic with Direct PWM commutation on the same servo IC gt ACC 28A and ACC 28B cannot be used the same ser
57. ative command should create a negative velocity and a position counting in the negative direction The Open Loop test utility in the PMACTuningPro2 Software can be used to execute and open loop test It can also be carried manually from the terminal window while gathering position velocity data or simply monitoring the motor velocity in the position window Drive Motor Setup 47 Turbo PMAC Clipper Hardware Reference Manual File CurrentLoop Position Loop Trajectory Tools Window Help DAC Calibration fol Gantry PID E PmacTuningPro2 Open Loop Test Result Motor 1 e Satisfactory Open Loop Test Result DER Baart e aala Motor 1 Open Loop Test Plot Result Executed at 2 03 56 PM 1 20 2010 Loop Test Commanded Voltage bits 125 00 10500000 84000 00 63000 00 42000 00 8 8 8 AOBA 21000 00 42000 00 63000 00 120 160 200 Time msec 240 280 You should see an increasing velocity curve during the positive segment of the current command a decreasing velocity curve during the negative segment of the current command Commanded Voltage The open loop test is usually performed on an unloaded motor Pma gPro The open loop command output is jg Ee Unsatisfacto OUR ENCODER IS DECODING CORRECTLY Velocty Open Loop Test Resul
58. bias 00000 Conversion Type High res interpolator 2 Style Enter Source Address see table below Enter A D Converter Address see table below A D Bias always zero Channel Source A D converter Channel Source A D converter Address Address Address Address 78000 78800 78100 78808 78008 78802 78108 7880A 78010 78804 78110 7880C 78018 78806 78118 7880E INIA Nn BO AN Results are found in the processed data address which the position Ey and velocity feedback pointers Ixx03 Ixx04 are usually assigned to Note Connections and Software Setup 23 Turbo PMAC Clipper Hardware Reference Manual The equivalent Turbo PMAC script code for 8 channel entries Channel 1 8000 SFF8000 High resolution interpolator Clipper amp 515 8001 5078800 A D converter address Clipper amp 515 8002 S000000 Bias Term and Entry result Clipper amp 515 1 2 8003 SFF8008 High resolution interpolator Clipper amp 515 8004 5078802 A D converter address Clipper amp 515 8005 000000 Bias Term and Entry result Clipper amp 515 Channel 3 8006 SFF8010 High resolution interpolator Clipper amp 515 8007 5078804 A D converter address Clipper amp 515 8008 S000000 Bias Term and Entry result Clipper
59. ccessory 12 SEL4 Output Select 4 Output Multiplexer select output 13 Data 5 Input Data input from multiplexed accessory 14 SEL5 Output Select 5 Output Multiplexer select output 15 DAT6 Input Data 6 Input Data input from multiplexed accessory 16 SEL6 Output Select 6 Output Multiplexer select output 17 DAT7 Input Data 7 Input Data input from multiplexed accessory 18 SEL7 Output Select 7 Output Multiplexer select output 19 No Connection 20 GND Common Common 21 No Connection 22 GND Common Common 23 No Connection 24 GND Common PMAC Common 25 5V Output 5VDC Supply Power supply out 26 INIT Input PMAC Reset Low is Reset Connections and Software Setup 37 Turbo PMAC Clipper Hardware Reference Manual set by jumpers E14 and E15 gt If E14 is removed or E15 is installed then the multiplexing feature Note of the JTHW port cannot be used gt The direction of the input and output lines this connector are 26 pin female flat cable connector T amp B Ansley P N 609 2641 Standard flat cable stranded 26 wire T amp B Ansley P N 171 26 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 Thumbwheel Port Digital Inputs and Outputs The inputs and outputs on the thumbwheel multiplexer port J8 may be used as discrete non multiplexed In this case these I O lines can be accessed through M variable
60. d Flags PMAC expects a closed to ground connection for the limits to not be considered on fault This arrangement provides a failsafe condition Usually a passive normally close switch is used If a proximity switch is needed instead use a 5 to 24V normally closed to ground NPN sinking type sensor Connections and Software Setup 30 Turbo PMAC Clipper Hardware Reference Manual Example for Normally Close Switch 2 C 9584 USER3 LIMIT4 gt NC POS LIMIT 4 NC POS LIMIT 3 4 3 J USER2 C USERI LIMIT 2 220 NCNEG LIMIT1 gt NC POS LIMIT 2 NC POS LIMIT 1 HOME 2 C 1 FLAG RETURN 3 4 FLAG RETURN 1 2 5 24 VDC Power supply Connections and Software Setup 31 Turbo PMAC Clipper Hardware Reference Manual Example for 15 24V Proximity Switch a NC NEG LIMIT 2 NC POS LIMIT 2 FLAG RETURN 3 4 J4 JMACH2 USER 3 X NEG LIMIT lt NCPOS LIMIT3 lt lt USER1 0 gt C NCNEG LIMIT 1 NC POS LIMIT 1 1 FLAG RETURN 1 2 Connections and Software Setup gt
61. dy bit 5 RXD Input Receive Data Host transmit data 6 RTS Output Request to Send PMAC ready bit 7 DSR Bidirect Data Set Ready Tied to DTR 8 SERVO Output Servo Clock 9 GND Common Digital Common 10 5V Output 5Vdc Supply Power supply out 10 pin female flat cable connector T amp B Ansley P N 609 1041 Standard flat cable stranded 10 wire T amp B Ansley P N 171 10 The baud rate for the RS 232 serial port is set by variable 154 At power up reset The Turbo PMAC Clipper sets the active baud based on the setting of I54 and the CPU speed 152 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 Clipper either in hardware power cycle or in software using the command To change the baud rate setting on the Turbo PMAC Clipper set 154 to the corresponding value desired frequency Restart the software Pewin32Pro2 and adjust to the correct baud rate in the communication setup window Then issue a SAVE and a reset or recycle power on the Clipper For odd baud rate settings refer to the Turbo Software Reference Manual 154 Baud Rate 154 Baud Rate 8 9600 12 38 400 9 14 400 13 57 600 10 19 200 14 76 800 11 28 800 15 115 200 Connections and Software Setup 18 Turbo PMAC Clipper Hardware Reference Manual J3 Machin
62. e Press Begin to initiate firmware download Look in E v51 947 1 t TURBO 12 ama MyRecent 2 Documents Percent Done Desktop 0 My Documents Begin Computer File name TURBO2 UDHE MyNetwork Files of type Femware Files 2 Cancel s Open as read only PcommServer IMPORTANT NOTE After the Firmware download is complete you must close all applications including Pro Suite2 Packages NC applications if any and or all your applications based in Delta Tau Communication drivers Also make sure that PcommServer is shut down properly Furthermore it is strongly recommended that you reboot your computer before launching any of the above applications AN The PMAC firmware file for Turbo PMAC Clipper MUST ALWAYS E97 be TURBO2 BIN Note Step6 Wait until download is finished and click done Downloading Firmware Firmware Download Finished Press Done Percent Done 100 Step7 Close all applications i e Pewin32Pro2 and turn off power Step8 Remove the E13 jumper for normal operation Troubleshooting 72 Turbo PMAC Clipper Hardware Reference Manual Re initialization jumper Factory Reset The E3 jumper is used to reset the Turbo PMAC Clipper back to factory default settings global reset Issuing a SAVE after power up with the E3 jumper will permanently erase any user configured pa
63. e Connector Port The primary machine interface connector is JMACH1 labeled J3 on the Turbo PMAC Clipper It contains the pins for four channels of machine I O analog outputs incremental encoder inputs amplifier fault and enable signals and power supply connections J3 JMACH1 Machine Port Connector 50 Pin Header Pin Symbol Function Description Notes 1 5V Output 5V Power For encoders 1 2 5V Output 5V Power For encoders 1 3 GND Common Digital Common For encoders 1 4 GND Common Digital Common For encoders 1 5 CHAI Input Encoder A Channel Positive 2 6 CHA2 Input Encoder A Channel Positive 2 7 1 Encoder A Channel Negative 2 3 8 CHA2 Input Encoder A Channel Negative 2 3 9 Encoder Channel Positive 2 10 CHB2 Input Encoder B Channel Positive 2 11 1 Encoder Channel Negative 2 3 12 CHB2 Input Encoder B Channel Negative 2 3 13 Encoder Channel Positive 2 14 CHC2 Input Encoder C Channel Positive 2 15 Encoder Channel Negative 2 3 16 CHC2 Input Encoder C Channel Negative 2 3 17 CHA3 Input Encoder A Channel Positive 2 18 CHA4 Input Encoder A Channel Positive 2 19 CHA3 Input Encoder A Channel Negative 2 3 20 CHA4 Input Encoder A Channel Negative 2 3 21 CHB3 Input Encoder B Channel Positive 2 22 CHB4 Input Encoder B Ch
64. er However calculating the signal requirements for the Tickle pulse is Laser Control Output 61 Turbo PMAC Clipper Hardware Reference Manual dependent on the laser and differs for different manufacturers For example the laser shown in the above graph requires a 5kHz signal with 0 5 duty cycle as its Tickle pulse 75 Duty Cycle PWM Command 75 output lt gt 25 1 PWM Frequecy 1 8kHz 125 gt PWM Command 25 output 0 5 Duty Cycle Tickle Pulse gt Ie PFM Command 0 5 output gt 1 Frequecy 1 5kHz 200usec In the next section we will use this laser specific information to set up Please note that values and settings here are just an example and your values might be different Please refer to your laser documentation or contact the manufacturer for detailed information about your specific laser Understanding Option 11A Capabilities Option 11A has been programmed to include a few logical gates controlling the output signals In general there are a few signals available from the Clipper as inputs to the Lattice chip 3P3V 3P3V Option 11 C44 Option 11 P Customizable Hi Speed O 1UF Digital Outputs OPT 11 090 1 06 1 pcouto 48 2 pG
65. 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 or industrial PC 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 Turbo Clipper 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 insul
66. he Clipper Board The DSPGATE2A supplemental channels are set with 16800 6807 Set these to the same values as specified for the filtered PWM outputs leave 16804 16807 at default Example Turbo PMAC script code for motor 5 16800 1001 frequency 29 4kHz 1 4 I6801 5 Phase Clock 9 8kHz 16802 3 Servo frequency 2 45kHz 16803 1746 ADC frequency 16816 0 Output mode 168 6 1569 1001 Channel 5 DAC limit 10Vdc Ixx69 The encoder decode I variables 168 0 68 9 supplementary channels 1 and 2 Set these for your encoders as normal Note there are no direct inputs for flags so capture I variables are not used The Output Command Registers Ixx02 now must point to the DSPGATE2A 3 Channel Outputs at 578414 and 7841C first and second supplemental registers respectively The addresses of the DSPGATE2A Counters Timers used in the encoder conversion table are 78410 and 78418 first and second supplementary registers respectively When using the OPT 12 filtered PWM DAC on the hand wheel port use the second output at 7841C The encoder counter registers are at gt 78411 0 24 5 first counter register gt 78419 0 24 5 second counter register Flags access through JOPTO port The OPT 12 channel may also access its machine I O such as the overtravels home and fault flags for one motor only This is done through the JOPTO lines J9 by changing their f
67. ions and Software Setup 36 Turbo PMAC Clipper Hardware Reference Manual J8 Thumbwheel Multiplexer Port JTHW Port Thumbwheel Multiplexer Port on the JTHW connector has 8 inputs and 8 outputs at TTL levels The output lines can be used to multiplex large numbers of inputs and outputs on the port and Delta Tau provides accessory boards and software structures special M variable definitions to capitalize on this feature In this form some of the SELn outputs are used to select which of the multiplexed I O are to be accessed Up to 32 of the multiplexed I O boards may be daisy chained on the port in any combination J8 JTHW Multiplexer Port Connector 26 Pin Header 0000000000000 0000000000000 Symbol Function Description Notes 1 GND Common PMAC Common 2 GND Common PMAC Common 3 DATO Input Data 0 Input Data input from multiplexed accessory 4 SELO Output Select 0 Output Multiplexer select output 5 DATI Input Data 1 Input Data input from multiplexed accessory 6 SEL1 Output Select 1 Output Multiplexer select output 7 DAT2 Input Data 2 Input Data input from multiplexed accessory 8 SEL2 Output Select 2 Output Multiplexer select output 9 DAT3 Input Data 3 Input Data input from multiplexed accessory 10 SEL3 Output Select 3 Output Multiplexer select output 11 DAT4 Input Data 4 Input Data input from multiplexed a
68. issued for positive motion and vice versa Similarly for motion programs the motor can then assigned to a negative axis definition 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 Satisfactory Step and Parabolic move responses would look like 11780 00 11650 00 11520 00 8 11260 00 11130 00 11000 00 10870 00 2 5 8 6 z i 2 5 5 5 8 i 10740 00 10610 00 Drive Motor Setup Position Step Move Motor 1 Step Move Plot Result Executed at 12 08 07 PM 1 5 2010 SU 100 200 300 400 500 500 700 800 900 Rise Time 0 018 s Peak Time 0 066 s Natural Freq 30 8 Hz Over Shoot 0 0 Damping 1 0 Settling Time 0 028 s Proportional Gain Ix30 400000 Derivative Gain Gain 1 31 2800 Velocity Feedforward Gain 32 4250 Integral Gain 33 1000 Integral Mode 1 34 1 Acceleration Feedforward Gain 1 35 15000 Command Limit 69 11853 Servo Cycle Extension 1 60 0 Friction Feedforward Gain 1 68 0 Fatal Following Error Limit 1 11 32000 Position Parabolic Move 52 Turbo PMAC Clipper Hardware Reference Manual Motor 1 Parabolic Move Plot Result Executed at 11 56 42 AM 1 5 2010 15000 00 12000 00 9000 00 6000
69. lipper INTRODUCTION The Turbo PMAC Clipper is a multi axis stand alone controller It has the full power of Turbo PMAC2 CPU and provides a minimum of 4 axes of servo or stepper control It comes with 32 general purpose digital I O points handwheel port USB Ethernet and RS 232 communications links The optional axis expansion board provides a set of four additional servo channels and extra I O ports The Turbo PMAC Clipper can be interfaced with several different type of encoders and it supports three types of outputs gt Analog 10V 12 bit Filtered PWM gt Analog 10V 18 bit True DAC Optional gt Pulse Frequency Modulation 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 Turbo PMAC Clipper It is highly recommended to refer to the latest revision of the manuals found on Delta Tau s website under Support gt documentation gt Manuals Delta Tau Manuals Introduction 9 Turbo Clipper Downloadable Turbo PMAC Script 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 Caution This manual contains downloadable code samples in Turbo PMAC script These examples can be copied and pasted into the editor area in
70. ll the E8 jumper Step2 Click on Store Boot Step3 The utility will prompt for the boot MAKE SURE you open the correct IIC file ending with BootFx2 iic and wait for firmware load successful message Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 X EEPROM Download Code Program cpm Fimware Load Successfull Look in commFw E 050 700066 0245 5 307 2 050 700067 020 FWBootFx2 iic Protocol Reg DHCP Modbus Option amp TP 1025 HAW UMAC ACCBAE C QMAC PC104 ACC2P C GeoPMAC C Geo Yuasa ACCESETH Geo Brick Filename 050 700067 0205 2 Gate Mask Files of type 12 X Cancel Essen eee Store 00 50 2 40 70 01 255 255 255 0 Step4 Click on Store F W Step5 The utility will prompt for the Firmware file MAKE SURE you open the correct file ending with ETHUSB307FX2 iic and wait for firmware load successful message Ethernet Configuration Ethernet Firmware version 3 07 created 04 17 2007 at 15 52 00 X EEPROM Download f Code Program B fi he bee Look in 3 Comm 6 Store IP 050 700066 024 PETHUSB307FX2 IIC s LL 050 700067 020 FWBootFx2 iic Protocol Reg DHCP IV M
71. modes gt Disabled gt Standby gt Active Controlling between disabled mode and other modes is usually done through a digital output either directly if the device is TTL level or it would have to be done through a relay system The difference between the Standby mode and Active mode is because of the signal type and shape Usually in order to control the output power of the laser a PWM Pulse Width Modulation signal is used and the positive duty cycle of the signal indicates the output power of the laser varying from 0 to 100 However in order to ensure immediate response from the laser when an output is required the gas needs to be kept ionized This can be achieved by outputting a signal The frequency and duty cycle required for each of these modes differs based on the laser model and size and should be adjusted accordingly Assuming the following graph is the laser output response to a step command the frequency of the modulation can be selected Tek Single Seq 1MS s 12645 4515 my ch amp M 505 Ch2 7 dv As you can see the rise time for the laser is about 126 This means in order for our modulation to fully cover the 0 to 100 range of the output the frequency should be set close to 1 126 7936 Hz or 8kHz The tickle pulse is required in order to reduce the time between the change of command to and actual output of the las
72. n Gain Ix31 2800 Velocity Feedforward Gain 32 4250 Integral Gain Ix33 1000 Integral Mode Ix34 1 Acceleration Feedforward Gain Ix35 15000 Command Limit Ix69 11853 Servo Cycle Extension 60 0 Friction Feedforward Gain 1 68 0 Fatal Following Error Limit 1 11 32000 Position Parabolic Move Motor 1 Parabolic Move Plot Result Executed at 11 56 42 AM 1 5 2010 15000 00 12000 00 9000 00 6000 00 3000 00 0 00 3000 00 6000 00 10113 4 9000 00 12000 00 Actual and Commanded Velocity cts sec 15000 00 100 200 300 400 500 500 700 800 900 Time msec Velocity Correlation Time 0 0492 Average Fe Vel Time 0 0095 Acceleration Correlation Time 0 3813 Average Time 0 0215 Max Following Errorz 2 5313 Proportional Gain 1 30 450000 Derivative Gain Gain 131 4200 Velocity Feedforward Gain 1 32 4250 Integral Gain 1 lt 33 20000 Integral Mode Ix34 0 Acceleration Feedforward Gain lt 35 15000 Command Limit 5 lt 69 11863 Servo Cycle Extension 60 0 Friction Feedforward Gain Ix68 0 Fatal Following Error Limit 11 32000 At this point of the setup the motor s is ready to accept Jog commands Note Drive Motor Setup 49 Turbo PMAC Clipper Hardware Reference Manual True DAC Output 10 Clock Settings Output Mode Default Clock settings are suitable for most applications Output mode is set to DAC The following is a 4 channel true D
73. nters Second 11103 5350 11104 350B Channel 11 position and velocity pointers Second 11203 5350 11204 350C Channel 12 position and velocity pointers Second Flag Control 24 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 0 Use amp enable output Always 21 for Turbo PMAC Clipper 1 Disable amp fault input 1 Don t use amp enable Turbo PMAC Bit 234 221 217 20 19 18 17 16 15 14 13112 111 1098765432110 Amplifier Fault Polarity Bit Overtravel Limit Use Bit 0 For low true amp 0 Enable hardware over travel limits 1 For high true amp 1 Disable hardware over travel limits Example Setting 24 for a low true amplifier disabling the over travel limits and amplifier fault input yields 120001 1124 4 100 5120001 Channels 1 4 1524 4 100 5120001 15 5 8 First Acc 1P 1924 4 100 5120001 15 9 12 1 Implementing PID gains Ixx30 Ixx35 In PFM mode the PID Gains can be determined using the following empirical equations 660000 Ixx08 x CLock MHz Ixx30 Ixx31 0 Ixx32 6660 x Servo Freq KHz 33 35 0 Channels 1 4 PID Gains with default clock settings 130 4 100 11190 Motors 5 8 Proportional Gain 131 4 100 0 M
74. odbus Option TA 1025 C C CPCI amac C PCIO4 ACC2P Geo Yuasa 255 255 255 255 Geo Brick Filename 050 700066 024SPETHUSB307FX2 IIC m Gat Mask Files of type 12 Senes StweMACAD 0050524070057 255 255 255 0 Step6 Remove the E8 jumper Click Done and recycle logic power 5V on the Clipper Troubleshooting 70 Turbo PMAC Clipper Hardware Reference Manual Reloading PMAC firmware E13 Jumper E13 jumper is putting Clipper into Bootstrap mode The following steps ensure proper firmware reload upgrade Stepl Jumper the E13 while power is off Step2 Power up the Clipper 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 is in Boostrap Mode lt PEWIN32PRO2 C PROGRAM FILES DELTA TAU PMAC EXECUTIVE PRO2 SUITE PEWIN32PRO2 PEWIN32PRO2_Default INI DEK Configure View PMACResources Backup 7 Tools Window Help Cancel Results Change Monitor Interrupt Monitor UnSolicited Response Troubleshooting 71 Turbo PMAC Clipper Hardware Reference Manual Step5 The download utility will prompt for a BIN MAKE SURE you open the correct file Downloading Firmwar
75. on Channels 1 4 Output Mode Select Encoder Decode Servo IC 0 Channels 1 4 Output Mode Select to Servo IC 0 Channels 1 4 Encoder Decode Internal Pulse and Direction Channels 1 4 Command Output Register Channel 1 Channel 2 Channel 3 Channel 4 Encoder Conversion Table for channels 5 8 Channels 5 8 Command Output Register Entry 5 incremental encoder no extension First Acc 1P Entry 6 incremental encoder no extension First Acc 1P Entry 7 incremental encoder no extension First Acc 1P Entry 8 incremental encoder no extension First Acc 1P Channels 5 8 Output Mode Select Encoder Decode Servo IC 1 Channels 5 8 Output Mode Select to First 1 Servo IC 1 Channels 5 8 Encoder Decode Internal Pulse and Dir First Channel 5 First Acc 1P Channel 6 First Acc 1P Channel 7 First Acc 1P Channel 8 First Acc 1P Encoder Conversion Table for channels 9 12 Entry 9 incremental encoder no extension Second Acc 1P Entry 10 incremental encoder no extension Second Acc 1P Entry 11 incremental encoder no extension Second Acc 1P Entry 12 incremental encoder no extension Second Acc 1P Output Mode Select Encoder Decode Servo IC 2 Channels 9 12 Output Mode Select to PFM Second Acc 1P Acc 1P Servo IC 2 Channels 9 12 Encoder Decode Internal Pulse and Dir Second Acc 1P
76. otors 5 8 Derivative Gain 132 4 100 15038 Motors 5 8 Velocity FeedForward Gain 133 4 100 0 Motors 5 8 Integral Gain 134 4 100 0 Motors 5 8 Integral Mode 135 4 100 0 Motors 5 8 Acceleration FeedForward Gain Channels 5 8 PID Gains with default clock settings 530 4 100 11190 Motors 5 8 Proportional Gain First Acc 1P 531 4 100 0 Motors 5 8 Derivative Gain First 1 532 4 100 15038 Motors 5 8 Velocity FeedForward Gain First 1 533 4 100 0 Motors 5 8 Integral Gain First Acc 1P 534 4 100 0 Motors 5 8 Integral Mode First 1 535 4 100 0 Motors 5 8 Acceleration FeedForward Gain First Acc 1P Drive Motor Setup 57 Turbo PMAC Clipper Hardware Reference Manual Channels 9 12 PID Gains with default clock settings I930 4 100 11190 Motors 9 12 Proportional Gain Second Acc 1P I931 4 100 0 Motors 9 12 Derivative Gain Second 1932 4 100 15038 Motors 9 12 Velocity FeedForward Gain Second Acc 1P I933 4 100 0 Motors 9 12 Integral Gain Second 1 1934 4 100 0 Motors 9 12 Integral Mode Second 1 1935 4 100 0 Motors 9 12 Acceleration FeedForward Gain Second 1 At this point of the setup the drive motor s is ready to accept Jog E commands Note Drive Motor Setup 58 Turbo PMAC Clipper Hardware Reference Manual Setup of a Fifth Motor Using Opt 12 on t
77. ouTt 42 m DRI 3 45 PGOUTZ ER 34 DIRI N PGOUT2 48 PULZIN PGOUT3 PGOUTO 2 Ta He 2 DIR2_IN 4 42 12 PSOUTO 4 EQU 12 8 001 coEtBI5 1 cus 9 4 12 EN PGOUTI 4 EQU2 EGU iy 007 B14 2z 4 EQU 3 EQU 3 B13 E x 1 ispTCk 5 gt u B12 238 EGOUT 2A 2y amp Peou vcc GND 12 E 1 Lu orn 40 caua 004 14 EQ 4 Too 28 80100 U90 gt gt USD 1 i TP 030 x5 34 42 3 184 A14 H3 SH 2 34 EN THO A15 2 32 CRG O rP4 1 SCKO r1 CTRL3 030 SCLK 19 30 PGOUT3 4 SCLK 9 SEDU 19 3A 1 SRDO SD 2 28 030 1 smo 2 B1 B7 28 coe GND 1 sco2 gt B2 B6 22 x2 B5 26 SPMS 24 B4 TMS 1 1 4032 10 4 cas LC4032V 10TN481 GND 4 Remove Micro Shunt O 1UF for 1 when 11 Option 11 GND GND is chosen Option 11 Laser Control Output 62 Turbo PMAC Clipper Hardware Reference Manual The following logic circuit is programmed as the Option 11A into the Lattice chip PUL1 PWM B 2 26000 2 PUL2_PFM is PGOUTZ gt DIR1_PWM_T 4
78. ow while gathering position velocity data or simply monitoring the motor velocity in the position window Satisfactory Open Loop Test Result File Current Loop Position Loop Trajectory Tools Window Help Regular PID pads Filters Gantry PID EiPmacTuningPro2 Open Loop Test Result Motor 1 ame a ate aa Motor 1 Open Loop Test Plot Result Executed at 2 03 56 1 20 2010 Open Loop Test 2 Commanded Voltage bits 8 AOBA 120 160 29 200 Time msec You should see an increasing velocity curve during the positive segment of the current command and a decreasing velocity curve during the negative segment of the current command YOUR ENCODER IS DECODING CORRECTLY Commanded Voltage Velocty The open loop test is usually performed Unsatisfactory Open Loop Test Result on an unloaded motor The open loop gPro2 Open Loop Test Re TUE command output is adjustable start off with a conservative 1 to 2 percent Motor 1 Open Loop Test Plot Result Executed at 2 23 36 PM 1 20 2010 command output i e nO2 value and I y increment gradually until you see a 4200000 satisfactory result Gail 2100000 If the failure persists inverted saw tooth as shown in the plot or you observe oscillations in the response instead of a saw tooth then
79. puts remove jumper E16 A gt Note 12 To configure as inputs install jumper E17 To configure as outputs remove jumper E17 Note gt Note 13 Includes a 10K ohm pull up resistor to 5V 34 pin female flat cable connector T amp B Ansley P N 609 3441 Standard flat cable stranded 34 wire T amp B Ansley P N 171 34 Phoenix varioface module type FLKM 34 male pins P N 22 81 06 3 Connections and Software Setup 40 Turbo PMAC Clipper Hardware Reference Manual General Purpose I Os J6 Suggested M Variables The lines on the JOPT general purpose I O connector will be mapped into PMAC s address space in register Y 78400 Typically these I O lines are accessed individually with M variables Following is a suggested set of M variable definitions to use these data lines 0 gt 578400 0 Digital Output 01 1 gt 578400 1 Digital Output M02 2 gt 878400 2 Digital Output M03 M3 Y 78400 3 Digital Output M04 4 gt 578400 4 Digital Output M05 M5 Y 78400 5 Digital Output M06 6 gt 578400 6 Digital Output 07 7 gt 578400 7 Digital Output M08 8 gt 578400 8 Digital Input 1 9 gt 578400 9 Digital Input 2 10 gt 578400 10 Digital Input 11 gt 578400 11 Digital Input MIA 12 gt 578400 12 Digital Input 5 13 gt 578400 13 Digital Input MI6 14 gt 578400 14 Digital Input
80. rameters Caution Re initialization instructions Power down the unit Install the E3 jumper then power back up The factory default parameters are now restored from the firmware EEPROM into the active memory Issue a SAVE and a to maintain this configuration Watchdog Timer On a Turbo PMAC Clipper the watchdog timer trigger illuminates the red WD LED and interrupts communication It occurs if any of the following applies gt CPU over clocked In this mode the CPU signals that is has been overloaded with computation and cannot accomplish tasks in a timely manner e g bad programming such as an infinite loop or too much computation Kinematics requiring faster CPU option gt Wrong clock settings In this mode the user has downloaded or written bad values to clock setting parameters gt Logic power supply 5V failure In this mode the 5V logic power supply has failed Check and monitor the 5VDC power Downloading wrong configuration file 14900 In this mode the user has reloaded a configuration file uploaded from a 4 axis unit Servo IC 1 parameters set to zero into an 8 axis unit thus writing zero to the second Servo IC clock parameters Commenting out variables 17100 7106 or forcing them to hold the same values as 17000 17106 eliminates the watchdog problem Troubleshooting 73 Turbo PMAC Clipper Hardware Reference Manual APPENDIX A E POINT JUMPERS EO Forced Reset Control gt
81. rd does not matter If the Turbo PMAC Clipper 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 standoffs pattern of the board The board can be mounted to the back panel using four standoffs and internal tooth lock washers It is important that the teeth break through any anodization on the board s mounting gears to provide a good electrically conductive path in as many places as possible Mount the board on the back panel so there is airflow at both the top and bottom areas of the board at least 0 4 inches Connections and Software Setup 15 Turbo Clipper Physical Specifications Board Dimensions and Layout Top View 4 25 _ _ _ 4104 19 0 0 7410 3 601 3 70 2941 E 201 1091 nid 0 55 0 15 ANAARAANAARAAAAAA l 50 8831 390 828 8 981 Connections and Software Setup 16 Turbo PMAC Clipper Hardware Reference Manual CONNECTIONS AND SOFTWARE SETUP WARNING Installation of electrical equipment is subject to many regulations including national state local and industry guidelines and rules The following are general recommendations but it is important that the
82. rence voltage 2 5V Output Supply voltage 3 1 Input HW1 channel A 4 HWAI Input HW1 channel A 5 HWBI Input HW1 channel B 6 channel B 7 HWA2 Input HW2 channel A 8 HWA2 Input HW2 channel A 9 HWB2 Input HW2 channel B 10 2 HW2 channel 11 1 PULSEI output 12 PULI Output PULSE1 output 13 DIR1 Output DIRECTION 1 output 14 DIRI Output output 15 2 PULSE2 output 16 PUL2 Output PULSE2 output 17 DIR2 Output DIRECTION2 output 18 DIR2 Output 2 output 19 TBD 20 TBD 21 TBD 22 TBD 23 HWANA Output OPT 12 Filtered PWM DAC 24 HWANA Output OPT12 Filtered PWM DAC 25 GND Common Reference voltage 26 5V Output Supply voltage 26 pin female flat cable connector T amp B Ansley P N 609 2641 Standard flat cable stranded 26 wire T amp B Ansley P N 171 26 Phoenix varioface module type FLKM 26 male pins P N 22 81 05 0 Connections and Software Setup 42 Turbo PMAC Clipper Hardware Reference Manual J12 Ethernet Communications Port This connector is used to establish communication over Ethernet between the PC and the Turbo PMAC Clipper A crossover cable is required if you are going directly to the Clipper from the PC Ethernet card and not through a hub Delta Tau strongly recommends the use of RJ45 CATSe or better shielded cable Newer network cards have the Auto MDIX feature that eliminate
83. rmance of the Turbo PMAC Clippers with the standards for industrial areas stated in this manual only if Delta Tau components cables controllers etc are used Connections and Software Setup 14 Turbo Clipper MOUNTING The location of the Turbo PMAC Clipper 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 board Several other factors should be carefully evaluated when selecting a location for installation gt For effective cooling and maintenance the Turbo PMAC Clipper should be mounted on a smooth non flammable vertical or horizontal surface gt At least 100 mm 0 4 inches top and bottom clearance must be provided for air flow Temperature humidity and Vibration specifications should also be taken in account 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 Caution The Turbo PMAC Clipper can be mounted as a stand alone controller using standoffs At each of the four corners of the board and at the center edges there are mounting holes that can be used for this The order of the Acc 1P or other stacked accessories with respect to the Clipper Boa
84. s 40 gt 578402 8 1 SELO Output 41 gt 578402 9 1 SEL1 Output M42 gt Y 78402 10 SEL2 Output 43 gt 578402 11 SEL3 Output M44 gt Y 78402 12 SEL4 Output 45 gt 578402 13 SEL5 Output 46 gt 578402 14 SEL6 Output 5 M47 gt Y 78402 SEL7 Output M48 Y 78402 8 8 U 5 10 7 Outputs treated as a byte 50 gt 578402 0 1 DATO Input M51 gt Y 78402 1 1 DAT1 Input 52 gt 578402 2 1 DAT2 Input 53 gt 578402 3 1 DAT3 Input 54 gt 578402 4 1 DAT4 Input 55 gt 578402 5 1 DAT5 Input 56 gt 878402 6 1 DAT6 Input M57 gt 878402 7 1 DAT7 Input M58 gt 78402 0 8 U DATO 7 Inputs treated as a byte Connections and Software Setup 38 Turbo PMAC Clipper Hardware Reference Manual J9 General Purpose Digital Inputs and Outputs JOPT Port This connector provides 16 general purpose inputs or outputs at TTL levels Each input and each output has its own corresponding ground pin in the opposite row The direction of the input and output lines on this connector are set by jumpers E16 and E17 The 34 pin connector was designed for easy interface to OPTO 22 or equivalent optically isolated I O modules Delta Tau s Acc 21F is a six foot cable for this purpose Port Connector
85. s complement Note gt gt gt encoders gt gt gt Automatic fault function can be disabled with Ixx24 Note 1 These lines can be used as 5V power supply inputs to power Note 2 Referenced to digital common GND Maximum of 12V Note 3 Leave this input floating if not used i e digital single ended Note 4 10V 10 mA max referenced to common ground GND Note 5 Leave floating if not used Do not tie to GND Note 6 Functional polarity controlled by variable Ixx24 Must be conducting to usually GND to produce a 0 in PMAC software gt Note 7 Can be used to provide input power when the TB1 connector is not being used Connections and Software Setup 20 Turbo PMAC Clipper Hardware Reference Manual 50 pin female flat cable connector T amp B Ansley P N 609 5041 Standard flat cable stranded 50 wire T amp B Ansley P N 171 50 Phoenix varioface module type FLKM 50 male pins P N 22 81 08 9 Use an encoder cable with high quality shield Note The standard encoder inputs on the Turbo PMAC Clipper 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
86. s 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 J13 USB Communications Port This connector is used to establish USB A B type cable communication between the host PC and the Turbo PMAC Clipper 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 D Data D Data Gnd GND Shell Shield Shell Shield Di nm AJN The electrical ground plane of the host PC connected through USB must be at the same level as the Turbo PMAC Clipper Ground loops may result in ESD shocks causing the damage of the communication processor on the Turbo PMAC Clipper Caution Use a shielded USB category 6 or 7 cable In noise sensitive environment install ferrite cores at both Clipper and PC side Note JP11 OPT 11 Shunt Not present if OPT 11 is installed For internal use only LED Indicators
87. t B E 585 adjustable start off with a 28 1 2 command output i e 002 value and increment gradually until you see a Satisfactory result 1640 00 123000 s2000 410 00 0 00 If the failure persists inverted saw tooth as shown in the plot or you observe oscillations in the response instead of a saw tooth then most likely the direction sense of the encoder is opposite to the command output 41000 Commanded Voltage bits 820 00 1230 00 1640 00 Commanded Voltage Open Loop Test Plot Result Executed at 2 23 36 PM 1 20 2010 53000 00 42000 00 21000 00 0 00 21000 00 42000 00 53000 00 84000 00 105000 00 126000 00 400 160 200 240 280 320 350 IWARNING I Positive command produced negative velocity You need check phase angle or encoder decode setting or redo rought phase step Velocity General recommendation for troubleshooting an unsuccessful open loop test An inverted saw tooth response most times indicates that the direction sense of the encoder is opposite to that of the command output gt Quadrature Sinusoidal Change I7mn0 to 3 from 7 default or vice versa gt The Turbo PMAC Clipper has no control on the Absolute Serial Encoders EnDat SSI BiSS Yaskawa Panasonic Tamagawa
88. 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 P120 Set P120 at download Open PLC 1 Clear Open PLC Buffer 1 clear contents CMDP Turbo PMAC Clipper Manual Test PLC Send unsolicited response to host port 1 1 1 Counter using variable Disable PLC 1 Disable plc 1 Close 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 Caution 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 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 intended registers Caution Introd
89. uction 10 SPECIFICATIONS Part Number Clipper Controller 4 C0 Opt 500 80MHz 2 PMAC2 Standard 4 No Options 0 No Options DSP563 CPU 256 24 SRAM 00 No Additional Options xx Factory assigned digits 5 Opt2 1 Opt 12 for Additional Options 1M8 fiash Dual Port RAM 2 channels 12 bit x Standard converter amp Factory Assigned Options 6 Opt 152 1 12 bit DIA converter C3 Opt 5C3 80MHz DSP563x CPU 7 Opt 2 amp Opt 15F 1 24 SRAM Dual Port RAM 4M 8 flash amp ModBus Comm Opt 5F3 240MHz DSP563 CPU 1524 SRAM CPU Memory Firmware 4M8 flash Options 0 No Options Standard JEXPA amp JEXPB Stack Short pins amp Standard right angle box header connectors short pins 3 Opt EX amp JEXPB Stack long pins Solder side 5 Opt BREAKOUT BRO fOpt 10xx specific firmware version or any other Additional Optionis JEXPA amp JEXPB Stack required contact factory for digits K and L Factory Assigned digits 80 If Opt 10 is not ordered the latest firmware is used Right Angle box header connectors with long pins Solder side Communication Options Connections and Software Setup 11 5 5 gt CO 80MHz Turbo PM
90. unction so that they would act as Home Pos Neg User flags for only the first channel of the two supplemental channels there are no flags for the second channel since these pins of the general I O port of the 2 gate2 are not brought out in this board The following example sets up the OPT 12 for two motors 9 and 10 of pulse and direction control with full machine I O on motor 9 Wiring example Flag Inputs Port Pin Command Output Port Pin Jumpers Settings HMFL1 J9 17 PULI J10 11 E16 Install PLIMI 9 19 PULI J10 12 E17 Remove MLIMI 9 21 DIR1 J10 13 USERI 19 23 DIRI J10 14 17 7 GND 18 NO or NC PLIM 19 NConly GND 20 MLIM 21 NConly 6 0 22 USER 23 7 GND 24 NO or NC Drive Motor Setup 59 Turbo PMAC Clipper Hardware Reference Manual The equivalent Turbo PMAC script code Settings M32 gt X M34 gt X 40 gt M42 Y Powe Open p M32 M34 M40 M42 78400 0 8 78400 8 8 78404 0 24 578404 0 24 lc 1 clear 00 0 SFFOF Disable plc 1 Close 925 5 025 902 002 6816 6820 6826 6810 3 8 3 78410 578418 578414 57841 8 r Direction Control bits 0 7 l output 0 input Direction Control bits 8 15 l output 0 input Inversion control 0 OV 1 5V J9 port data type control 1
91. urbo PMAC Clipper Hardware Reference Manual TROUBLESHOOTING Serial Number and Board Revisions Identification The following Serial Number Page provides the users with information about their Turbo PMAC Clipper without having to open the enclosure by simply inserting the serial number and pressing the enter key Enter 8 Digit Barcode Number not case sensitive 0009476 7 Show Level Desc Only Level Top_Assy Sub_Assy PartNumber Revision 1 4 3871 0 2005 010000 106 PMAC2 TURBO CLIPPER CONTROLLER CONFIGURATION WITH OPT 5C0 DEFAULT SPEED MEMORY CPU CONFIG 80MHZ 05 56303 CPU 8k OPT 2 0N BOARD 8K x 16 DUAL PORTED RAM VERSION 102 AND UP OPT 12 A D CONVERTER 12 BIT 2 CHANNEL ON BOARD om on Assy original ship date Assy last ship date rma 9 19 12 This page will display Description and part number of the top assembly Turbo PMAC Clipper 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 VVVV may not be meaningful to the user and pertains to Delta Tau s internal This page is strictly for identification purposes Some information Note Troubleshooting 66 Turbo PMAC Clipper Hardware Reference Manual Write Protect Disable E8 Jumper The E8 jumper is disabling the USB Ethernet communication write protection for gt Ch
92. us and peak current specifications between the motor and drive should be selected Example A Turbo PMAC Clipper driving a torque mode amplifier that has a gain of 3 amperes volt and a continuous current rating of 10 amperes with a motor rated to 12 amperes continuous Using the amplifier s continuous current rating of 10 Amps define ContCurrent 10 Continuous Current Limit Amps Input define MaxADC 30 full range ADC reading Amplifier Spec User Input define I2TOnTime 2 Time allowed at peak Current Amp motor spec sec User Input define ServoClk 225 Servo Clock Khz 1157 INT I7000 ContCurrent MaxADC 1158 17000 17000 1157 1157 ServoC1k 1000 1I2TOnTime 17000 17000 1257 1157 1357 1157 1457 1157 1557 1157 1657 1157 1757 1157 1857 1157 1258 1158 1358 1158 1458 1158 1558 1158 1657 1158 1757 1158 1857 1158 Drive Motor Setup 50 Turbo PMAC Clipper Hardware Reference Manual Open Loop Test Encoder Decode The open loop test is critical to verify the direction sense of the encoder counting versus the command output A positive command should create a positive velocity and a position counting in the positive direction a negative command should create a negative velocity and a position counting in the negative direction The Open Loop test utility in the PMACTuningPro2 Software can be used to execute and open loop test It can also be carried manually from the terminal wind
93. vo Note IC since the PWM frequency settings are out of range for these products Drive Motor Setup 45 Turbo PMAC Clipper Hardware Reference Manual Clock Settings Output Mode Command Limit Most commonly used and suggested clock settings in this mode allowing a good compromise are a 29 4 KHz PWM Frequency 9 8 KHz Phase and 2 45 KHZ Servo DT Calculator Link 7000 1001 7001 5 7002 3 7003 1746 7100 1001 7101 5 7102 3 17103 1746 110 3421867 169 4 100 1001 7016 4 10 0 569 4 100 1001 7116 4 10 0 Clock Calculation Section Phase 1700 ho Phase Clock Divider I7m01 5 Servo Clock Divider 702 B Pw DT PFM Pw I7m04 fis 110 Setting 3421867 Encoder Sample Clock 2 2 9 8304 MHz PFM Clock m 9 8304 DAC Sample Clock 4 9152 MHz ADC Sample Clock 4 2 4576 MHz Main Clock 39 3216 Hardware Clock 17103 2258 Choose Servo Frequency Message Where m is the Servo IC number Max Phase Frequency 58 83531 kHz PWM Clock Frequency 29 41766 kHz Phase Clock Frequency 9 805885 kHz Servo Clock Frequency 2 451471 kHz Non Turbo 2 Turbo 2 Ultralite Turbo Ultralite Calculated Clock Times Phase High Time 0 0085 Phase Low Time 0 09348 Total Phase 0 10198 Servo High Time 0 31444 Servo Low Time 0 09348 Total Servo 0 40792 Frequency 317 1097 PWM Dead Time 2 025

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