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Delta Tau ACC-24M2A User's Manual

1. Note that the third line of the entry for each channel in this example MI122 for Channel 1 and MI124 for Channel 2 contains the bias in the A D converter values This line should contain the value that the A D converters report when they should ideally report zero The MACRO Station subtracts this value from both A D readings before calculating the arctangent Many users will leave this value at 0 but it is particularly useful to remove the offsets of single ended analog encoder signals If it appears that the encoder has an offset the user can compensate for it in these variables This line is scaled so that the maximum A D converter reading provides the full value of the 24 bit register 2 Generally it is set by reading the A D converter values directly as 24 bit values in this example from Y C090 for Channel 1 and from Y C098 for Channel 2 computing the average value over a cycle or cycles and entering this value here For more detail on how the Sinusoidal Interpolation works in PMAC see Appendix D At this point of the setup process you should be able to move the E motor encoder shaft by hand and see encoder counts in the position window Note Configuring with Turbo PMAC 42 Accessory 24M2A SSI ACC 24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12 16 20 or 24 bit format As with all feedback this data is transferred across the MACRO ring to be used as
2. J1 DB 15 Female Mating DB 15 Male 00000000 O Pin Symbol Description 1 DAC2_A Phase A analog output 2 DAC2_B Phase B analog output 3 AE_NC_2 Amplifier Enabled Normally Closed 4 AE_NO_2 Amplifier Enabled Normally Open 5 AFAULT_2 Amplifier Fault input 6 N C Do not connect H A 12V Analog Positive Supply Voltage 8 AGND Analog Ground 9 DAC2_A Phase A analog output 10 DAC2_B Phase B analog output 11 AE COM 2 Amplifier Enable Common 12 AFAULT 2 7 Amplifier Fault input 13 N C Do not connect 14 AGND Analog Ground 15 A 12V Analog Negative Supply Voltage Connector Pinouts 16 Accessory 24M2A J6 Flags and Limits J6 DB 15 Female Mating DB 15 Male 0 0 OOOO Pin Symbol Direction Description 1 USERI Input User Flag for Channel 1 9 PLIMI Input Positive Position Limit for Channel 1 2 NLIMI Input Negative Position Limit for Channel 1 10 HOMEI Input Home flag for Channel 1 3 FLG RTNI Input Voltage return for Channel 1 s flags 11 EQUI Output Position Compare Output for Channel 1 4 USER2 Input User Flag for Channel 2 12 PLIM2 Input Positive Position Limit for Channel 2 5 NLIM2 Input Negative Position Limit for Channel 2 13 HOME2 Input Home flag for Channel 2 6 FLG RTN2 Input Voltage return for Channel 2 s flags 14 EQU2 Output Position Compare O
3. 22KSIPBI 1 R257 z BEID g LF347M 5 6 DAC2 B Bn DAGE B 220SIP8I RP72D l 8 DAC2 B 5K POT 100K 1 22KSIPBI 1 AGND 220SIP8I Appendix B Schematics 100 APPENDIX C SINUSOIDAL INTERPOLATION Decoder Counter gt SCS Comparator 1 Bit A D E B Sin Cos Differential Signals Analog Amplifier Photo Current Encoder Controller The sine and cosine signals from the encoder are processed in two ways in this product see above diagram First they are sent through comparators that square up the signals into digital quadrature and are then sent into the quadrature decoding and counting circuit of the Servo IC on the ACC 24M24A The units of the hardware counter which are called hardware counts are thus L of a line For most users this fact is an intermediate value an internal detail that does not concern them However this is important in two cases First if the sinusoidal encoder is used for PMAC based brushless motor commutation the hardware counter not the fully interpolated position value will be used for the commutation position feedback Therefore the units of Ixx71 will be hardware counts Second if the hardware position compare circuits in the Servo IC are used the units of the compare register are hardware counts The same is true of the hardware position capture circuits but often these scaling issues are handled automatically through the move
4. Output from 6 line of ECT MI125 Example ACC 24M2A with two motors each with a 24 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MS0 MI120 30FF54 Data Source Address location MS0 MI121 FFFFFF 24 bit SSI conversion MS0 MI122 MaxVelCh1 32 Channel 2 MS0 MI123 30FF74 Data Source Address location MS0 MI124 FFFFFF 24 bit SSI conversion MS0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MSO MI101 12 Output from 3 line of ECT MI122 MS0 MI102 15 Output from 6 line of ECT MI125 If the direction decode variable MS node MI910 is changed the user must save the setting MSSAVE node and reset the card KS MS node before the fractional direction sense matches Note At this point of the setup process you should be able to move the E motor encoder shaft by hand and see encoder counts in the position window Note Configuring with Turbo PMAC 44 Accessory 24M2A Resolver ECT Setup ACC 24M2A has up to two channels of resolver inputs The inputs may be used as feedback or master reference signals for the PMAC servo loops The basic configuration of the drive contains one 10 bit fixed resolution tracking resolver to digital R to D converter
5. Acc F E Correlation Cause Inertial Lag amp Friction Fix Increase K arp Ixx35 Possibly adjust Ixx68 Configuring with Turbo PMAC 57 Accessory 24M2A CONFIGURING WITH POWER PMAC Quick Review Nodes and Addressing Two different types of MACRO interfaces are available for Power PMAC Gate2 style and Gate3 style Gate3 style MACRO interfaces have two banks of MACRO registers Bank A and Bank B As of the date this manual was written ACC 5E3 is the only Gate3 style MACRO interface for Power PMAC Gate2 style MACRO interfaces have up to two ICs each possessing its own registers for MACRO settings As of the date this manual was written ACC 5E is the only Gate2 style MACRO interface for Power PMAC Each MACRO IC for Gate2 style MACRO interfaces or each MACRO bank Bank A and Bank B for Gate3 style MACRO interfaces consists of 16 nodes 2 auxiliary 8 servo and 6 I O nodes e Auxiliary nodes are Master Control registers and are for internal firmware use e Servo nodes carry information such as feedback commands and flags for motor control e T O nodes are by default unoccupied and are user configurable for transferring miscellaneous data Each motor that the ring controller controls requires one servo node and therefore one ACC 5E3 or ACC SE can control a maximum of 16 motors The number of I O nodes used depends on what I O devices ACC 5E3 or ACC 5E is controlling over the MAC
6. Each HO node consists of 4 registers one 24 bit and three 16 bit registers for a total of 72 bits of data A given MACRO Station can be populated with either a MACROS or MACRO16 CPU e MACROS supports only 1 MACRO IC IC 0 e MACROIO supports 2 MACRO ICs IC 0 and IC 1 The I O node addresses COXX for each of the Station MACRO ICs are Station MACRO IC 0 Node Registers Node 2 3 6 7 10 11 24 bit X COAO X COA4 X COA8 X COAC X COBO X COB4 16 bit X COA1 X C0A5 X C0A9 X COAD X COBI X COB5 16 bit X C0A2 X C0A6 X COAA X COAE X COB2 X COB6 16 bit X C0A3 X C0A7 X COAB X COAF X COB3 X COB7 Station MACRO IC 1 Node Registers Node 2 3 6 7 10 11 24 bit X COEO X COEA X COE8 X COEC X COFO X COF4 16 bit X COE1 X COES X COE9 X COED X COFI X COFS 16 bit X COE2 X COE6 X COEA X COEE X COF2 X COF6 16 bit X COE3 X COE7 X COEB X COEF X COF3 X COF7 Configuring with Turbo PMAC 35 Accessory 24M2A Note Non Turbo PMAC2 Ultralite legacy I O node addresses are the same as Station MACRO IC 0 node registers A given Turbo PMAC2 Ultralite or UMAC with ACC 5E can be populated with up to 4 MACRO ICs IC 0 IC 1 IC 2 and IC 3 which can be queried with global variable I4902 If 14902 Populated MACRO IC s 0 None 1 0 3 0 1 7 0 1 2 F 0 1
7. MacroSlave0 MI102 15 Output from 6 line of ECT MI125 Configuring with Power PMAC 71 Accessory 24M2A Example ACC 24M2A with two motors each with a 20 bit SSI encoder one on Node 0 one on Node 1 define MaxVel define MaxVel LCh1 LCh2 ACC 24M2A ECT Setup Channel 1 MacroSlave0 M MacroSlave0 M MacroSlave0 M Channel 2 MacroSlave0 M MacroSlave0 M MacroSlave0 M 20 30FF54 21 0FFFFF 22 MaxVelCh1 32 23 30FF74 24 SOFFFFF 25 MaxVelCh2 32 ACC 24M2A ECT output setup 01 12 Output from 3 line of ECT MI122 02 15 Output from 6 line of ECT MI125 MacroSlave0 M MacroSlave0 M 0 Maximum count change per servo cycle 0 Maximum count change per servo cycle Channel 1 User Channel 2 User Data Source Address location 20 bit SSI conversion Data Source Address location 20 bit SSI conversion Input Input Example ACC 24M2A with two motors each with a 24 bit SSI encoder one on Node 0 one on Node 1 define MaxVel define MaxVel LCh1 LCh2 ACC 24M2A ECT Setup Channel 1 MacroSlave0 M MacroSlave0 M MacroSlave0 M Channel 2 MacroSlave0 M MacroSlave0 M MacroSlave0 M 20 30FF54 21 SFFFFFF 22 MaxVelCh1 32 23 30FF74 24 SFFFFFF 25 MaxVelCh2 32 ACC 24M2A ECT output setup 01 512 Output from 3 line of ECT MI122 MacroSlave0 M MacroSlave0 M 0 Max
8. Operating Altitude Air Flow Clearances Electrical Specifications Main Input Power Nominal Input Voltage Vdc 24 Vac DAC Output V4 10 Va DAC Output A 0 045A Suput ower Dias Oulu 8 12 24V Standard 5 Va w RP38 Installed Flag Input Vac 12 24V ac Standard 5 Va w RP38 Installed Installing a 1 KQ resistor pack at RP38 will make the flags 5 Vac Note Physical Specifications Width Height Depth Overall Dimensions 2 00in 50 8mm 9 75in 247 7mm 6 50in 165 1mm Mounting Dimensions 1 25in 31 75mm 9 375in 238 13mm Weight 2 3 lbs 1 0 kg See the Layout section of this manual for drawings of the physical layout Specifications 11 Accessory 24M2A RECEIVING AND UNPACKING Unpacking Guidelines Delta Tau products are thoroughly tested at the factory and carefully packaged for shipment When the ACC 24M72A is received do the following immediately 1 Inspect the condition of the shipping container and report any damage immediately to the commercial carrier that delivered the drive Be aware that some connector kits and other equipment pieces may be quite small and can be Remove the device from the shipping container and remove all packing materials Check all shipping material for connector kits documentation diskettes CD ROM or other small pieces of equipment discarded accidentally if care is not us
9. ACC 24E2A or ACC 24E2S in a Power UMAC rack Sys Gate3AutoDetect detects which Gate3 Style Servo ICs are present in a Power UMAC rack such as from ACC 24E3 Knowing that each Servo IC services 4 axes querying Sys GatelAutoDetect or Sys Gate3AutoDetect will reveal how many local channels are occupied and thus the number of the 1 available motor on a Macro Ring The corresponding Motor x ServoCtrl for activating the motor and Motor x PhaseCtrl for commutation settings settings are given in the rightmost columns First AutoDetect Servo ICs Local Motor Activating Deactivating Returns Present Motors On The 2 Axis Slave Commutation Ring Motor 1 ServoCtrl 1 Motor 1 PhaseCtrl 0 0 None None 1 Motor 2 ServoCtrl 1 Motor 2 PhaseCtrl 0 1 ICO only 14 5 Motor 5 ServoCtrl 1 Motor 5 PhaseCtr1 0 4 axes Motor 6 ServoCtrl 1 Motor 6 PhaseCtrl 0 3 ICO and IC 1 8 9 Motor 9 ServoCtrl 1 Motor 9 PhaseCtrl 0 8 axes Motor 10 ServoCtrl 1 Motor 10 PhaseCtrl 0 Configuring with Power PMAC 67 Accessory 24M2A Motor Feedback First the user must make Encoder Conversion Table ECT entries on the Ring Controller to read the feedback coming back from the ACC 24M2A on servo nodes This applies to all feedback types that ACC 24M2A uses Use the ECT entry type Single 32 bit register read LSB Bit 8 of Bits Used 24 Make sure to select the address based on the correct nodes enabled f
10. JII amp J12 Encoder Feedback HiperFace esee 32 JII amp J12 Encoder Feedback Resolver cccccccccccccccceccccccucsecccuuescsccueecsecuueesscuuuesssuusecsesueeseseuuenesseuees 33 TROUBLES HOO E 34 Introduction 7 Accessory 24M2A Status LED Indicators MP Sm 34 R I TE ee 34 CONFIGURING WITH TURBO PNIAC A 35 Quick Review Nodes and E 35 Setup Lia REN porc TP 37 Setup Step 1 MACRO Connectivity au elei uides bla a Rte xh i es Sue odori e Fosse Qc Kies ub 38 Setup Step 2 Communicating with ACC 24M2A over MACRO ARC 39 Setup Step 3 Motor SODU Ds seus Puede Nus Roa On Men RUD MEME Qua M uA UN Me ia NDA Pn ENS 40 Eege Eege EE 40 Activating Motors and Disabling Commutation eaae nennen 40 Motor Feedback TEMERE e 41 UI T EE S 49 Output EE 49 TOT SOUUIGS C 50 DAC CaNDTANON siene rA EA eege eege 51 Open Loop Test iiser een en ea ens 52 ERR 53 CONFIGURING WITH POWER VE A 58 Quick Review Nodes and Addressing cccccsscsccseesecneceeeneeneeseeseceeeneeseeneeneenecneeneeseeraeneenes 58 SetuP COVEY le We ebe rE 62 Setup Step 1 MACRO Connectivity EE 63 Setup Step 2 Communicating with ACC 24M2A over MACRO ARC 64 CUI Step 3 Motor SEIU s sirisser sesioan p OH ooi Ed Ea EER ieee rnt a Lidia pe pU IR P I ME ME 65 CLOCKS 65 Activating Motors and Disabling Commutati
11. MACSTAI to open ASCII communication with Station 1 Assign the node and master number with MI996 For example to assign the Station to Nodes 0 and 1 on Master IC 0 on the ACC 24M72A type MI996 FC003 Set MI995 80 Example MI995 80 Configuring with Turbo PMAC 39 Accessory 24M2A 7 Hit CTRL T T to exit MACRO ASCII Mode Setup Step 3 Motor Setup Clocks For simplicity set the max phase and clock dividers the same as the ring controller but note that the servo rate on the Slave Station is independent and can be set to a different frequency MS anynode I992 Value of 17000 or 16800 Max Phase Clock MS anynode I997 Value of I7001 or 16801 Phase Clock Divider MS anynode I998 Value of 17002 or 16802 Servo Clock Divider The Phase clock on the MACRO Station must be the same as the Ring Controller s but the Servo Clock can be different Note Example When Nodes 0 and 1 are being used for ACC 24M72A setting default clocks MS0 MI992 6527 MS0 MI997 0 MS0 MI998 3 Then issue MSSAV15 followed by MS 15 to save the changes on the Station Activating Motors and Disabling Commutation The user must activate the motor he or she wants to use and then disable commutation for those motors because the ACC 24M2A runs only non PMAC commutated motors On the Ring Controller the variable I4900 reports which Servo ICs are present in a Brick Brick LV
12. Select Parabolic Velocity under the Trajectory Selection in the Interactive Tuning Window Select a move size and speed that will simulate the fastest harshest moving conditions you expect your machine to experience Tune the motor at these settings and then the motor should be able to handle all easier moves After commanding the Parabolic Velocity move the commanded Velocity Profile and Acceleration Profile should look like this Velocity Acceleration Commanded Commanded Profile Profile Observing the table below match your following error response to one of the response shapes below and then adjust the appropriate gain as listed next to each plot High Vel F E Correlation High bid Bs Cause Friction Correlation Fix Causes Damping Add Friction us SH Kw Feedforward Ixx68 ee and or turn on Integral Gain Ixx33 Ixx34 High Acc F E High Acc F E Correlation Correlation Cause Cause Inertial Lag Physical System Fix Limitation Increase Ks Ixx35 Fix Use softer acceleration or add more Ixx68 Configuring with Turbo PMAC 56 Accessory 24M2A Negative Vel F E Correlation Cause Too much Velocity Feedforward Fix Decrease Ke Ixx32 Negative Acc F E Correlation Cause Too much acceleration Feedforward Fix Decrease Kr Ixx35 AT High Vel F E Correlation Cause Damping amp Friction Fix Increase K first Ixx32 Possibly adjust Ixx68 High Vel F E amp
13. emitted from the ACC 24M2A is derived from the Phase Clock frequency of the MACRO set by MI992 and MI997 The user has the ability to select the excitation frequency to be equal with the Phase Clock frequency default by setting MacroSlave node MI982 equal to 0 Or the user can use lower frequencies by increasing the value of MI982 MI982 affects the excitation frequency as follows MI982 Setting Excitation Frequency MI982 1 Phase Clock Frequency 2 MI982 2 Phase Clock Frequency 4 MI982 3 Phase Clock Frequency 6 Configuring the Excitation Signal s Gain Additionally the user needs to set the Excitation output gain for the system s resolvers by setting MacroSlave lt node gt MI981 MI981 affects the excitation signal s gain as follows MI981 Setting Excitation Signal Gain MI981 0 25 Vus MI981 1 5 0 Mag MI981 2 TDN sis MI981 3 10 0 Vp Configuring with Power PMAC 74 Accessory 24M2A Configuring the Excitation Signal s Phase Offset Finally the resolver excitation phase time offset MacroSlave lt node gt M1980 needs to be set The optimum setting of MI980 depends on the L R time constant of the resolver circuit Therefore MI980 should be set interactively to maximize the magnitudes of the feedback ADC values For each channel there are two ADC registers which hold the sin and cosine values For Channel 1 the base first ADC register address is Y FFOO and t
14. or other Turbo PMAC controller Knowing that each Servo IC services 4 axes querying 14900 will reveal how many local channels are occupied and thus the number of the 1 available motor on a Macro Ring The corresponding Ixx00 for activating the motor and Ixx01 for commutation settings settings are given in the rightmost columns First If 14900 Servo ICs Local Motor Activating Deactivating Returns Present Motors On The 2 Axis Slave Commutation Ring 0 None None 1 1100 2 100 1 1101 2 100 0 1 ICO only 4 axis 1 thru 4 5 1500 2 100 1 1501 2 100 0 3 ICO and IC1 8 axis 1 thru 8 9 1900 2 100 1 1901 2 100 0 Configuring with Turbo PMAC 40 Accessory 24M2A Motor Feedback First the user must make Encoder Conversion Table ECT entries on the Ring Controller to read the feedback coming back from the ACC 24M2A on servo nodes This applies to all feedback types that ACC 24M2A uses Use the ECT entry type Parallel Y Word No Filtering 24 bits wide No Shifting No Offset Make sure to select the address based on the correct nodes enabled for this ACC 24M2A One can set up the ECT entry using PeWin32Pro2 by clicking from within the software on Configure Encoder Conversion Table showing this window Y Turbo Encoder Conversion Table Device 0 UMAC TURBO V1 947 ese Select a table entry to view edit End of Table Download Entry Entry 1 E First Entry of Table Do
15. 2 And the I O node addresses 7X XXX for each of the Ultralite MACRO ICs are Ring Controller MACRO IC 0 Node Registers Station I O Node 2 3 6 7 10 11 Ultralite I O Node 2 3 6 7 10 11 24 bit X 78420 X 78424 X 78428 X 7842C X 78430 X 78434 16 bit X 78421 X 78425 X 78429 X 7842D X 78431 X 78435 16 bit X 78422 X 78426 X 7842A X 7842E X 78432 X 78436 16 bit X 78423 X 78427 X 7842B X 7842F X 78433 X 78437 Ring Controller MACRO IC 1 Node Registers Station I O Node 2 3 6 7 10 11 Ultralite I O Node 18 19 22 23 26 27 24 bit X 79420 X 79424 X 79428 X 7942C X 79430 X 79434 16 bit X 79421 X 79425 X 79429 X 7942D X 79431 X 79435 16 bit X 79422 X 79426 X 7942A X 7942E X 79432 X 79436 16 bit X 79423 X 79427 X 7942B X 7942F X 79433 X 79437 Ring Controller MACRO IC 2 Node Registers Station I O Node 2 3 6 7 10 11 Ultralite I O Node 34 35 38 39 42 43 24 bit X 7A420 X 7A424 X 7A428 X 7A42C X 7A430 X 7A434 16 bit X 7A421 X 7A425 X 7A429 X 7A42D X 7A431 X 7A435 16 bit X 7A422 X 7A426 X 7A42A X 7A42E X 7A432 X 7A436 16 bit X 7A423 X 7A427 X 7A42B X 7A42F X 7A433 X 7A437 Ring Controller MACRO IC 3 Node Registers Station I O Node 2 3 6 7 10 11 Ultralit
16. 2 pEnc2 EncTable 2 a Motor 1 EncType 4 Motor 2 EncType 4 Typically Motor x pEnc and Motor x pEnc2 point to the same address However if the user wants to use dual feedback on ACC 24M2A and is therefore using both encoder channels for one motor the user must make one ECT entry for each encoder and point Motor x pEnc to the position encoder s ECT entry s output address and Motor x pEnc2 to the velocity encoder s ECT entry s output address Configuring with Power PMAC 69 Accessory 24M2A Digital A Quad B The user must configure the Encoder Conversion Table on the ACC 24M2A itself as follows Example ACC 24M2A with two motors one on Node 0 one on Node 1 ACC 24M2A ECT Setup for Quadrature Encoders MacroSlave0 MI120 S0C090 1 T Extension of Incremental Encoder Chl MacroSlave0 MI121 0C098 1 T Extension of Incremental Encoder Ch2 ACC 24M2A ECT Output Setup MacroSlave0 MI101 10 Output from 1 line of ECT MI120 MacroSlave0 MI102 11 Output from 2 line of ECT MI121 If the user wants to change the direction of the encoder feedback he or she can either e Swap the motor s leads e Change MacroSlave lt node gt MI910 If MI910 3 set it to 7 clockwise rotation is positive If MI910 7 set it to 3 counterclockwise rotation is positive Sinusoidal The user must configure the Encoder Conversion Table on the ACC 24M2A itself as follows Example ACC 24M2A with two motors one on
17. Aaen mee 1 2 DACI Ar ds 25 a RP65B 4 2 UA i 22081P8i CK NRL C a 22KS PB 1 2 2K IP8I 1 014 2 PWM Ago pp PWMAB2 DACA DAT Ellen aanle ane E e E 2 PWMB T2 gt gt PWM BP m Stik NRR HE JC Ecl C294 22KSIPAI 1 Zt penn vor HE sek R250 R251 g RP67B 4 a 7B Dacia ver vs SK POT 100K 1 29KS PBI 1 2208iP8l Een C281 ope SOL16 4 E ferm 1UF de o SA2V T ue o AGND 5 S08 LS 5 RP650 o Dron p 22KSIPAI 1 Kpaz2am 9 KSIPBL TS czos LM ieee 10 DS GE LF347M Ee 5 apen IL 3 4 9 22081P81 1 af 22KSIPBI 1 H 2 2K IP8I 1 014 pur cage 7 RP68C a OFFSET 5 nS 22KSIPBI 1 RETI R253 RP68D P mS GC 2 E X 100K 1 GS TAM GE 5K POT e d 2208IPl SOT23 5 j ez 0 SAM Taur RP69A a L1 808 mh mm ve 2 2KSIPBI 1 22K IP I 1 se ua ad ss KD822AR D cun LF347M a PW BB PR BI DACB DATI k mi Dam ner o 7 1 reg UI E 2208IP8l Ck NRL PE Em bu 22K IP I 1 2 PWM Bo gt gt PWMBB2 DR DAT Bas ste 3 RP69D 22KS PBI 1 LR NRR DGND VOR VBR vs AD1868R SOL16 R255 a RP69B 4 RP72B 3 100K 1 22KSIPBI 1 220SIP8I o SA42V AGND 808 i 5 RP66C RP70A 6 1 2 lU 1138 AD B22AR 2 2KSIPBI 1 Coen 22KSIPBI 1 R269 11 00K 1 L 10 LF347M Seati reen Vue 14 A E OUTPUT OFFSET POT R256 E 22KSIPEI 1 2 2KSIPBI 1 014
18. Acceleration Feedforward K o Motor x Kfff Friction Feedforward K grr The user should connect the load to the motor before tuning the servo oy loop Note The process of determining proper values of PID gains is called Tuning The procedure for tuning is as follows 4 Set Motor x Servo SwZvInt Motor xx PID Integration Mode can be changed on the fly as needed position error integration is performed only when Motor xx is not commanding a move 0 position error integration is performed always Using the Step Response tune the following parameters in this order Proportional Gain Kp Motor x Servo Kp Derivative Gain Kd Motor x Servo K vfb Integral Gain Ki Motor x Servo Ki Using the Parabolic Move tune the following parameters in this order Velocity Feedforward Kvff Motor x Servo K vff Acceleration Feedforward Kaff Motor x Kaff Friction Feedforward Kfff Motor x Kfff e When tuning the feedforward gains set Motor x Servo SwZvInt 1 so that the dynamic behavior of the system may be observed without integrator action After L i tuning these set Motor x Servo SwZvInt back to your ay desired setting Note e Setting Kvff Kd Motor x Servo K vff Motor x Servo Kvfb is a good place to start when tuning Kvff Configuring with Power PMAC 83 Accessory 24M2A Steps 2 and 3 should be performed in the Interactive Tuning window in Tuning Trajecto
19. M1981 motor encoder shaft by hand and see encoder counts in the position At this point of the setup process you should be able to move the CS window Note Configuring with Power PMAC 76 Accessory 24M2A Flags On the Ring Controller the motors flag pointers must point to the servo node s flag addresses used for the motors on ACC 24M2A Example Motors 1 2 on Nodes 0 and 1 respectively using ACC 5E3 in a Power UMAC Motor 1 pEncCtrl Acc5E3 0 MacroOutA 0 3 a Motor 1 pEncStatus Acc5E3 0 MacroInA 0 3 a Motor 1 pAmpEnable Acc5E3 0 MacroOutA 0 3 a Motor 1 pAmpFault Acc5E3 0 MacroInA 0 3 a Motor 1 pCaptFlag Acc5E3 0 MacroInA 0 3 a Motor 1 pPhaseEnc Acc5E3 0 MacroInA 0 0 a Motor 1 pAdc Acc5E3 0 MacroInA 0 1 a Motor 2 pEncCtrl Acc5E3 0 MacroOutA 1 3 a Motor 2 pEncStatus Acc5E3 0 MacroInA 1 3 a Motor 2 pAmpEnable Acc5E3 0 MacroOutA 1 3 a Motor 2 pAmpFault Acc5E3 0 MacroInA 1 3 a Motor 2 pCaptFlag Acc5E3 0 MacroInA 1 3 a Motor 2 pPhaseEnc Acc5E3 0 MacroInA 1 0 a Motor 2 pAdc Acc5E3 0 MacroInA 1 1 a Then on the Ring Controller the flag control variables must be set up for each motor on ACC 24M2A Example Motors 1 2 on Nodes 0 and 1 respectively with overtravel limits enabled using ACC 5E3 in a Power UMAC Motor pLimits Acc5E3 0 MacroInA 0 3 a Motor LimitBits 25 Motor CaptPosRound 1 Motor CaptPosRig
20. before the fractional direction sense matches Note Configuring Excitation Frequency After setting up the ECT the user then must set three MI Variables for the Resolvers to function correctly The ResOut signal i e the Resolver s excitation frequency emitted from the ACC 24M2A is derived from the Phase Clock frequency of the MACRO set by MI992 and MI997 The user has the ability to select the excitation frequency to be equal with the Phase Clock frequency default by setting MS lt node gt MI982 equal to 0 Or the user can use lower frequencies by increasing the value of MI982 MI982 affects the excitation frequency as follows MI982 Setting Excitation Frequency MI982 1 Phase Clock Frequency 2 MI982 2 Phase Clock Frequency 4 MI982 3 Phase Clock Frequency 6 Configuring with Turbo PMAC 46 Accessory 24M2A Configuring the Excitation Signal s Gain Additionally the user needs to set the Excitation output gain for the system s resolvers by setting MS lt node gt MI981 MI981 affects the excitation signal s gain as follows MI981 Setting Excitation Signal Gain MI981 0 2 5 Vop MI981 1 5 0 Vy MI98122 7 5 Vop MI981 3 10 0 Vp Configuring the Excitation Signal s Phase Offset Finally the resolver excitation phase time offset MS lt node gt MI980 needs to be set The optimum setting of MI980 depends on the L R time constant of the resolver circuit Ther
21. bit values in this example from Y C090 for Channel 1 and from Y C098 for Channel 2 computing the average value over a cycle or cycles and entering this value here For more detail on how Sinusoidal Interpolation works in PMAC see Appendix D At this point of the setup process you should be able to move the E motor encoder shaft by hand and see encoder counts in the position window Note Configuring with Power PMAC 70 Accessory 24M2A SSI ACC 24M2A can be configured to process SSI encoder feedback as a binary parallel word in 12 16 20 or 24 bit format As with all feedback this data is transferred across the MACRO ring to be used as position and or velocity feedback Each SSI device requires three lines of the ECT In the second line of each SSI ECT entry the number of bits to process is specified So there are four examples given below In the third line specify the maximum change per servo cycle of the encoder counts that is expected This is typically equal to 1 25 times the maximum expected velocity of the motor The units of this entry are whatever the units of the input register are typically 1 32 of a count For example to limit the change in one servo cycle to 64 counts with an input register in units of 1 32 count this third line would be 64 32 2048 In the examples below the user must specify the maximum count change per servo cycle on the lines which end with User Input in the comme
22. channels of sinusoidal Resolver Two channels of SSI Encoder Feedback MACRO Communication Options MACRO Node Options f Any Additional Option is required contact factory for digits K and L Factory Assigned digits ACC 24M2A Options 00 No Additional Options XX Factory assigned digits for Additional Options Factory Assigned Options ACC 24M2A may be ordered equipped with the following options Options Included 2 axis MACRO Analog Servo Peripheral With Fiber optic MACRO connectors Opt A Included 2 axis MACRO Analog Servo Peripheral With RJ 45 isolated electrical MACRO connectors Opt C Included Part Number 4 3744 00 A000 00000 4 3744 00 C000 00000 2 axis MACRO Analog Servo Peripheral With Fiber optic MACRO connectors Opt A Included Two channels of sinusoidal Resolver Opt 3 Included Two channels of SSI Encoder Feedback 4 3744 00 A003 00000 2 axis MACRO Analog Servo Peripheral With RJ 45 isolated electrical MACRO connectors Opt C Included Two channels of sinusoidal Resolver Opt 3 Included Two channels of SSI Encoder Feedback 4 3744 00 C003 00000 Specifications 10 Accessory 24M2A Environmental Specifications Description Specifications Operating Temperature 0 to 45 C o E Rated Storage Temperature 25 to 70 Humidity 96 10 to 90 non condensing Shock Call Factory Vibration Pf Call Factory
23. fewer wires are needed and the encoders are always of the lower impedance voltage output type Encoder Output V Note that all the single ended encoder formats shown here might have velocity ripple effects at very slow speeds due to the effects of op amp voltage offsets These offsets cause the sinusoidal signal to be centered at a value that is slightly different from the reference or servo ground as shown in the signal diagram on the right 3 0Vpk 2 5Vdc Time s 2 0Vpk Connector Pinouts 29 Accessory 24M2A Below is the wiring diagram for Single Ended Format 1 sins Ji N E 14 OF SIN COS B ua O COS INDEX Eli ips TI Sinusoidal amp BE Encoder e 17 e O 18 O Shiel 5 ield Q e 21 O T 10 aO 2 u Cl DV 24 Cas H 12 l QE GND 13 C Single Ended Format 2 The diagram shown below is a simple single ended encoder wiring interface for encoders with output range at 2 3 Vdc This encoder has SIN and COS outputs that provide a 1V peak to peak output with a voltage offset of 2 5 Vdc Note that the SIN COS and INDEX lines are tied to the 2 5V internal references on the interpolator card Encoder Output V The diagram to the right is similar to the signal diagram from the Single Ended Format 1 but with a different voltage offset This encoder has SIN and COS outputs that provide a 1V peak to peak o
24. followed by MacroSlave 15 to save the changes on the Station Configuring with Power PMAC 65 Accessory 24M2A If you are not sure what your Power PMAC s clocks are you can check them by from within the IDE clicking on Tools TaskManager and then clicking on the Tasks tab Frequency Calculation Time Peak Time Task Time Phase Interrupt 11 756kHz 12 112 usec usec 2 949kHz 15 670 usec 4 621 2 949kHz 20 379 usec 6 010 0 986kHz 8 790 usec 0 867 Details No motor commutation enabled No motor digital current loop active A D converter demultiplexing algorithm NOT enabled Phase divider active The Frequency column displays the clock frequencies in kHz for the different clocks in PMAC Phase Interrupt is the Phase Clock Servo Interrupt is the Servo Clock Real Time Interrupt is the Real Time Interrupt Clock After observing these clock frequencies just use the formulas given on the previous page in order to calculate how to set the clocks on your ACC 24M2A the same as the clocks on your Power PMAC Configuring with Power PMAC Accessory 24M2A Activating Motors and Disabling Commutation The user must activate the motor he or she wants to use and then disable commutation for those motors because the ACC 24M2A runs only non PMAC commutated motors On the Ring Controller the variable Sys GatelAutoDetect reports which Gatel Style Servo ICs are present such as from ACC 24E2
25. in the comment above should be the smaller of the two limits between your motor and your amplifier s specifications DAC Calibration Before performing the DAC Calibration make sure there is no load attached to the motor and make sure that the motor can safely and freely move This step of the setup can generate much WARNING motion in the motor At this stage in the setup the user should calibrate the DACs on ACC 24M2A to make sure that when he or she commands 0 volts on the DACs they actually put out 0 volts You can do this by means of the automatic DAC calibration program from the Power PMAC System Setup program easily accessible by means of a TelNet Terminal connection to your PMAC To open a TelNet connection from the Windows Start Menu click Start Run or just type into the search field if it is Windows Vista 7 and then type telnet 192 168 0 200 Put your Power PMAC s IP Address in the place of 192 168 0 200 the default IP address shown above TelNet will prompt you for a powerpmac login here type root The password is deltatau Then type cd setup dir Configuring with Power PMAC 79 Accessory 24M2A calcdacbias should appear as a program in the list This is a program that receives two arguments as follows calcdacbias lt MotorNumber gt lt Iterations gt lt MotorNumber gt is the number of the motor whose DAC bias you want to calc
26. increasing positively while the commanded velocity is positive the actual velocity decreasing while the commanded velocity is negative If you see an erratic response or an inverted saw tooth then most likely the encoder decode setting is incorrect This is on the MACRO side MS node MI910 has to be changed from 7 to 3 or vice versa Configuring with Turbo PMAC 52 Accessory 24M2A Servo Loop Tuning PMAC s Servo Algorithm must be configured to properly control any given system with motors and amplifiers Configuration is done by adjusting I Variables Ixx30 through Ixx35 pertaining to the PID gains Ixx68 Friction Feedforward is also needed The servo loop gains correspond to I Variables as follows Ixx30 Proportional Gain K Ixx31 Derivative Gain Ka Ixx32 Velocity Feedforward RK d Ixx33 Integral Gain K Ixx34 Integration Mode Ixx35 Acceleration Feedforward K Ad Ixx68 Friction Feedforward Kf VVVVVVV The user should connect the load to the motor before tuning the servo oy loop Note The process of determining proper values of PID gains is called Tuning The procedure for tuning is as follows 1 Set Ixx34 Motor xx PID Integration Mode can be changed on the fly as needed 1 position error integration is performed only when Motor xx is not commanding a move 0 position error integration is performed always 2 Using the Step Response tune the following parameters in this order P
27. line of ECT MI125 Example ACC 24M2A with two motors each with a 16 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MS0 MI120 30FF54 Data Source Address location MS0 MI121 00FFFF 16 bit SSI conversion MSO M1I122 MaxVelCh1 32 Channel 2 MSO MI123 S30FF74 Data Source Address location MS0 MI124 00FFFF 16 bit SSI conversion MS0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MSO MI101 12 Output from 3 line of ECT MI122 MSO MI102 15 Output from 6 line of ECT MI125 Configuring with Turbo PMAC 43 Accessory 24M2A Example ACC 24M2A with two motors each with a 20 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MS0 MI120 30FF54 Data Source Address location MS0 MI121 0FFFFF 20 bit SSI conversion MS0 MI122 MaxVelChl1 32 Channel 2 MS0 MI123 30FF74 Data Source Address location MS0 MI124 0FFFFF 20 bit SSI conversion MS0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MSO MI101 12 Output from 3 line of ECT MI122 MS0 MI102 15
28. pole rotary brushless motor has a sinusoidal encoder with 2000 lines It directly drives a screw with a 5 mm pitch For servo control the interpolated results of the conversion table are used There are 128 software counts per line or 256 000 software counts per revolution With each revolution corresponding to 5 mm on the screw there are 51 200 software counts per millimeter The measurement resolution at 4096 states per line is 1 8 192 000 of a revolution or 1 1 638 400 of a millimeter 0 6 nanometers state Example 2 A linear brushless motor has a commutation cycle of 60 96 mm 2 4 inches It has a linear scale with a 20 micron line pitch The servo uses the interpolated results of the conversion table With 128 software counts per line and 50 lines per millimeter there are 6400 software counts per millimeter or 162 560 software counts per inch The measurement resolution at 4096 states per line is 204 800 states per mm 5 nanometers state Appendix C Sinusoidal Interpolation 102
29. power supply GND if an external power supply is used for the encoder for better noise immunity Most applications use pin 12 to supply power to the encoder the user should use pin 24 instead of pin 12 and then set MI984 1 on However for encoders that send out initial information at power on fN ACC 24M2A in order to manually enable the encoder power after Note PMAC is powered on Connector Pinouts 18 Accessory 24M2A J11 amp J12 Encoder Feedback SSI ACC 24M72A accepts inputs from two digital encoders and provides encoder position data to PMAC J11 is for Encoder 1 and J12 is for Encoder 2 The ACC 24M2A s encoder interface circuitry employs differential line receivers The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery J11 amp J12 D sub DB 25F Mating D sub DB 25M OODOOOOOO 69 69 62 69 69 d9 d9 G9 d Pin Symbol Description 6 CLK Serial Clock Signal Positive 7 DATA Serial Data Signal Positive 19 CLK Serial Clock Signal Negative 20 DATA Serial Data Signal Negative 12 24 ENCPWR 5V Encoder Power 5VDC 13 25 GND Digital Ground Note e Do not connect the pins that are not listed e fthe encoder being used required 5VDC power it can be connected to pins 12 24 and grounded on pins 13 25 However if the encoder has different power requir
30. to 32767 If it does not saturate type MS lt node gt MI198 6DFF01 in the Terminal Window which sets MI199 to point to Channel 1 s ADC2 and then repeat step 4 5 Set MI199 to point to the ADC which saturated that is if ADC1 saturated type MS lt node gt MI198 6DFF00 in the Terminal Window or if ADC2 saturated type MS lt node gt MI198 6DFF01 in the Terminal Window 6 Position the motor s shaft such that the ADC value is close to the maximum value observed throughout one revolution of the motor s shaft At this point the other ADC should be close to 0 7 Increase MI980 by increments of 25 The ADC value should start to increase slowly If it decreases instead start with MI980 255 and then decrease MI980 by increments of 25 The ADC value should increase up to a maximum point and then start to decrease again Set MI980 to the value that produced the largest absolute ADC value achieved throughout the process of adjusting MI980 8 Ifthe maximum absolute value of this ADC is less than 16 000 increase the gain of the resolver by increasing M1981 Configuring with Turbo PMAC 47 Accessory 24M2A Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as follows 1 In PeWin32Pro2 open a Watch Window View Watch Window Press Insert and type MS lt node gt MI199 where node is the node number of this ACC 24M2A s motor e g if this motor is on Node 0 type MS0 MI1
31. until trigger constructs The second parallel processing of the sine and cosine signals is through analog to digital converters which produce numbers proportional to the input voltages These numbers are used to calculate mathematically an arctangent value that represents the location within a single line This is calculated to 1 4096 of a line so there are 4096 unique states per line or 1024 states per hardware count For historical reasons PMAC expects the position it reads for its servo feedback software to have units of 1 32 of a count That is PMAC considers the least significant bit LSB of whatever it reads for position feedback to have a magnitude of 1 32 of a count for the purposes of its software scaling calculations We call the resulting software units software counts and any software parameter that uses counts from the servo feedback e g jog speed in counts msec axis scale factor in counts engineering unit is using these software counts In most cases such as digital quadrature feedback these software counts are equivalent to hardware counts However with the added resolution produced by the ACC 24M2A interpolator option software counts and hardware counts are no longer the same The LSB produced by the interpolator through the encoder conversion table processing is 1 1024 of a hardware count but PMAC software considers it 1 32 of a software count Therefore with the ACC 24M24A a software count is 1 32 the size of a
32. use pin 12 to supply power to the encoder However for encoders that send out initial information at power on E the user should use pin 24 instead of pin 12 and then set MI984 1 on ACC 24M72A in order to manually enable the encoder power after Note PMAC is powered on Connector Pinouts 20 Accessory 24M2A J11 amp J12 Encoder Feedback EnDat The Acc 24M2A will read the absolute data from the EnDat Encoder Data interface only if the appropriate option is ordered Its differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery J11 amp J12 D sub DB 25F amp 9 6969509 9 0099 9609 Mating D sub DB 25M Ge Q3 22 GO 7 5 Pin Symbol Description 1 Sint ChA Sinusoidal Signal Positive Channel A Positive 2 Cos ChB Cosine Signal Positive Channel B Positive 14 Sin ChA Sinusoidal Signal Negative Channel A Negative 15 Cos ChB Cosine Signal Negative Channel B Negative 6 CLK Clock Signal Positive 7 DATA Data Signal Positive 19 CLK Clock Signal Negative 20 DATA Data Signal Negative 12 24 ENCPWR 5V Encoder Power 5VDC 13 25 GND Ground Note e Do not connect the pins that are not listed e If the encoder being used required 5 VDC power it can be connected to pins 12 24 and grounded on pins 13 25 However if the encoder has different power requirements do not connect pins 13 24
33. ventilation or cooling may be necessary to prevent enclosure ambient from exceeding 45 C 113 F Caution Installation of electrical control equipment is subject to many regulations including national state local and industry guidelines and rules General recommendations can be stated but it is important that the installation be carried out in accordance with WARNING all regulations pertaining to the installation Mounting 13 Accessory 24M2A Connector Locations Below is a drawing of the product with its connectors labeled J11 Encoder LEX Y 2 KEG j m J12 encoder v Chan 26 D J6 Se Flags 1 amp 2 i Option A S MACRO EI OUT FIBER AY iN SS ae Option B MACRO RJ45 Mounting 14 Accessory 24M2A CONNECTOR PINOUTS J10 24 Vpc Logic Power Input An external 24VDC power supply is required to power the logic flags and DAC output sections of ACC 24M2A through the J10 connector The polarity of this connection is extremely important Carefully follow the instructions in the wiring diagram This connection can be made using 16 AWG wire directly from a protected power supply In situations where the power supply is shared with other devices it may be desirable to insert a filter in this connection The power supply providing this 24V must be capable of providing an instantaneous current of at least 1 5A to be able to start the DC to DC
34. 0 UOO A 13 Installation e inis ip pr per 13 EIERE EE 14 CONNECTOR PINOL ES ssiucccnionnusnieunocusinanmnnmeninaiu sae DUM REA RPM SUMA RU NIME 15 J10 24 Vpc Logic Power Input es becas ova b exa ie Mes Pone Gee pesa ue busco opa ova Rv ove baw Pu mabe aaa 15 Ji ee 16 J2 Amplifi r Chanel 2 P 16 J6 Flags d LIMITS eege eege UT 17 J11 amp J12 Encoder Feedback Digital A Quad B treten eret ten eniin 18 J11 amp 112 Encoder Feedback SSI NEEN nne rettet ce nin Ea aa aaan 19 J11 amp J12 Encoder Feedback Sinusoidal sese 20 J11 amp J12 Encoder Feedback Enf at mee nennen nennen nenne 21 J11 amp J12 Encoder Feedback HiperFace i eiotom e teeth ee on br ce Sede Sis Stet Eta abe he e Leben 22 J11 amp J12 Encoder Feedback Resolver mener 23 Universal Serial Bus Port USB Pott 22 3 n idR dai Rid EE EE 24 REENEN 25 MACRO RJ 45 Copper Connector itemm see tbe oet ere et beoe ee eee ele icai tdi aa 25 mra Ee ba i dard BOAT ee 26 JO EEN 26 JII amp J12 Encoder Feedback Digital A Quad RA 28 JII amp J12 Encoder Feedback SST i cccccccccccccccccccccccccecsccccecccscusecsscuececseuuesesseuuesesseuussesesuneeseuueeeseeuees 28 JII amp JI2 Encoder Feedback Sinusoidal eese eee nennen nennen hn eene ness nenas 29 JII amp J12 Encoder Feedback EnDat esee eene hene hh eene hh ees nee eese ee eene e nennen 32
35. 2 VCC GND 33SIPel U83 0402 CO OO OO ssi_io2 Bugs RENA ena_ssi_out2 Ale ml DENA i ADM1485JR S S C203 a 1_0 1uF L U84 9402 VCC GND ROUT RENA DENA CO ena_ssi_clk1 Ae rol ADM1485JR C204 1UF 1 ARR 3 2 ALTSIN1 ssi_clk_outt z 3 4 T ssi_c Toutt ssi_clk_out1 6 U85 2 ssi clk out2 Ssi clk outi 6 7 2 ssi c REH ssi_clk_out2 6 ssi_clk_out2 6 vcc GND 33SIP8I CO ROUT RENA ena_ssi_clk2 Ale m2 DENA ADM1485J s UF o GND Appendix B Schematics Accessory 24M2A Resolver Outputs MMBD301LT1 R108 SAP ResOut1 R104 100hm 4 99K MMBD301LT1 D17 MMBD301LT1 R105 R 109 ResOut2 Ss 10ohm 4 99K mh6672ma 1t1497cs8 D18 m MMBD3O1LT1 Analog Feedback Voltage Reference Circuit 5V_AN 5V o L OD T 1 BEAD zuer P33 toch 3AES BVBEET AA R333 10ohm BVREF2 o AGND gt gt ResOuti gt gt ResOut2 6 6 Appendix B Schematics 97 Accessory 24M2A Sin Cos Inputs ALTSIN1 R230 12 7K ssi_clk_out1 R231 12 7K ALTSIN1 ssi_clk_out1 RP62 220SIP6l Lann Ge R232 12 7K ALTCOS1 ssi io1 R233 12 7K ALTCOS1 ssi_iol Note Sin Cos inputs for Channel 2 are identical to Channel 1 Encoder Power 5V o enc pwr 1 2 cze gees 5 enc pwr 1 2 gt 2 C266 luf MMBD301LT1
36. 505L INEC 6 511 geg U62C SMT4 8 7 2 FLAG Ci d Hoci acna H 4 4 7KSIPBI TH et acne FY 1 RP 2 PS2505L 1NEC 3 4 See us2D_ SMT4 PONE 2 FLAG AL 4401 acna H 4 3 TH et acne FY xiKSIPBI Szene 7 IN SOCKET 2 1 F g 4 3 5 L3 3 6 5 l 8 7 d a RP39 O O LJE Tea SW U63A SMT4 2 FLAG _D2 lt q lt FLAG 02 Hoci ant HEL acne PS2505L TNEC FLAG B2 qM 4 7KSIPBI 2 FLAG B2 4401 acna H 4 2 RP4 4 HHE acne HH ANN PS2505L 1NEC 6 5 USC SMT4 8 7 2 FLAG c2 HOC Hoci ACHAH 4 4 7KSIPBI HHE acne HH 1 DS 2 PS2505L 1NEC d A A at PAGA U63D_ SMT4 Ds e ae 2 FLAG A2 4 Hoci acna H HHE acne HA RA PSNOSLINEC IN SOGKED GND ST g H pe E o LOD z 2 1KSIPal Appendix B Schematics 91 Accessory 24M2A Digital Quadrature Encoder Inputs U46A i 3 74HC132 S014 2 2 CHA 4 T Pet D CHB1 8 E R84 2 2K 4 rg Om 1KSIP8l S014 5 ge A C107 9 QL 1 o r GLE fof ton SS duf C128 GND ji 1uf GND U46C 10 8 74HC132 S014 9 RP16 2 CHA2 d Waa U47D 7 8 R85 2 2K 13 eee S a 1KSIP8l S014 12 5 E T C129 9 2 abe Sp Son p o duf oa GND luf GND Appendix B Schematics 92 Accessory 24M2A Pulse and Direction Outputs JUMP E5 1 TO 2 TO ENABLE STEPPER 1 OUT d PWM C TI gt Lo PWM C Ti D S lo Es o2 a JUMP E5 2 TO 3 TO ENABLE A B QUAD 1 OUT 2 2 JUMP E6 1 T
37. 99 In the Terminal Window View Terminal type MS lt node gt MI198 6DFF20 where node is this motor s node as in step 2 This points MI199 to the Channel 1 s ADCI Rotate the motor on this channel Observe MS lt node gt MI199 in the Watch Window If it saturates to 32767 the resolver gain MI981 is too high Decrease MI981 until the MI199 just barely saturates to 32767 If it does not saturate type MS node MI198 6DFF21 in the Terminal Window which sets MI199 to point to Channel 1 s ADC2 and then repeat step 4 Set MI199 to point to the ADC which saturated that is if ADCI saturated type MS node MI198 6DFF20 in the Terminal Window or if ADC2 saturated type MS node MI198 6DFF21 in the Terminal Window Position the motor s shaft such that the ADC value is close to the maximum value observed throughout one revolution of the motor s shaft At this point the other ADC should be close to 0 Increase MI980 by increments of 25 The ADC value should start to increase slowly If it decreases instead start with MI980 255 and then decrease MI980 by increments of 25 The ADC value should increase up to a maximum point and then start to decrease again Set MI980 to the value that produced the largest absolute ADC value achieved throughout the process of adjusting MI980 If the maximum absolute value of this ADC is less than 16 000 increase the gain of the resolver by increasing M1981 At this point of the setup process you
38. 9K POT i C402 AUF R43 7 5K LVPECL Termination Network Located at Ethernet Transceiver Inputs EXR FXR NEAR U31 AM79C874 MACRO RJ45 Connection 3 3VD e 1 R70 R71 82 82 OPT A HFBR 5803 3 3 5 0 Volt Fiber Optic Transceiver Analog Ground FIBER MACRO Over Fiber MACRO ONLY J4 rj45 J4 1 2 R400 AUA D 3 J R401 51 4 5 zd AUF 20 51 R403 A Sl 6 Sam GE BS 8 MACRO Over Copper Transmit 1 EN tm M d RX 1 Lut LB Jur RJ 45 8 JS rj45 J5 C112 R53 R54 AUF 49 9 49 9 C106 AUF TG110 S050N2 H406 51 d R40 51 4 408 51 5 MACRO Over Copper Receive Re6 R67 R68 0109 01 UF 3KV chassis Ground RJ 45 8 Appendix B Schematics 90 Accessory 24M2A LIMITS 1 2 KE Limit Inputs 45V j x RP35 3 3KSIP10C D SE FLAG_D1 pr P36 USER1 2 FLAG DIX LU C acna H 4 WN PLIMT E1 ACHB 5 6 MLIMT PS2505L 1NEC Fd 8 U62B SMT4 FLAG B1 4 7KSIPBI 2 FLAG Bi He 4401 acna H 1 2 RP37 4 LED acne FY H 1 VIS PS2
39. Accessory 24M2A A DELTA TAU Data Systems Inc NEW IDEAS IN MOTION Single Source Machine Control BaRSARSAREANARESARSARRAESSSSSASSAS SESESESESSSSASSASESASASSSSSESSSSSSSSARSHA SRAE Power Ai Flexibility l Ease of Use 21314 Lassen St Chatsworth CA 91311 Tel 818 998 2095 Fax 818 998 7807 www deltatau com Accessory 24M2A Copyright Information 2 14 2015 Delta Tau Data Systems Inc All rights reserved This document is furnished for the customers of Delta Tau Data Systems Inc Other uses are unauthorized without written permission of Delta Tau Data Systems Inc Information contained in this manual may be updated from time to time due to product improvements etc and may not conform in every respect to former issues To report errors or inconsistencies call or email Delta Tau Data Systems Inc Technical Support Phone 818 717 5656 Fax 818 998 7807 Email support deltatau com Website http www deltatau com Operating Conditions All Delta Tau Data Systems Inc motion controller 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 from hazardous or conductive material
40. CW MS0 MI123 S E8FF20 Data Source Address location CCW MS0 MI124 00FF5C A D Converter Address Setup MS0 MI125 0 Sine Cosine Bias User Input ACC 24M2A ECT Output Setup MSO MI101 12 Output from 3 line of ECT MI122 MS0 MI102 15 Output from 6 line of ECT MI125 Note that the third line of the entry for each channel in this example MI122 for Channel 1 and MI124 for Channel 2 contains the bias in the A D converter values This line should contain the value that the A D converters report when they should ideally report zero The MACRO Station subtracts this value from both A D readings before calculating the arctangent Many users will leave this value at 0 but it is particularly useful to remove the offsets of single ended analog encoder signals If it appears that the encoder has an offset the user can compensate for it in these variables This line is scaled so that the maximum A D converter reading provides the full value of the 24 bit register 2 Generally it is set by reading the A D converter values directly as 24 bit values in this example from Y C090 for Channel 1 and from Y C098 for Channel 2 computing the average value over a cycle or cycles and entering this value here Configuring with Turbo PMAC 45 Accessory 24M2A If the direction decode variable MS lt node gt MI910 is changed the L i user must save the setting MSSAVE node and reset the card Ge MS node
41. FBR12ND05 GND Appendix B Schematics Accessory 24M2A Sinusoidal Encoder Input iva 127K z peels ope SIN INPUT Rim 127K br 6o zi lou mun xe mak t H acho za am 127K am TK SINUSOIDAL Ki ENCODER Sg RESOLVER INPUT i INPUT 1 Di 105 CR E Note Encoder 2 is identical to Encoder 1 Amplifier Output DGND PLANE AGND PLANE AMP OUT 1 A 12V K3 i 49 A 12V 0 h A 12VO uw k a ees m s D42 FBR12ND05 9QMMBDS3OLLTI AENA 1 we 24 AENA 1220 NC7SZ00 L NETLIST CHANGE DACENA SOT23 5 Note Amplifier Output 2 is identical to Amplifier Output 1 Appendix B Schematics 99 Accessory 24M2A DAC Outputs AGND PLANE o ASSV GE o SAM w aur RP65A RP67A Un 808 Li AAA24 SS va Li 3 G09 Tage 1 22KSIPEI 1 Ss PWM B TI DAC_STBt x 2 15 CS S 4 E A u Ke Zy ADB22AR Co ETS k De F347 RPTIA 2 PWMA Bi gt gt PWM ABI DAGA DAT 3 foL vo H4 E
42. ION SCHEMATICS CHANGED 24v INPUT LOGIC SUPPLY CONNECTOR j10 WIRING ADDED TWO SINGLE ENDED WIRING METHODS FOR SINUSIOD FEEDBACK MODIFIED MACRO RING ASCII COMMANDS MACRO ASCII COMMUNICATION GLOBAL COMMANDS REVISED SETTING UP DIGITAL QUADRATURE ENCODERS REVISED SET UP PROCEDURES FOR SSI ENCODERS REVISED SET UP PROCEDURES FOR RESOLVERS REVISED SET UP PROCEDURES FOR SINUSOIDAL ENCODERS REVISED SET UP PROCEDURES FOR PHASE SHIFT REVISED SET UP PROCEDURES FOR POWER ON ABSOLUTE POSITION OF RESOLVER ADDED MANUAL SETUP FOR MOTOR OPERATION SECTION 08 21 08 C PERRY K ZHAO ADDED MI16 MI17 AND MI18 FUNCTIONALITY DESCRIPTION 01 05 10 C PERRY S SATTARI COMPLETE MANUAL REVISION 02 14 15 DCDP R NADDAF Accessory 24M2A Table of Contents INTRODUCTION P M 9 SPECIFICATIONS M 10 eebe 10 PCG 2 RR S esasen eda dant tea ends beatae mele Senda Eten bus donee ant Lane 10 tee 11 Electrical S PECTIC E 11 Physical Specifications eese tea taaeeecedcgaaleacabacecetecuatoneusaa etdsallcancevanquanceatensateauandageats editae 11 RECEIVING AND UNPACKING sciicccinnntinsicanusinanincoinnnnausianannnannanas 12 Unp ckine ET II Mi TR P 12 Us of EQUIP MGI PEU M 12 MOUNTING eee e O0o
43. Node 0 one on Node 1 ACC 24M2A ECT Setup for Sinusoidal Encoders Channel 1 MacroSlave0 MI120 F0C090 Data Source Address location MacroSlave0 MI121 FF00 A D Converter Address Setup MacroSlave0 MI122 0 Sine Cosine Bias User Input Channel 2 MacroSlave0 MI123 F0C098 Data Source Address location MacroSlave0 MI124 FF20 A D Converter Address Setup MacroSlave0 MI125 0 Sine Cosine Bias User Input ACC 24M2A ECT Output Setup MacroSlave0 MI101 12 Output from 3 line of ECT MI122 MacroSlave0 MI102 15 Output from 6 line of ECT MI125 Note that the third line of the entry for each channel in this example MI122 for Channel 1 and MI124 for Channel 2 contains the bias in the A D converter values The user should enter into this line indicated by User Input in the comment of that line the value that the A D converters report when they should ideally report zero The MACRO Station subtracts this value from both A D readings before calculating the arctangent Many users will leave this value at 0 but to remove the offsets of single ended analog encoder signals is particularly useful If it appears that the encoder has an offset the user can compensate for it in these variables This line is scaled so that the maximum A D converter reading provides the full value of the 24 bit register 2 Generally it is set by reading the A D converter values directly off of the Station as 24
44. O Gate2 i Macro j 0 Gate2 i Macro j 1 8 bits of 0 Gate2 i Macro j 2 8 bits of 0 Gate2 i Macro j 3 8 bits of 0 Since no Gate3 style MACRO Station products have yet been developed this is the only node arrangement available until future developments manual does not have any section describing any specific data T O Nodes can be arranged in any way desired and as such this HS arrangement structure within I O nodes Note Configuring with Power PMAC 61 Accessory 24M2A Setup Overview This setup assumes that The Ring Master has already been properly configured to run its own local motors The user is familiar with enabling servo nodes on both the MACRO Ring Controller and Slave Station In order to set up ACC 24M2A with Power PMAC the user must 1 NA P On the Ring Master enable one if ACC 24M2A will only use one motor to two using two motors servo nodes any two unused servo nodes per ACC 24M2A Structures involved for Gate3 Style MACRO Interfaces Gate3 i MacroEnableA MACRO IC Bank A Node Activate Control Gate3 i MacroEnableB MACRO IC Bank A Node Activate Control Gate3 i MacroModeA MACRO IC Bank A Status and Control Gate3 i MacroModeB MACRO IC Bank B Status and Control Structures involved for Gate2 Style MACRO Interfaces Gate2 i MacroEnable MACRO IC Node Activate Control Gate2 i MacroMode MACRO IC Ring Configuration Status A
45. O 2 TO ENABLE STEPPER 2 OUT JUMP E6 2 TO 3 TO ENABLE A B QUAD 1 OUT 2 JUMP E09 TO ENABLE AMP ENAS2 d PWM C Bi B MO BI PWM C T2 gt gt cr RP m ilo pola PWG BO SEVME BE 1 4 RP25 2 2KSIP8I GND AENA 1 2 AENA_1 gt gt 1o E9 o2 ENA AEN JUMP E10 TO ENABLE AMP ENA 2 ENC B1 2 7 AENA 25 AENA 2 16 E4902 ENA_AEN2 Hall Sensor Inputs FLAG T1 lt lt FLAG U2 FLAG V2 lt lt PO nO PO nO PO PO PO PO AUF o GND ENC B2 7 ENA AEN RP26 CHU1 DIR 1 DIR CHVi 1 CHWI PULT SUE loo o o CHTi PUL T 10 33SIP8I 33SIP8I RP27 CHU2 DIR 2 CHV2 DIR 2 io o CHW2 PUL 2 NNN CT PUL NAA 1c jo PUL DIR OUTPUT SECTION FAULT 1 7 ENA AEN 74AC541 SOL20 ST84C87CF16 S016 C136 gt gt FAULT 1 ARP 2 CHA1 3 4 CHAT 5 6 CHAZ JONN CMA 33SIP8I FAULT 2 FAULT2 2 7 2 7 Appendix B Schematics 93 Accessory 24M2A Position Compare Outputs 5V o rj inm Ze 1UF 330 330 BEQU1 2 EQU1 gt DS75451 DIP8 DS75451N DIP8 IN SOCKET 1 RESET gt Appendix B Schematics 94 Accessory 24M2A Motor Thermal Inputs 6 tin therm mot gt tin_therm_mot To J10 pin 23 Encoder connector i R140 6 2in therm mot Sy einen u
46. RO ring A visual representation of the nodes individual functionality is given below l O Nodes Auxiliary Nodes Servo Nodes With Gate3 style MACRO each node consists of 8 registers four 32 bit Input registers which can be accessed by the structure Gate3 i MacroInA j k for bank A and Gate3 i MacroInB j k for bank B and four 32 bit Output registers which can be accessed by the Power PMAC structures Gate3 i MacroOutA j k for bank A and Gate3 i MacroOutB j k for bank B Gate2 style MACRO interfaces has 4 registers for each node wherein the input and output data share the registers they are all grouped into this structure Gate2 Macro k Configuring with Power PMAC 58 Accessory 24M2A Data Organization within Servo Nodes When controlling non Gate3 MACRO Stations each MACRO interface will have its servo node information split up differently within each node j depending on the commutation method being used The three modes involved are Analog Output Mode Motor x PhaseCtrl 0 Motor x pAdc 0 UV Commutation Mode a k a Sinusoidal Commutation Mode Motor x PhaseCtrl gt 0 Motor x pAdc 0 Direct PWM Mode Motor x PhaseCtrl gt 0 Motor x pAdc gt 0 Gate3 i MacroInA j 1 for MACRO motors on Gate3 style MACRO Gate2 i Macro j 1 for Gate2 style In Gate3 style MACRO the contents of each servo node are arranged in each MACRO bank as follows Gate3 St
47. amp J12 Encoder Feedback HiperFace Hiperface Interface e Sin Sin im Cos SS w 1VppA D 1VppB gt Up Power gt OV Supply ak DATA lt gt DATA Hiperface Interface L i As of the date of the latest revision of this manual HiperFace is not d yet part of the ACC 24M2A firmware Note Connector Pinouts 32 Accessory 24M2A J11 amp J12 Encoder Feedback Resolver Resolver ACC 24M2A ResCos Twisted pair Screened Cable EM ee GND GND ET GND Notes Terminate shields on pins 13 and 25 Or Os Os Ov Os mm a Connector Pinouts 33 Accessory 24M2A TROUBLESHOOTING Status LED Indicators Status Display Color Description 7 segment LED Red 16 numeric codes plus two decimal points PWR Green Lit when logic power is good WD Red Indicates that the watchdog safety circuit has activated indicating a failure condition 7 Segment LED Indicator This indicator reports the status of the unit with respect to the MACRO link indicating the value of MI974 These are the possible status codes 7 Segment LED Display Description 0 Ring Active with no errors 5082 7730 Notes Cause Normal Operation with decimal point blinking 1 One 1 Amp Enable output activated If an amplifier motor is connected it is potentially activated in either open or closed loop f
48. and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s power supply GND if an external power supply is used for the encoder for better noise immunity Most applications use pin 12 to supply power to the encoder However for encoders that send out initial information at power on E the user should use pin 24 instead of pin 12 and then set MI984 1 on ACC 24M72A in order to manually enable the encoder power after Note PMAC is powered on Connector Pinouts 21 Accessory 24M2A J11 amp J12 Encoder Feedback HiperFace ACC 24M2A will read the absolute data from the Hiperface interface only if the appropriate option is ordered J11 amp J12 D sub DB 25F GEES Mating D sub DB 25M 25 Q3 2 GO 7 5 Pin 2 Symbol Description 1 Sint ChA Sinusoidal Signal Positive Channel A Positive 2 Cos ChB Cosine Signal Positive Channel B Positive 14 Sin ChA Sinusoidal Signal Negative Channel A Negative 15 Cos ChB Cosine Signal Negative Channel B Negative 7 DATA Clock Signal Positive 20 DATA Data Signal Positive 12 24 ENCPWR 5V Clock Signal Negative 13 25 GND Data Signal Negative Note e Do not connect the pins that are not listed e fthe encoder being used required 5VDC power it can be connected to pins 12 24 and grounded on pins 13 25 Howe
49. ch with a resolver one on Node 0 one on Node 1 wherein the clockwise direction of the motor s shaft s rotation is positive ACC 24M2A ECT Setup Channel 1 MacroSlave0 MI120 EOFF00 Data Source Address location CW MacroSlave0 MI121 00FF5C A D Converter Address Setup MacroSlave0 MI122 0 Sine Cosine Bias User Input Channel 2 CW MacroSlave0 MI123 SEOFF20 Data Source Address location CW MacroSlave0 MI124 00FF5C A D Converter Address Setup MacroSlave0 MI125 0 Sine Cosine Bias User Input ACC 24M2A ECT Output Setup MacroSlave0 MI101 812 Output from 3 line of ECT MI122 MacroSlave0 MI102 15 Output from 6 line of ECT MI125 Example ACC 24M2A with two motors each with a resolver one on Node 0 one on Node 1 wherein the counterclockwise direction of the motor s shaft s rotation is positive ACC 24M2A ECT Setup Channel 1 MacroSlave0 MI120 E8FF00 Data Source Address location CCW MacroSlave0 MI121 00FF5C A D Converter Address Setup MacroSlave0 MI122 0 Sine Cosine Bias User Input Channel 2 CW MacroSlave0 MI123 S E8FF20 Data Source Address location CCW MacroSlave0 MI124 00FF5C A D Converter Address Setup MacroSlave0 MI125 0 Sine Cosine Bias User Input ACC 24M2A ECT Output Setup MacroSlave0 MI101 12 Output from 3 line of ECT MI122 MacroSlave0 MI102 15 Output from 6 line of ECT MI125 Note that the third lin
50. converter in ACC24M2A In the case where multiple devices are driven from the same 24V supply it is recommended that each device be wired back to the power supply terminals independently It is also recommended that the power supply be sized to handle the instantaneous inrush current required for each device J10 3 Pin Edge Connector Mating Plated Pins on ACC 24M2A PCB Pins 3 2 1 Pin Symbol Function Description Notes 1 24VDC RET Common Logic power return 2 24VDC Input Logic power input 24V 410 2 A 3 N C N C Not Connected Connector is located at the bottom side of the unit Delta Tau part number 014 188305 001 Phoenix part number 1883051 Connector Pinouts 15 Accessory 24M2A J1 Amplifier Channel 1 J1 DB 15 Female Mating DB 15 Male 0 0O OOOO Pin Symbol Description 1 DAC1_A Phase A analog output 2 DAC1_B Phase B analog output 3 AE_NC_1 Amplifier Enabled Normally Closed 4 AE NO Amplifier Enabled Normally Open 5 AFAULT 1 Amplifier Fault input 6 N C Do not connect 7 A 12V Analog Positive Supply Voltage 8 AGND Analog Ground 9 DAC1_A Phase A analog output 10 DACI B Phase B analog output 11 AE COM 1 Amplifier Enable Common 12 AFAULT_1 Amplifier Fault input 13 N C Do not connect 14 AGND Analog Ground 15 A 12V Analog Negative Supply Voltage J2 Amplifier Channel 2
51. d then repeat step 4 13 Set MI199 to point to the ADC which saturated that is if ADC1 saturated type MacroSlave lt node gt MI198 6DFF00 in the Terminal Window or if ADC2 saturated type MacroSlave node MI198 6DFF01 in the Terminal Window 14 Position the motor s shaft such that the ADC value is close to the maximum value observed throughout one revolution of the motor s shaft At this point the other ADC should be close to 0 15 Increase MI980 by increments of 25 The ADC value should start to increase slowly If it decreases instead start with MI980 255 and then decrease MI980 by increments of 25 The ADC value should increase up to a maximum point and then start to decrease again Set MI980 to the value that produced the largest absolute ADC value achieved throughout the process of adjusting MI980 16 If the maximum absolute value of this ADC is less than 16 000 increase the gain of the resolver by increasing M1981 Configuring with Power PMAC 75 Accessory 24M2A Procedure for Configuring MI980 on Channel 2 The procedure for configuring MI980 for Channel 2 is as follows 9 10 11 12 13 14 15 16 In the Power PMAC IDE open a Watch Window click Delta Tau View Watch Window Into a field in the Watch Window type MacroSlave lt node gt MI199 where node is the node number of this ACC 24M2A s motor e g if this motor is on Node 0 type MacroSlave0 MI199 In the Terminal Window from w
52. e I O Node 50 51 54 55 58 59 24 bit X 7B420 X 7B424 X 7B428 X 7B42C X 7B430 X 7B434 16 bit X 7B421 X 7B425 X 7B429 X 7B42D X 7B431 X 7B435 16 bit X 7B422 X 7B426 X 7B42A X 7B42E X 7B432 X 7B436 16 bit X 7B423 X 7B427 X 7B42B X 7B42F X 7B433 X 7B437 Configuring with Turbo PMAC 36 Accessory 24M2A Setup Overview This setup assumes that the Ring Master has already been properly configured to run its own local motors In order to set up ACC 24M2A with Turbo PMAC one must 1 SO UR doen On the Ring Master enable one if ACC 24M2A will only use one motor to two using two motors servo nodes any two unused servo nodes per ACC 24M2A Variables involved 16840 16890 16940 16990 MACRO IC Ring Configuration Status 16841 16891 16941 16991 MACRO IC Node Activate Control Also make sure I78 and I80 I82 have been properly configured on the Master Establish communication between the Master and the ACC 24M2A using MACRO ASCII Mode and enable one or two servo nodes on ACC 24M2A Variables involved MS anynode MI11 MACRO Station Station Number MS anynode MI995 MACRO Ring Configuration Status MS anynode MI996 MACRO Node Activate Control Set up Feedback Set up Flag and Output Command Registers Configure IT Protection Perform an Open Loop Test Tune the Servo Loop Configuring with Turbo PMAC 37 Accesso
53. e of the entry for each channel in this example MI122 for Channel 1 and MI124 for Channel 2 contains the bias in the A D converter values This line indicated by User Input in the comments on that line should contain the value that the A D converters report when they should ideally report zero The MACRO Station subtracts this value from both A D readings before calculating the arctangent Many users will leave this value at 0 but it is particularly useful to remove the offsets of single ended analog encoder signals If it appears that the encoder has an offset the user can compensate for it in these variables This line is scaled so that the maximum A D converter reading provides the full value of the 24 bit register 2 Generally it is set by reading the A D converter values directly as 24 bit values in this example from Y C090 for Channel 1 and from Y C098 for Channel 2 computing the average value over a cycle or cycles and entering this value here Configuring with Power PMAC 73 Accessory 24M2A If the direction decode variable MacroSlave lt node gt MI910 is EF changed the user must save the setting MSSAVE node and reset the card MS node before the fractional direction sense matches ote Configuring Excitation Frequency After setting up the ECT the user then must set three MI Variables for the Resolvers to function correctly The ResOut signal i e the Resolver s excitation frequency
54. ed when unpacking the equipment The container and packing materials can be retained for future shipment 3 Electronic components in this device are design hardened to reduce static sensitivity However use proper procedures when handling the equipment conforms to published storage humidity and temperature specifications stated in this manual Use of Equipment If ACC 24M2A is to be stored for several weeks before use be sure that it is stored in a location that The following guidelines describe the restrictions for proper use of ACC 24M2A e The components built into electrical equipment or machines can be used only as integral components of such equipment e ACC 24M2A must not be operated on power supply networks without a ground or with an asymmetrical ground e ACC 24M2A may be operated only in a closed switchgear cabinet taking into account the ambient conditions defined in the environmental specifications Delta Tau guarantees the conformance of ACC 24M2A with the standards for industrial areas stated in this manual only if Delta Tau components cables controllers etc are used Receiving and Unpacking 12 Accessory 24M2A MOUNTING Installation Guidelines This product should be installed 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 the
55. efore MI980 should be set interactively to maximize the magnitudes of the feedback ADC values For each channel there are two ADC registers which hold the sin and cosine values For Channel 1 the base first ADC register address is Y FF00 and the second ADC register address is Y FFO1 For Channel 2 the base first ADC register address is Y FF20 and the second ADC register address is Y FF21 There is no MI Variable to directly address these registers so MI198 Direct Read Write Format and Address and MI199 Direct Read Write Variable will be used here For each channel both ADCs should be observed during setup Notice that MI199 can only be pointed to one register at one time so it must be configured twice throughout the following procedure Procedure for Configuring MI980 on Channel 1 The procedure for configuring MI980 for Channel 1 is as follows 1 In PeWin32Pro2 open a Watch Window View Watch Window Press Insert and type MS lt node gt MI199 where node is the node number of this ACC 24M2A s motor e g if this motor is on Node 0 type MS0 MI199 3 In the Terminal Window View Terminal type MS node 2 MI198 6DFF00 where node is this motor s node as in step 2 This points MI199 to the Channel 1 s ADCI 4 Rotate the motor on this channel Observe MS lt node gt MI199 in the Watch Window If it saturates to 32767 the resolver gain MI981 is too high Decrease MI981 until the MI199 just barely saturates
56. elation High Vel F E Cause Friction Correlation Fix Cause Damping Add K a fff Fix Increase Kyr and or turn on Integral Gain K High Acc F E High Acc F E Correlation Correlation Cause Cause Inertial Lag Physical System Fix Limitation Increase Ke Fix Use softer acceleration or add more Kee Configuring with Power PMAC 86 Accessory 24M2A Negative Vel F E Correlation Cause Too much Velocity Feedforward Fix Decrease Ke Negative Acc F E Correlation Cause Too much Acceleration Feedforward Fix Decrease Ke AT High Vel F E Correlation Cause Damping amp Friction Fix Increase K first Possibly adjust Ko High Vel F E amp Acc F E Correlation Cause Inertial Lag amp Friction Fix Increase Katt Possibly adjust Kr Configuring with Power PMAC 87 Accessory 24M2A LAYOUT L 2 000 4 1000 188 TT 165 1 25 4 4 76 JE 15 88 9 750 8 625 D379 247 7 219 17 238 13 dp L250 000 SES 3751 All main dimensions are in units of inches millimeters are in square brackets layout 88 Accessory 24M2A APPENDIX A JUMPERS Jumper Name Description Default EO Lattice Download Remove jumper to disable ability to perform Lattice Download Not Jump pins 1 and 2 to enable ability to download jumpered EI Watchdog Timer Remove jumper to enable Watchdo
57. ements do not connect pins 13 24 and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s power supply GND if an external power supply is used for the encoder for better noise immunity Most applications use pin 12 to supply power to the encoder the user should use pin 24 instead of pin 12 and then set MI984 1 on However for encoders that send out initial information at power on W ACC 24M72A in order to manually enable the encoder power after Note PMAC is powered on Connector Pinouts 19 Accessory 24M2A J11 amp J12 Encoder Feedback Sinusoidal ACC 24M2A accepts inputs from two digital encoders and provides encoder position data to PMAC J11 is for Encoder 1 and J12 is for Encoder 2 The ACC 24M2A s encoder interface circuitry employs differential line receivers The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery Acc 24M2A with the Sinusoidal Interpolator option accepts inputs from two sinusoidal or quasi sinusoidal encoders and provides encoder position data to the motion processor This interpolator creates 4 096 steps per sine wave cycle The user must order the appropriate option ACC 24M2A can be used only with a voltage mode sinusoidal encoder type Be sure to use shielded twisted pair cabl
58. ferent settings the aforementioned structures can take ote Configuring with Power PMAC Accessory 24M2A T Settings The I T overcurrent protection should be configured for each motor on ACC 24M2A Below is an example with some formulas for setting up IT the user simply needs to fill in the values specified by User Input in the comments on that line Example Configuring I T Protection for Motors 1 2 define AxislMinContCurrent 3 Continuous Current Limit for Axis 1 Amps User Input define AxislMinPeakCurrent 9 Instantaneous Current Limit for Axis 1 Amps User Input define AxislAmpPeakInstCurrent 16 3 Peak Instant Current of Amplifier Amps User Input define AxislI2TOnTime 2 Time allowed at peak current sec Assuming that motor 1 is the first motor on MACRO Motor 1 I2TSet 32767 Axis1MinContCurrent AxislAmpPeakInstCurrent Motor 1 MaxDac 32767 AxislMinPeakCurrent AxislAmpPeakInstCurrent Motor 1 I2TTrip Motor 1 MaxDac Motor 1 MaxDac Motor 1 I2TSet Motor 1 I2TSet Motor 1 IdCmd Motor 1 IdCmd AxislI2TOnTime Motor 2 I2TSet Motor 1 I2TSet Assumes motor 2 is the same as motor 1 Motor 2 MaxDac Motor 1 MaxDac Assumes motor 2 is the same as motor 1 Motor 2 I2TTrip Motor 1 I2TTrip Assumes motor 2 is the same as motor 1 The continuous current limit Axis MinContCurrent and the instantaneous current limit AxisI MinPeakCurrent values on the lines with User Input
59. for this motor That is make the Source Address match the address of the feedback register of this motor s node Make the Entry Number whatever is desired as long as it does not conflict with an ECT entry currently used for another motor For Gate3 Style MACRO interfaces use Gate3 i MacroInA j 0 a for the encoder feedback Source Address For Gate2 Style interfaces use Gate2 i Macro j 0 a Configuring with Power PMAC 68 Accessory 24M2A Example Motors 1 2 on Nodes 0 and 1 respectively with a Gate3 Style MACRO Interface on card index 0 EncTable 1 pEnc Gate3 0 MacroInA 0 0 a EncTable 1 pEncl Sys pushm EncTable 1 Index1 8 EncTable 1 Index2 8 EncTable 1 Index3 20 EncTable 1 Index4 20 EncTable 1 ScaleFactor 1 exp2 EncTable 1 Indexl 5 EncTable 2 pEnc Gate3 0 MacroInA 1 0 a EncTable 2 pEncl Sys pushm EncTable 2 Index1 8 EncTable 2 Index2 8 EncTable 2 Index3 0 EncTable 2 Index4 0 EncTable 2 ScaleFactor 1 exp2 EncTable 2 Indexl 5 Then point this motor s Motor x pEnc position feedback pointer and Motor x pEnc2 velocity feedback pointer to the numerical hex value Processed Data Address listed the ECT window shown above The user must also set the Encoder Type Motor x EncType to 4 Example Motors 1 2 Motor x pEnc and Motor x pEnc2 setting Motor 1 pEnc EncTable l a Motor 1 pEnc2 EncTable 1 a Motor 2 pEnc EncTable 2 a Motor
60. g Timer Disable Jump pins and 2 to disable Watchdog Timer for test Not purposes only jumpered E2 CPU Mode Jump pins and 2 for firmware download through USB port Operation Bootstrap Jump pins 2 and 3 for normal operation Pin 2 3 E3 Buffer Request Remove jumper to allow BRSEL to 5Vdc Select Polarity Jump pins 1 and 2 to pull BRSEL to OVdc Not jumped E5 Encoder Pulse and Remove jumper to enable 10V analog output on Ch1 Direction Chl Jump pins 1 and 2 to enable Stepper mode output for Ch1 Not jumper E6 Encoder Pulse and Remove jumper to enable 10V analog output on Ch1 Direction Ch2 Jump pins 1 and 2 to enable Stepper mode output on Ch2 Not jumper E9 Stepper Drive Remove jumper to receive encoder C Channel input on Ch1 Amplifier Enable Jump pins 1 and 2 to provide Amp Enable line for Stepper Not Ch1 Motor style amplifier Ch1 jumpered E10 Stepper Drive Remove jumper to receive encoder C Channel input on Ch2 Amplifier Enable Jump pins 1 and 2 to provide Amp Enable line for Stepper Not Ch2 Motor style amplifier Ch2 jumpered appendix A Jumpers 89 Accessory 24M2A APPENDIX B SCHEMATICS MACRO Fiber Connection eener 3 3VD 3 3VD Cit4 il R37 il 0 1 uF 68 1 0 1 uF R39 187 0 RES R40 187 0 3 3VD C116 c117 jci8 l 10 dF uF AA uF LVPECL Termination Network Located at Optical Transceiver Inputs TD TD NEAR U35 HFBR 5803 c40 C401 UE R41 1UF 4
61. hardware count Appendix C Sinusoidal Interpolation 101 The following equations express the relationships between the different units 1 line 4 hardware counts 128 software counts 4096 states LSBs 4 line 1 hardware count 32 software counts 1024 states LSBs 1 128 line 1 32 hardware count 1 software count 32 states LSBs 1 4096 line 1 1024 hardware count 1 32 software count I state LSB Note that these are all just naming conventions Even the position data that is fractional in terms of software counts is real The servo loop can see it and react to it and the trajectory generator can command to it at f m 128 whole software counts and 3 bits of fractional counts 1024 states One hardware count 4 lt _ lt gt gt Four hardware counts per line The Interpolator can accept a voltage source 1 V signal from the encoder The maximum sine cycle frequency input is approximately 8 MHz 1 400 000 SIN cycles sec which gives a maximum speed of about 5 734 billion steps per second When used with a 1000 line sinusoidal rotary encoder there will be 4 096 000 discrete states per revolution 128 000 software counts The maximum calculated electrical speed of this encoder would be 1 400 RPS or 84 000 RPM which exceeds the maximum physical speed of most encoders Example 1 A 4
62. he MACRO ring MACRO RJ 45 Copper Connector Option C Provides the following connector for MACRO communications OUT IN Connector RJ45 CAT5e Mating RJ45 Receptacle Front View Pin Symbol Function Description 1 DATA Data Differential MACRO Signal 2 DATA Data Differential MACRO Signal 3 Unused Unused terminated pin 4 Unused Unused terminated pin 5 Unused Unused terminated pin 6 Unused Unused terminated pin 7 Unused Unused terminated pin 8 Unused Unused terminated pin The cable used for MACRO wired connections is CATS verified straight through 8 conductor The input connector must be inserted into the MACRO output connector of the previous device on the MACRO ring The output connector must be inserted into the input MACRO connector of the next device on the MACRO ring Connector Pinouts 25 Accessory 24M2A Sample Wiring Diagrams J6 Flags Sourcing Flags Sinking Flags 0 or 12 24 VDC Power Supply 0 VDC 5 or 12 24 VDC i X 5 or 12 24 VDC Power Supply 5 or 12 24 VDC Connector Pinouts 26 Accessory 24M2A Output IC Diagram ACC 24M72A allows the use of sinking or sourcing position limits and flags to the controller The opto isolator IC used is a PS2705 4NEC ND quad phototransistor output type see below 5V RETURN PUNC he 5 This IC allows the current to f
63. he second ADC register address is Y FFO1 For Channel 2 the base first ADC register address is Y FF20 and the second ADC register address is Y FF21 There is no MI Variable to directly address these registers so MI198 Direct Read Write Format and Address and MI199 Direct Read Write Variable will be used here For each channel both ADCs should be observed during setup Notice that MI199 can only be pointed to one register at one time so it must be configured twice throughout the following procedure Procedure for Configuring MI980 on Channel 1 The procedure for configuring MI980 for Channel 1 is as follows 9 Inthe Power PMAC IDE open a Watch Window click Delta Tau View Watch 10 Into a field in the Watch Window type MacroSlave node MI199 where node is the node number of this ACC 24M2A s motor e g if this motor is on Node 0 type MacroSlave0 MI199 11 In the Terminal Window from within the IDE click Delta Tau View Terminal type MacroSlavecnode MI198 6DFF00 where node is this motor s node as in step 2 This points MI199 to the Channel 1 s ADCI 12 Rotate the motor on this channel Observe MacroSlave lt node gt MI199 in the Watch Window If it saturates to 32767 the resolver gain MI981 is too high Decrease MI981 until the MI199 just barely saturates to 32767 If it does not saturate type MacroSlave lt node gt MI198 6DFF01 in the Terminal Window which sets MI199 to point to Channel 1 s ADC2 an
64. htShift 0 Motor CaptPosLeftShift 13 Motor CaptFlagBit 19 Motor AmpFaultBit 23 Motor AmpEnableBit 22 Motor AmpFaultLevel 0 Motor 2 pLimits Acc5E3 0 MacroInA 1 3 a Motor 2 LimitBits 25 Motor 2 CaptPosRound 1 Motor 2 CaptPosRightShift 0 Motor 2 CaptPosLeftShift 13 Motor 2 CaptFlagBit 19 Motor 2 AmpFaultBit 23 Motor 2 AmpEnableBit 22 Motor 2 AmpFaultLevel 0 Configuring with Power PMAC 77 Accessory 24M2A Example Motors 1 2 on Nodes 0 and 1 respectively with overtravel limits disabled Motor pLimits 0 Motor LimitBits 25 Motor CaptPosRound 1 Motor CaptPosRightShift 0 Motor CaptPosLeftShift 13 Motor CaptFlagBit 19 Motor AmpFaultBit 23 Motor AmpEnableBit 22 Motor AmpFaultLevel 0 Motor 2 pLimits 0 Motor 2 LimitBits 25 Motor 2 CaptPosRound 1 Motor 2 CaptPosRightShift 0 Motor 2 CaptPosLeftShift 13 Motor 2 CaptFlagBit 19 Motor 2 AmpFaultBit 23 Motor 2 AmpEnableBit 22 Motor 2 AmpFaultLevel 0 Output Commands On the Ring Controller the output command address must be set to the ACC 24M2A s motors servo node addresses directly Example Motors 1 2 on Nodes 0 and 1 respectively using ACC 5E3 in a Power UMAC Motor 1 pDac Acc5E3 0 MacroOutA 0 0 a Motor 2 pDac Acc5E3 0 MacroOutA 1 0 a These examples configure only motors 1 2 If you are configuring E other motors refer to the Power PMAC Software Reference Manual S for the dif
65. ication with Station 1 Assign the node and master number on the ACC 24M2A with MI996 For example to assign the Station to Nodes 0 and 1 on Master IC 0 on the ACC 24M42A type MI996 FC003 Set MI995 80 Example MI995 80 Type MacroStationClose to exit MACRO ASCII Mode Configuring with Power PMAC 64 Accessory 24M2A Setup Step 3 Motor Setup Clocks For simplicity set the max phase and clock dividers the same as the ring controller but note that the servo rate on the Geo MACRO Drive is independent and can be set to a different frequency The variables to use on the MACRO Station for setting clocks are as follows MacroSlavef anynode I992 A Max Phase Clock MacroSlavef anynode 1997 Phase Clock Divider MacroSlave anynode 1998 A Servo Clock Divider The formulas for determining what value to which to set these variables are as follows MI992 1 mp MI997 Ka 1 p and MI998 2 where fmp is the desired maximum phase frequency kHz fp is the desired phase clock frequency kHz and f is the desired servo clock frequency kHz AN The Phase clock on the MACRO Station must be the same as the Ring KS Controller s but the Servo Clock can be different Note Example When Nodes 0 and 1 are being used for ACC 24M2A setting default clocks MacroSlave0 MI992 26527 MacroSlave0 MI99720 MacroSlave0 MI998 23 Then issue MacroSlaveSAVEI5
66. ilm 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 L i A Note identifies information critical to the understanding or use of ay the equipment It follows the discussion of interest Note Accessory 24M2A REVISION HISTORY REV DESCRIPTION DATE CHG APPVD CHANGED 7 SEGMENT DISPLAY DESCRIPTIONS REMOVED DUPLICATE SECTIONS FOR 7 SEGMENT DISPLAY AND CONNECTOR DESCRIPTIONS FORMATTING HEADER FOOTER CORRECTIONS MOVED FLAG AND LIMIT WIRING TO CONNECTIONS SECTION 06 11 06 C PERRY A SOTELO E POINT JUMPER DESCRIPTIONS REVISED 06 19 06 C PERRY A SOTELO wN REVISED MACRO FIBER OPTION CONNECTOR DESCRIPTIONS CHANGED MECHANICAL LAYOUT AND CONNECT
67. imum count change per servo cycle 0 Maximum count change per servo cycle Channel 1 User Channel 2 User Data Source Address location 24 bit SSI conversion Data Source Address location 24 bit SSI conversion 02 15 Output from 6 line of ECT MI125 Input Input If the direction decode variable MacroSlave lt node gt MI910 is changed the user must save the setting MSSA VE node and reset the KS card MS node before the fractional direction sense matches Note At this point of the setup process you should be able to move the E motor encoder shaft by hand and see encoder counts in the position window Note Configuring with Power PMAC 72 Accessory 24M2A Resolver ECT Setup ACC 24M2A has up to two channels of resolver inputs The inputs may be used as feedback or master reference signals for the PMAC servo loops The basic configuration of the drive contains one 10 bit fixed resolution tracking resolver to digital R to D converters with an optional second resolver when a dual axis driver is ordered ACC 24M2A creates the AC excitation signal ResOut for up to two resolvers accepts the modulated sine and cosine signals back from these resolvers demodulates the signals and derives the position of the resolver from the resulting information in an absolute sense if necessary The specifics for this configuration are as follows Ch1 and Ch2 Example ACC 24M2A with two motors ea
68. ing for sinusoidal encoder wiring Double insulated is the best choice The sinusoidal signals are very small and must be kept as noise free as possible Avoid cable routing near noisy motor or driver wiring Refer to the appendix for tips on encoder wiring It is possible to reduce noise in the encoder lines of a motor based system by the use of inductors that are placed between the motor and the amplifier Improper grounding techniques may also contribute to noisy encoder signals 11 amp 512 D subpp2F OOOOOOOOOO Mating D sub DB 25M G3 G3 62 G3 G0 9 oe 3 oe oe 33 Pin Symbol Description 1 Sint Sinusoidal Signal Positive 14 Sin Sinusoidal Signal Negative 2 Cos Cosine Signal Positive 15 Cos Cosine Signal Negative 3 Index Index Pulse Signal Positive 16 Index Index Pulse Signal Negative 12 24 ENCPWR 5V Encoder Power 5VDC 13 25 GND Ground Note e Do not connect the pins that are not listed e fthe encoder being used required 5VDC power it can be connected to pins 12 24 and grounded on pins 13 25 However if the encoder has different power requirements do not connect pins 13 24 and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s power supply GND if an external power supply is used for the encoder for better noise immunity Most applications
69. ise immunity when wired into machinery OOODOOOOOO amp 6 amp 9 62 69 69 d9 d9 69 9 J11 amp J12 D sub DB 25F Mating D sub DB 25M Pin Symbol Description 4 ResSin Resolver Sine Positive 17 ResSin Resolver Sine Negative 5 ResCos Resolver Cosine Positive 18 ResCos Resolver Cosine Negative 11 ResOut Resolver Output 13 25 GND GND Note e Do not connect the pins that are not listed e fthe encoder being used required 5 VDC power it can be connected to pins 12 24 and grounded on pins 13 25 However if the encoder has different power requirements do not connect pins 13 24 and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s power supply GND if an external power supply is used for the encoder for better noise immunity Most applications use pin 12 to supply power to the encoder However for encoders that send out initial information at power on the user should use pin 24 instead of pin 12 and then set MI984 1 on ACC 24M72A in order to manually enable the encoder power after Note PMAC is powered on Connector Pinouts 23 Accessory 24M2A Universal Serial Bus Port USB Port This connector uses a USB A B cable to establish communication between the PC and the ACC 24M2A This type of USB cable could be purchased at any local elect
70. ithin the IDE click Delta Tau View Terminal type MacroSlave lt node gt MI198 6DFF20 where node is this motor s node as in step 2 This points MI199 to the Channel 1 s ADCI Rotate the motor on this channel Observe MacroSlave lt node gt MI199 in the Watch Window If it saturates to 32767 the resolver gain MI981 is too high Decrease MI981 until the MI199 just barely saturates to 32767 If it does not saturate type MacroSlave lt node gt MI198 6DFF21 in the Terminal Window which sets MI199 to point to Channel 1 s ADC2 and then repeat step 4 Set MI199 to point to the ADC which saturated that is if ADC1 saturated type MacroSlave lt node gt MI198 6DFF20 in the Terminal Window or if ADC2 saturated type MacroSlave node MI198 6DFF21 in the Terminal Window Position the motor s shaft such that the ADC value is close to the maximum value observed throughout one revolution of the motor s shaft At this point the other ADC should be close to 0 Increase MI980 by increments of 25 The ADC value should start to increase slowly If it decreases instead start with MI980 255 and then decrease MI980 by increments of 25 The ADC value should increase up to a maximum point and then start to decrease again Set MI980 to the value that produced the largest absolute ADC value achieved throughout the process of adjusting MI980 If the maximum absolute value of this ADC is less than 16 000 increase the gain of the resolver by increasing
71. list of the addresses for Ixx02 These examples configure only motors 1 2 If you are configuring Configuring with Turbo PMAC 49 Accessory 24M2A I2T Settings The I2T overcurrent protection should be configured for each motor on ACC 24M24A Below is an example with some formulas for setting up I2T the user simply needs to fill in the values specified by User Input in the comments on that line Example Configuring I2T Protection for Motors 1 2 I15 20 Trigonometric calculation in degrees define MaxPhaseFreq P7000 Max Phase Clock KHz define PWMClk P7001 PWM Clock KHz define PhaseClk P7002 Phase Clock KHz define ServoClk P7003 Servo Clock KHz MaxPhaseFreq 117964 8 2 16800 43 PWMC1k 117964 8 4 16800 6 PhaseClk MaxPhaseFreq 16801 1 ServoClk PhaseClk 16802 1 define AxislMinContCurrent 3 Continuous Current Limit for Axis 1 Amps User Input define AxislMinPeakCurrent 9 Instantaneous Current Limit for Axis 1 Amps User Input define AxislAmpPeakInstCurrent 16 3 Peak Instant Current of Amplifier Amps User Input define AxislI2TOnTime 2 Time allowed at peak Current sec Assuming that motor 1 is the first motor on MACRO I157 INT 32767 AxislMinContCurrent AxislAmpPeakInstCurrent I169 INT 32767 AxislMinPeakCurrent AxislAmpPeakInstCurrent I158 INT I169 I169 I157 1157 ServoC1k 1000 AxislI2TOnTime 32767 32767 I257 1157 1269 1169 1258 1158 As
72. low from return to flag sinking or from flag to return sourcing A sample of the internal positive limit circuit for this IC is shown below Digital Analag Plone Plane PLIM PLIM GND PS2765 4NEC ND Surface Mounted PS2505 4NEC ND Socketed The 4 7K resistor packs used will allow 12 24V flag inputs If the user wants to use 0 5V flags then a 1KQ resistor pack RP can be placed in RP7 for Channel 1 s flags or in RP8 for Channel 2 s flags If these resistor packs are not added all flags Limits Home User and Amplifier Fault will be referenced from 12 24V Connector Pinouts 27 Accessory 24M2A J11 amp J12 Encoder Feedback Digital A Quad B The following wiring diagram shows an example of how to connect a quadrature encoder Quadrature Encoder J11 amp J12 Encoder Feedback SSI ba Q Os Oa O N e co N t CLK 8 fe Ge iser DATA SSI Ct DAT encoder aa Connector Pinouts 28 Accessory 24M2A J11 amp J12 Encoder Feedback Sinusoidal Differential Format The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery Sinusoidal Encoder Shield Qe o O Single Ended Format 1 The single ended formats provide a simpler means of using a sinusoidal encoder Typically
73. lso make sure Macro TestPeriod Macro TestMaxErrors and Macro TestReqdSynchs have been properly configured on the Master Establish communication between the Master and the ACC 24M2A using MACRO ASCII Mode and enable one or two servo nodes on ACC 24M2A corresponding to the nodes activated on the Master Variables involved MacroSlave anynode MI1 1 MACRO Station Station Number MacroSlave anynode MI995 MACRO Ring Configuration Status MacroSlave anynode MI996 MACRO Node Activate Control Set up Feedback Set up Flag and Output Command Registers Configure I2T Protection Perform an Open Loop Test Tune the Servo Loop Configuring with Power PMAC 62 Accessory 24M2A Setup Step 1 MACRO Connectivity ACC 24M72A requires that the same number of servo nodes be activated on the Power PMAC as there are motors being used on ACC 24M24A e g two servo nodes should be enabled on the Ring Controller if using two motors one servo node if using only one motor Power PMAC MACRO has three variables for error checking that must also be configured Macro TestPeriod This is the period in milliseconds at which PMAC checks for errors on the MACRO ring The recommended value for this variable is 20 Macro TestMaxErrors This is the maximum error count PMAC can receive in one test period whose duration is specified by Macro TestPeriod before triggering a fault The formula for computing this variable is as follows Macro TestMaxError
74. mance Decrease Ka Ixx31 and maybe add K Ixx30 Typically one should start by increasing K until one observes the Overshoot and Oscillation condition upper left corner s plot and then increase K4 and K until the performance goals for the step response are achieved Be sure when executing the step response that you plot the Servo Command on the Right Axis 2 PID InteractiveTuning Motor 1 eJ e E Present PID Terms Implement Auto Tuning Gains Step Move Ixx30 Kp 2500 Step Size cts 1000 Ixx31 Kd 40 EE Step Time ms 500 Ixx32 Kvff 320 PID Diagram Trajectory Selection 1xx33 Ki 1000 Position Step 1 1x34 IM C Position Ramp Do Step Move 2300 ebe Parabolic Velocity Ixx29 0 Ixx69 20480 Ixx60 0 Kill Motor After Step Move Trapezoidal Velocity di S Curve Velocity Move in one direction e e e e Sinusoidal Ixx68 0 Sine Sweep Left Axis Plot Ixx11 32000 User Defined Position e Enable Motor 1 Notch Filter Low Pass Filter Calculator Calculator Exit Notch Low Pass Filter Setup lt lt gt gt Notch Low Pass Filter Inactive Configuring with Turbo PMAC 55 Accessory 24M2A If you see a truncation of the servo command at the beginning of each move you have reached the maximum output command as determined by Ixx69 In this case adding more K will not improve the Step Response s performance Step 3 Tuning Kye Kare and Kere
75. met 100 1 To J11 pin 23 Encoder connector Use 1 74K 1 for a 130 allarm 1 62K 1 for a 150 2 23 V KTY84 130 130 C 2 33 V KTY84 130 150 C 5VAN1 o SE a R136 R131 R132 R137 1k 1 1 74K 1 C212 71 5K 196 2 21K 1 O 1uF a 3 LM393AD R130 R134 U80A 1 1_therm_mot 100 1 1K 1 S08 Has to be KTY84 130 and not KTY84 150 D25 a SMAJ5 0 R133 C213 C214 R135 1 5K 1 To iuEQ tuF 7 5K 1 4 A d d Note USE NC contact as thermal sensor PTC resistor KTY84 130 or similar can be used Different PTC type needs different R82 value AGND Use 1 74K 1 for a 130 C allarm 1 62K 1 for a 150 2 23 V KTY84 130 130 C 2 33 V KTY84 130 150 C 5VAN2 o v R141 R142 R146 R147 1k 196 1 74K 196 2 21K 1 71 5K 1 1 2 therm mot R144 1K 196 Has to be KTY84 130 and not KTY84 150 xa Motor Th 1 SMAJ5 0 na oos oc2t pue otor erma 1 5K 1 Jo tur gef 7 5K 1 I t 1 2 i l p can be used Different PTC type AGND Note USE NC contact as thermal sensor PTC resistor KTY84 130 or similar needs different R82 value Appendix B Schematics 95 Accessory 24M2A SSI Inputs 5V o CO VCC GND ROUT ssi iol RENA i 1 ena_ssi_out DENA Ale rol ADM1485JR C202 2 1 0 1uF i ARR 2 a ALTCOSI ssi io1 E CER 4 SST 22 Ssi_iot 5 OV V _ALTCOSE ssi 102 22 el iol ek z so ofr 2 sel io2 AN 23 ssi_io
76. ne Enty pm Processed Data yx 3502 Address Address View All Entries of Table Viewing Conversion Type Parallel pos from Y word with no filtering Y Source Address E Width in Bits 24 Offset Location of LSB at Source Address D n Based Index Conversion Shifting of Parallel Data Normal shift 5 bits to the left No Shifting The only field the user needs to change on this screen is the Source Address and the Entry Number Make the Source Address the correct address depending on the node to which this ECT entry corresponds Make the Entry Number whatever is desired as long as it does not conflict with an ECT entry currently used for another motor Example Motors 1 2 on Nodes 0 and 1 respectively I8000 2F8420 Unfiltered parallel pos of location Y 78420 Node 0 18001 18000 I8002 2F8424 Unfiltered parallel pos of location Y 78424 Node 1 18003 18000 Then point this motor s Ixx03 and Ixx04 to the numerical hex value Processed Data Address listed the ECT window shown above Example Motors 1 2 Ixx03 and Ixx04 setting 1103 3502 1I104 3502 1203 3503 1I204 2 3503 The only exception to this would be if the user wants to use dual feedback on ACC 24M2A and is therefore using both encoder channels for one motor in which case the user must make one ECT entry for each encoder and point Ixx03 to the position encoder and Ixx04 to the velocity encoder Config
77. nts Example ACC 24M2A with two motors each with a 12 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MacroSlave0 MI120 30FF54 Data Source Address location MacroSlave0 MI121 5 000FFF 12 bit SSI conversion MacroSlave0 MI122 MaxVelCh1 32 Channel 2 MacroSlave0 MI123 30FF74 Data Source Address location MacroSlave0 MI124 000FFF 12 bit SSI conversion MacroSlave0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MacroSlave0 MI101 12 Output from 3 line of ECT MI122 MacroSlave0 MI102 815 Output from 6 line of ECT MI125 Example ACC 24M2A with two motors each with a 16 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MacroSlave0 MI120 30FF54 Data Source Address location MacroSlave0 MI121 00FFFF 16 bit SSI conversion MacroSlave0 MI122 MaxVelCh1 32 Channel 2 MacroSlave0 MI123 30FF74 Data Source Address location MacroSlave0 MI124 00FFFF 16 bit SSI conversion MacroSlave0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MacroSlave0 MI101 12 Output from 3 line of ECT MI122
78. on eee eese eene nnne 67 Motor Feedback 66 Fl gs iiiiididsstisseseeeteeeseeeeeeeaeeeeeeckeeecaeeeteeeeeeeteseteeeteecheetbee cheek bea cheat bee cheat beatae sedens aea eed ed eae ea eege 77 Output Commande 76 IU NNRRRRREPERRT 79 RE ee 79 IER 61 Serro Xboop EE 63 DA YOU E e 0 88 APPENDIX At JUMPERS Y 89 APPENDIX E SCHEMAT EN 90 APPENDIX C SINUSOIDAL INTERPOLATION scccssssssscsssecsscseesssseesscseesssseeens 101 Introduction 8 Accessory 24M2A INTRODUCTION The ACC 24MAA is a two 2 axis servo peripheral designed to work with Turbo PMAC2 Ultralite Power PMAC EtherLite or UMAC MACRO controllers to remotely interface to two 2 channels of analog style amplifiers This device produces a 10 Va control signal to control analog amplifiers The ACC 24M2A can process the following feedback types Quadrature 1 Vpp Sinusoidal Resolver SSI N mm S T X Introduction Accessory 24M2A SPECIFICATIONS Part Number ACC 24M2A 4 A Fiber Optic MACRO Transceiver 0 Standard Quadrature Encoder Feedback C RJ 45 MACRO Connector 3 Quadrature Encoder Feedback and Two
79. or this ACC 24M2A One can set up the ECT entry using the Power PMAC IDE by clicking from within the software on Delta Tau Configure Encoder Conversion Table showing this window ECT Setup Online 192 168 0 200 SSH 3 ECT entry number 1 S V Display All ECT Entries Type ECT entry input 0 1 Single 32 bit register read D SC ECT entry output 0 Detailed ECT Setup PowerPMAC Structure Encoder Plot ECT entry 1 details Source Address Acc5E3 0 MacroInA 0 0 a LSB Bit 8 v Integrate No v of Bits Used 24 S Integrator Bias Term 0 Result Units per LSB 0 03125 Limited Quantity None v Limit Magnitude 0 of Cycles to Limit 1 Number Type pEnc pEnc1 MaxDelta Ki 1 1 Acc5bE3I0I MacrolnA OTIOLa Sys pushm 0 E 2 1 Acc5E3 01 MacrolnAM101a Svs pushm 0 3 1 AccbE3IOI MacrolnAT4If0T a Sys pushm D 4 1 AccbE3IOI MacrolnA SI O a Svs pushm 0 5 1 AccbE3IO0I MacrolnA SI OT a Sys pushm 0 D ECT entry 1 type 1 Single 32 bit register read Function myDBUtilFunctions GetHWCardsList did not detect any channel Something is wrong either in PowerPMAC or with Database utility Setting number of channels to 4 Default ECT entry 1 type 1 Single 32 bit register read L3 The only field the user needs to change on this screen is the Source Address and the Entry Number There should be one entry for each motor each using the Source Address that corresponds to the node used
80. orm Exercise caution 2 Two 1 Amp Enable outputs If an amplifier motor is connected it is potentially activated activated in either open or closed loop form Exercise caution 3 9 NA NA A Amplifier Fault Denotes Amplifier fault condition true Cleared by enabling amplifier or CLRF B MACRO Ring Break Fault Break or misconnection in fiber optic or RJ45 ring termination C Configuration change fault Denotes mismatch between master and slave node configuration Check MI996 and 16806 etc for match Clear with CLRF D MACRO Ring Fault Ring Data Error Fault Too many ring errors or not enough synch packets being received Node 15 may not be properly enabled E Encoder Fault Encoder Loss bit condition true MI927 1 Occurs only when Encoder Loss detection is enabled Denotes loss of encoder signal Check encoder wiring and functionality NA Troubleshooting 34 Accessory 24M2A CONFIGURING WITH TURBO PMAC Quick Review Nodes and Addressing Each MACRO IC consists of 16 nodes 2 auxiliary 8 servo and 6 I O nodes e Auxiliary nodes are Master Control registers and internal firmware use e Servo nodes carry information such as feedback commands and flags for motor control e HO nodes are by default unoccupied and are user configurable for transferring miscellaneous data l O Nodes Node 15 14 Auxiliary Nodes Servo Nodes
81. performance A couple other factors to evaluate carefully when selecting a location for installation e Allow for at least 1 inch 2 54mm top and bottom clearance to permit airflow At least 0 4 inches 10mm clearance is required between each side e Temperature humidity and vibration specifications should also be considered ACC 24M2A can be mounted with a 3 hole panel mount two U shape notches on the bottom and one pear shaped hole on top Mounting is also identical to this on all peripheral devices If multiple MACRO devices are used they can be mounted side by side leaving at least a 0 4 inch clearance between them It is important that the airflow is not obstructed by the placement of conduit tracks or other devices in the enclosure ACC 24M2A should be mounted to an unpainted electrically conductive panel in order to allow for reduced electrical noise interference The back panel should be machined to accept the mounting bolt pattern of the accessory Make sure that all metal chips are cleaned up before the device is mounted so that there is no risk of getting metal chips inside the device ACC 24M2A is mounted to the back panel with three M4 screws and internal tooth lock washers The teeth of the washers must break through the device s anodizing in order to provide an electrically conductive path in as many places as possible Units must be installed in an enclosure that meets the environmental IP rating of the end product
82. position and or velocity feedback Each SSI device requires three lines of the ECT In the second line of each SSI ECT entry the number of bits to process is specified So there are four examples given below In the third line specify the maximum change per servo cycle of the encoder counts that is expected This is typically equal to 1 25 times the maximum expected velocity of the motor The units of this entry are whatever the units of the input register are typically 1 32 of a count For example to limit the change in one servo cycle to 64 counts with an input register in units of 1 32 count this third line would be 64 32 2048 In the examples below the user must specify the maximum count change per servo cycle on the lines which end with User Input in the comments Example ACC 24M2A with two motors each with a 12 bit SSI encoder one on Node 0 one on Node 1 define MaxVelChl 0 Maximum count change per servo cycle Channel 1 User Input define MaxVelCh2 0 Maximum count change per servo cycle Channel 2 User Input ACC 24M2A ECT Setup Channel 1 MS0 MI120 30FF54 Data Source Address location MS0 MI121 000FFF 12 bit SSI conversion MS0 MI122 MaxVelCh1 32 Channel 2 MS0 MI123 30FF74 Data Source Address location MS0 MI124 000FFF 12 bit SSI conversion MS0 MI125 MaxVelCh2 32 ACC 24M2A ECT output setup MSO MI101 12 Output from 3 line of ECT MI122 MS0 MI102 15 Output from 6
83. rforming the Open Loop Test make sure there is no load attached to the motor and make sure that the motor can safely and freely move This step of the setup can generate much WARNING motion in the motor The user should now execute an Open Loop test in order to determine whether the feedback from ACC 24M2A is working properly To do this open PMAC Tuning Pro2 from PeWin32Pro2 by clicking on Tools PMAC Tuning Pro2 Then click Position Loop gt Open Loop Test E PmacTuningPro2 v4 0 0 PMAC 0 V1 94712 05 17 2010 QMAC TURBO USB Port File CurrentLoop Position Loop Trajectory Tools Window Help DAC Calibration Kb Regular PID Extend Servo Algorithm Filters Gantry PID E PmacTuningPro2 Open Loop Test Result Motor 9 P Hal e gt DAR Aware ns Motor 9 Open Loop Test Plot Result Executed at 10 32 17 AM 6 2 2010 59400 00 1000 00 49500 00 750 00 39600 00 29700 00 gt 19800 00 9900 00 H 0005 9900 00 g i H E E S Cl PMAC 0 V1 94712 05 17 ix 1980 00 120 160 200 240 280 320 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 6 2 2010 10 32 30 9 amp 1 100 Previous Command M 7 o Velcty You should see the actual velocity
84. ronics or computer store It may be ordered from Delta Tau as well Symbol Ke DATA DATA GND GND SHELL SHIELD SHELL SHIELD This connector is used only to change the operational firmware or to perform basic software diagnostic operations The user can use a serial port terminal window such as Microsoft HyperTerminal to communicate with the MACRO Device and send ASCII commands to the device Set the serial port communication settings as follows Baud Rate 38400 if E3 is not jumpered or 9600 if E3 is jumpered Data Bits 8 Parity None Stop Bits 1 Flow Control Xon Xoff If the PeWin32PRO2 software is installed on the PC then the USB device should be recognized by the operating system If the device is not recognized then contact Technical Support for assistance Connector Pinouts 24 Accessory 24M2A MACRO Fiber Connector Option A provides the following connector for MACRO communications OUT IN MACRO SC Style Fiber Connector Front View Pin Symbol Function 1 IN MACRO Ring Receiver 2 OUT MACRO Ring Transmitter Notes The fiber optic version of MACRO uses 62 5 125 multi mode glass fiber optic cable terminated in an SC style connector The optical wavelength is 1 300 nm The input connector must be inserted into the MACRO output connector of the previous device on the MACRO ring The output connector must be inserted into the input MACRO connector of the next device on t
85. roportional Gain Kp Ixx30 Derivative Gain Kd Ixx31 Integral Gain Ki Ixx33 3 Using the Parabolic Move tune the following parameters in this order Velocity Feedforward Kvff Ixx32 Acceleration Feedforward Kaff Ixx35 Friction Feedforward Kfff Ixx68 e When tuning the feedforward gains set Ixx34 1 so that the dynamic behavior of the system may be observed without L i integrator action After tuning these set Ixx34 back to your d desired setting Note e Setting Kvff Kd Ixx32 Ixx31 is a good place to start when tuning Kvff Configuring with Turbo PMAC 53 Accessory 24M2A Steps 2 and 3 should be performed in the Interactive Tuning window in PMAC Tuning Pro2 ES PmacTuningPro2 v4 0 0 PMAC 0 V1 945 07 02 2008 UMAC TURBO USB Port Fille Current Loop Position Loop Trajectory Tools Window Help eS ENS E EI PID InteractiveTuning Motor 1 Present PID Terms m PENES E Step Move 4 Implement Auto Tuning Gains Interactive Tunin RE Step Sie fomy 9 g Ixx31 Kd 1280 Gains SE em iti 15050 aam for Position SCHEER Trajectory Selection Ixx33 Ki BA Position Step 1xx34 1M Position Ramp DoA Step Move Inx35 Kaff C Parabolic Velocity Ixx23 C Trapezoidal Velocity Ixx69 C S Curve Velocity Kill Motor After Step Move Move in one direction pu C Sinusoidal Ixx68 C Sine Sweep Left Axis Plot Ixx11 32000 C User Defined Posi
86. ry 24M2A Setup Step 1 MACRO Connectivity ACC 24M72A requires that the same number of servo nodes be activated through 16841 as there are motors being used on ACC 24M24A e g two servo nodes should be enabled on the Ring Controller if using two motors one servo node if using only one motor 180 182 and I70 171 must also be configured There is a specific set of formulas to use for configuring these as shown in the following example Example Setting up nodes 0 and 1 to control one ACC 24M2A define RingCheckPeriod 20 define FatalPackErr 10 80 INT RingCheckPeriod 8388607 110 1 H 81 INT I80 I841 FatalPackErr 100 82 INT I80 18 1 100 FatalPackErr 100 6841 SFC003 Enable nodes 0 and 1 MACRO 6840 4030 MACRO IC 0 transmits clocks for I70 and I71 use the formula I70 MI996 MSR0O MI996 P33 Obtain MI996 s value 70 P33 amp 3333 Enable flag transfer 71 2 P338 amp 3333 Enable flag transfer Suggested Ring Check Period msec Suggested Fatal Packet Error Percentage Macro Ring Check Period Servo Cycles Macro Maximum Ring Error Count Macro Minimum Sync Packet Count Ic 0 is master amp 3333 I71 MI996 amp 3333 and store it in P33 for nodes 0 and 1 for nodes 0 and 1 Before proceeding type SAVE and then Configuring with Turbo PMAC 38 Accessory 24M2A Setup Step 2 Communicating with ACC 24M2A over MACRO ASCII ACC 24M2A has no rotar
87. ry Selection Step Move Step Size mu 1000 Position Step Step Time ms 500 Derivative Gain2 Position Ramp Velocity Feed Forward 40 D Parabolic Velocity Velocity Feed Forward2 0 D Trapezoidal Velocity Kill Motor After Step Move Integral Gain 9 9999997e 5 S Curve Velocity Move in one direction Integral Mode D Sinusoidal ecn Fend Fe sne a EIS Friction Feed Forward D User Defined Input the move size here Max Dac Fatal F E Limit Input DB Size Input DB Gain Output DB Inner Output DB Outer Output DB Seed F Clear other non zero servo loop parameters Select the Motor Number here Step 2 tuning K Ka and Ki Select Position Step under Trajectory Selection Choose a Step Size under Step Move that is within 1 2 to L of a revolution of the motor if it is a rotary motor or within 2 to of one electrical cycle if it is a linear motor The step move s commanded position profile should look somewhat like this Commanded Position cts Time sec Now compare your motor s actual position to the commanded position profile Depending how the actual position looks adjust the servo loop gains until you achieve the desired response Configuring with Power PMAC 84 Accessory 24M2A Observing the table below match your actual position response to one of the response shapes below and then adjust the appropriate gain as listed next to each plot Over
88. s with an optional second resolver when a dual axis driver is ordered ACC 24M2A creates the AC excitation signal ResOut for up to two resolvers accepts the modulated sine and cosine signals back from these resolvers demodulates the signals and derives the position of the resolver from the resulting information in an absolute sense if necessary The specifics for this configuration are as follows Ch1 and Ch2 Example ACC 24M2A with two motors each with a resolver one on Node 0 one on Node 1 wherein the clockwise direction of the motor s shaft s rotation is positive ACC 24M2A ECT Setup Channel 1 MS0 MI120 S EOFFO00 Data Source Address location CW MS0 MI121 00FF5C A D Converter Address Setup MS0 MI122 0 Sine Cosine Bias User Input Channel 2 CW MS0 MI123 S EOFF20 Data Source Address location CW MS0 MI124 00FF5C A D Converter Address Setup MS0 MI125 0 Sine Cosine Bias User Input ACC 24M2A ECT Output Setup MSO MI101 12 Output from 3 line of ECT MI122 MS0 MI102 15 Output from 6 line of ECT MI125 Example ACC 24M2A with two motors each with a resolver one on Node 0 one on Node 1 wherein the counterclockwise direction of the motor s shaft s rotation is positive ACC 24M2A ECT Setup Channel 1 MS0 MI120 S E8FF00 Data Source Address location CCW MS0 MI121 00FF5C A D Converter Address Setup MS0 MI122 0 Sine Cosine Bias User Input Channel 2
89. s Macro TestPeriod 10 Macro TestReqdSynchs This is the number of sync packets in one period whose duration is specified by Macro TestPeriod that PMAC must receive before triggering an error The formula for computing this variable is as follows Macro TestReqdSynchs Macro TestPeriod Macro TestMaxErrors Example MACRO Communication Setup Configuring a Gate3 Style MACRO interface to enable 16 servo nodes and 12 I O nodes on a Power PMAC which is acting as a Ring Controller Sys WpKey SAAAAAAAA MACRO Communication Setup Gate3 0 MacroEnableA S OFFFFF00 Activate 8 Servo Nodes and 6 I O Nodes of MACRO A Gate3 0 MacroModeA 403000 Set MACRO A as master Gate3 0 MacroEnableB 1FFFFF00 Activate 8 Servo Nodes and 6 I O Nodes of MACRO B Gate3 0 MacroModeB 9000 Set MACRO B as master to synchronize clock Macro TestPeriod 20 MACRO Ring Check Period msec Macro TestMaxErrors Macro TestPeriod 10 MACRO Maximum Ring Error Count Macro TestReqdSynchs Macro TestPeriod Macro TestMaxErrors MACRO Minimum Sync Packet Count Configuring with Power PMAC 63 Accessory 24M2A Setup Step 2 Communicating with ACC 24M2A over MACRO ASCII ACC 24M2A has no rotary switches to determine its MACRO Station Number Therefore ACC 24M2A uses the Ring Order method to obtain its Station Number Before the ACC 24M2A has been initialized it will by default be at MACRO Station 255 If ACC 24M72A is not at fac
90. s 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 Accessory 24M2A Safety Instructions Qualified personnel must transport assemble install and maintain this equipment Properly qualified personnel are persons who are familiar with the transport assembly installation and operation of equipment The qualified personnel must know and observe the following standards and regulations IEC364resp CENELEC HD 384 or DIN VDE 0100 IEC report 664 or DIN VDE 0110 National regulations for safety and accident prevention or VBG 4 Incorrect handling of products can result in injury and damage to persons and machinery Strictly adhere to the installation instructions Electrical safety is provided through a low resistance earth connection It is vital to ensure that all system components are connected to earth ground This product contains components that are sensitive to static electricity and can be damaged by incorrect handling Avoid contact with high insulating materials artificial fabrics plastic f
91. shoot and Oscillation Cause Too much Proportional gain or too little Damping Fix Decrease K Increase Ka Sluggish Response Cause Too much Damping or too little Proportional gain Fix Increase K or Decrease Ka Position Offset Cause Friction or Constant Force Fix Increase K Increase K Physical System Limitation Cause Limit of the Motor Amplifier Load and gain combination Fix Evaluate Performance and maybe add K Typically one should start by increasing K until one observes the Overshoot and Oscillation condition upper left corner s plot and then increase K4 and K until the performance goals for the step response are achieved Be sure when executing the step response that you plot the Servo Command on the Right Axis see image on right below If you see a truncation of the servo command at the beginning of each move you have reached the maximum output command as determined by Motor x MaxDac In this case adding more K will not improve the Step Response s performance a Tune Online 192 168 0 200 55H ale ES Open Loop Test Position Loop Auto Tuning Position Loop Interactive Tuning Trajectory Prefilter Setup Adaptive Control Setup E Present Gain View Proportional Gain Derivative Gain1 Derivative Gain2 Velocity Feed Forward1 Velocity Feed Forward2 Integral Gain Integral Mode Accel Feed Forward Fric
92. should be able to move the E motor encoder shaft by hand and see encoder counts in the position window Note Configuring with Turbo PMAC 48 Accessory 24M2A Flags On the Ring Controller the flags Ixx25 must point to the servo node s flag addresses used for the motors on ACC 24M2A Example Motors 1 2 on Nodes 0 and 1 respectively 1125 3440 1225 3441 other motors refer to the Turbo PMAC Software Reference Manual under the entry for Ixx25 under the Turbo PMAC2 Ultralite table Note for a list of the addresses for Ixx25 These examples configure only motors 1 2 If you are configuring Then on the Ring Controller the flag control Ixx24 variable must be set up for each motor on ACC 24M2A as follows Ixx24 Setting Description 40001 Overtravel limits enabled 60001 Overtravel limits disabled Example Flag Control for Motors 1 2 1124 2 100 40001 Motor 1 2 have overtravel limits enabled Output Commands On the Ring Controller the output command address must be set to the ACC 24M2A s motors servo node addresses directly Example Motors 1 2 on Nodes 0 and 1 respectively 1102 078420 Motor 1 s output command address is Node 0 I202 078424 Motor 2 s output command address is Node 1 other motors refer to the Turbo PMAC Software Reference Manual under the entry for Ixx02 under the under Turbo PMAC2 Ultralite Note table for a
93. sumes motor 2 is the same as motor 1 The continuous current limit Axis MinContCurrent and the instantaneous current limit Axisl MinPeakCurrent values on the lines with User Input in the comment above should be the smaller of the two limits between your motor and your amplifier s specifications Configuring with Turbo PMAC 50 Accessory 24M2A DAC Calibration Before performing the DAC Calibration make sure there is no load attached to the motor and make sure that the motor can safely and freely move This step of the setup can generate much WARNING motion in the motor At this stage in the setup the user should calibrate the DACs on ACC 24M2A to make sure that when he or she commands 0 volts on the DACs they actually put out 0 volts To do this open PMAC Tuning Pro2 by clicking on Tools gt PMAC Tuning Pro2 from within PeWin32Pro2 Then click Position Loop DAC Calibration Make sure there is no load presently connected to the motor Then click Begin Calibration PMAC will automatically calibrate your DAC Once it is done accept the change it makes to Ixx29 You may want to write down this value to add to your setup file Do this test for both motors you can select another motor with the Motor Select button Number of test Iterations Calibration step size Begin Calibration Enable Motor 1 Configuring with Turbo PMAC 51 Accessory 24M2A Open Loop Test Before pe
94. t Trajectory Prefilter Setup Adaptive Control Setup Q Step Sinusoidal Sinesweep Motor 1 Close Loop Enable Open Loop Enable Configuring with Power PMAC 81 Accessory 24M2A You should see the actual velocity increasing positively while the commanded velocity is positive the actual velocity decreasing while the commanded velocity is negative looking something like this a Power Pmac Tune Motor 1 Open Loop Test Move 4 25 2012 9 48 23 es File View Tools Motor 1 Open Loop Test Move 4 25 2012 9 48 23 AM Actual Velocity m unit ms Servo Command m unit 200 Time ms If you see an erratic response or an inverted saw tooth then most likely the encoder decode setting is incorrect To change this change MS node MI910 for this motor from 7 to 3 or vice versa Configuring with Power PMAC 82 Accessory 24M2A Servo Loop Tuning PMAC s Servo Algorithm must be configured to properly control any given system with motors and amplifiers Configuration is done by adjusting setup structures pertaining to the PID gains Friction Feedforward is also needed The servo loop gains correspond to structures as follows VVVVVVV Motor x Servo Kp Proportional Gain K Motor x Servo K vfb Derivative Gain Kg Motor x Servo Kvff Velocity Feedforward Kvt Motor x Servo Ki Integral Gain K Motor x Servo SwZvInt Integration Mode Motor x Kaff
95. tion Feed Forward Max Dac Fatal F E Limit Input DB Size Input DB Gain Output DB Inner Output DB Outer Output DB Seed Clear other non zero servo loop parameters 112 24982 2693 1138 0 2693 1138 0 0 0037762409 0 32817 238 0 28000 2000 o ej ojojo Trajectory Selection Position Step Position Ramp Parabolic Velocity Trapezoidal Velocity S Curve Velocity Sinusoidal Sine Sweep User Defined C3 Lopes Step Move Step Size mu 1000 Step Time ms 500 Kill Motor After Step Move Move in one direction Do a Step Move Plot Axis Left Axis Plot Position bd Right Axis Plot Servo Command Y Configuring with Power PMAC 85 Accessory 24M2A Step 3 Tuning Kr Kare and Kere Select Parabolic Velocity under the Trajectory Selection in the Interactive Tuning Window Select a move size and speed that will simulate the fastest harshest moving conditions you expect your machine to experience Tune the motor at these settings and then the motor should be able to handle all easier moves After commanding the Parabolic Velocity move the commanded Velocity Profile and Acceleration Profile should look like this Velocity Acceleration Commanded Commanded Profile Profile Observing the table below match your actual position response to one of the response shapes below and then adjust the appropriate gain as listed next to each plot High Vel F E Corr
96. tion X SE Right Axis Plot Enable Motor 1 Notch Filter Low Pass Filter None H Calculator Calculator SL Exit Notch Low Pass Filter Setup S 224 Notch Low Pass Filter Inactive Step 2 tuning K Ka and K Select Position Step under Trajectory Selection Choose a Step Size under Step Move that is within 1 2 to L of a revolution of the motor if it is a rotary motor or within 2 to 4 of one electrical cycle if it is a linear motor The step move s commanded position profile should look somewhat like this Commanded Position cts Time sec Now compare your motor s actual position to the commanded position profile Depending how the actual position looks adjust the servo loop gains until you achieve the desired response Configuring with Turbo PMAC 54 Accessory 24M2A Observing the table below match your actual position response to one of the response shapes below and then adjust the appropriate gain as listed next to each plot Overshoot and Oscillation Position Offset Cause Cause Too much Proportional Friction or Constant gain or Force too little Damping Fix Fix Increase K Ixx33 Decrease K Ixx30 Increase K Ixx30 Increase Kg Ixx31 Physical System Sluggish Response Limitation Cause Cause Too much Damping or Limit of the too little Proportional Motor Amplifier Load gain and gain combination Fix Fix Increase K Ixx30 or Evaluate Perfor
97. tory default the user can reinitialize it as follows If using MACRO IC 0 to reinitialize ACC 24M2A type MacroSlave 15 then MacroSlaveSAVE15 then MacroSlave 15 If using MACRO IC 1 type MacroSlave 31 then MacroSlaveS AVE31 then MacroSlave 3 1 If using MACRO IC 2 use MacroSlave 47 then MacroSlaveSA V47 then MacroSlave 47 and so on for other MACRO IC s Then establishing communication is as follows 1 Within the Power PMAC IDE in the Terminal Window type MacroStation255 Type I11 n in order to assign this ACC 24M2A to Station n L i ACC 24M2A must be assigned to any unused Station Number e g UN 11 1 to assign ACC 24M2A to Station 1 Note If a Macro I O error is received make sure the Ring Controller s MACRO communication settings are set correctly Also make sure that the ACC 24M2A has not been assigned a Station number already If the Station has already been assigned a Station number there are two options A Find out the station number n and enter MacroStation lt n gt without the angular brackets where n is the station number to initiate MACRO ASCII communication with the Station C Reset the station number of all the Stations by entering MacroStation0 and then enter I11 0 Type MacroStationClose to exit MACRO ASCII Mode Type MacroStation lt n gt without the angular brackets where n is the Station Number assigned in step 2 e g MacroStation1 to open ASCII commun
98. ulate lt Iterations gt is the number of times you want the program to iterate more iterations generally yields a more accurate result Example To calculate the DAC bias of motor 1 with 10 iterations type calcdacbias 1 10 Once the program completes it will issue a command to PMAC to change the DAC bias for this motor For example after entering the above command the final iteration of the program will print something to the effect of Command Motor 1 DacBias 139 200000 You may want to write down this number and put it into your motor setup file in your project within the Power PMAC IDE for future reference Configuring with Power PMAC 80 Accessory 24M2A Open Loop Test Before performing the Open Loop Test make sure there is no load attached to the motor and make sure that the motor can safely and freely move This step of the setup can generate much WARNING motion in the motor The user should now execute an Open Loop test in order to determine whether the feedback from ACC 24M2A is working properly To do this open Tuning from the Power PMAC IDE by clicking on Tools Tune Then click the Open Loop Test button on the left a9 Tune Online 192 168 0 200 55H LL Open Loop 10 Test Magnitude E Open Loop Open Loop Test Time ms 100 Number of iis Position Loop Repetiti Auto Tuning uix Position Loop Interactive Tuning Do Open Loop Step Tes
99. uring with Turbo PMAC 41 Accessory 24M2A Digital A Quad B The user must configure the Encoder Conversion Table on the ACC 24M72A itself as follows Example ACC 24M2A with two motors one on Node 0 one on Node 1 ACC 24M2A ECT Setup for Quadrature Encoders MS0 MI120 0C090 1 T Extension of Incremental Encoder Chl MS0 MI121 0C098 1 T Extension of Incremental Encoder Ch2 ACC 24M2A ECT Output Setup MSO MI101 10 Output from 1 line of ECT MI120 MS0 MI102 11 Output from 2 line of ECT MI121 If the user wants to change the direction of the encoder feedback he or she can either e Swap the motor s leads e Change MS lt node gt MI910 If MI910 3 set it to 7 clockwise rotation is positive If MI910 7 set it to 3 counterclockwise rotation is positive Sinusoidal The user must configure the Encoder Conversion Table on the ACC 24M2A itself as follows Example ACC 24M2A with two motors one on Node 0 one on Node 1 ACC 24M2A ECT Setup for Sinusoidal Encoders Channel 1 MSO MI120 SF0C090 Data Source Address location MSO MI121 SFFO00 A D Converter Address Setup MSO MI122 0 Sine Cosine Bias Channel 2 MSO MI123 SF0C098 Data Source Address location MSO MI124 SFF20 A D Converter Address Setup MSO MI125 0 Sine Cosine Bias ACC 24M2A ECT Output Setup MSO MI101 12 Output from 3 line of ECT MI122 MSO MI102 15 Output from 6 line of ECT MI125
100. utput for Channel 2 7 GND Input Digital Ground 15 GND Input Digital Ground 8 GND Input Digital Ground Connector Pinouts Accessory 24M2A J11 amp J12 Encoder Feedback Digital A Quad B ACC 24M72A accepts inputs from two digital encoders and provides encoder position data to PMAC J11 is for Encoder 1 and J12 is for Encoder 2 The ACC 24M2A s encoder interface circuitry employs differential line receivers The differential format provides a means of using twisted pair wiring that allows for better noise immunity when wired into machinery J11 amp J12 D sub DB 25F Mating D sub DB 25M OODOOOOOO 69 69 62 69 69 d9 d9 d d Pin Symbol Description 1 ChA Channel A Positive Signal 14 ChA Channel A Negative Signal 2 ChB Channel B Positive Signal 15 ChB Channel A Negative Signal 3 ChC Channel C Positive Signal 16 ChC Channel C Negative Signal 12 24 ENCPWR 5V Encoder Power 5VDC 13 25 GND Digital Ground Note e Do not connect the pins that are not listed e fthe encoder being used required 5VDC power it can be connected to pins 12 24 and grounded on pins 13 25 However if the encoder has different power requirements do not connect pins 13 24 and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s
101. utput with a voltage offset of 0 0 Vdc Note that the 0 Vde L L M JL M NER SIN COS and INDEX lines are tied to the GND on the interpolator card and the encoder usually requires a bipolar supply D SVpk Time s Connector Pinouts 30 Accessory 24M2A The wiring diagram for Single Ended Format 2 is below Noise Problems SIN COS INDEX Ox Os Og Sinusoidal Encoder Shield Vdc When problems do occur the culprit is often electrical noise When this occurs attempt to control the high frequency current paths If following the grounding instructions does not work insert chokes in the motor phases These chokes can be as simple as several wraps of the individual motor leads through a ferrite ring core such as Micrometals T400 26D This adds high frequency impedance to the outgoing motor cable thereby impeding high frequency noise from leaving the control cabinet Care should be taken to be certain that the core s temperature is in a reasonable range after installing such devices Connector Pinouts 31 Accessory 24M2A J11 amp J12 Encoder Feedback EnDat EnDat Interface a N 1VppA e 17 I amp O I a Lu 1Vpp B 5 48 S I Up Power een CLK i L OV Supply CLK t Oz DATA i c DATA g lt gt DATA 21 lt DATA Be CLOCK me Y CLOCK O as Ic In Therm Mot J11
102. ver if the encoder has different power requirements do not connect pins 13 24 and 13 25 to the encoder e To twist the ENCPWR SV and the GND wires together is recommended for better noise immunity e Tie together the ACC 24M2A s GND and the encoder s power supply GND if an external power supply is used for the encoder for better noise immunity Most applications use pin 12 to supply power to the encoder However for encoders that send out initial information at power on the user should use pin 24 instead of pin 12 and then set MI984 1 on ACC 24M72A in order to manually enable the encoder power after Note PMAC is powered on L i As of the date of the latest revision of this manual HiperFace is not oy yet part of the ACC 24M2A firmware Note Connector Pinouts 22 Accessory 24M2A J11 amp J12 Encoder Feedback Resolver The ACC 24M72A can interface to most industry standard resolvers if the appropriate option is ordered Typical resolvers requiring 5 to 10 kHz excitation frequencies with voltages ranging from 5 to 10 V peak to peak are compatible with this drive Fundamentally the ACC 24M2A connects three differential analog signal pairs to each resolver a single excitation signal pair and two analog feedback signal pairs The wiring diagram below shows an example of how to connect the ACC 24M2A to the Resolver The differential format provides a means of using twisted pair wiring that allows for better no
103. y switches to determine its MACRO Station Number Therefore ACC 24M2A uses the Ring Order method to obtain its Station Number Before the ACC 24M2A has been initialized it will by default be at MACRO Station 255 If ACC 24M72A is not at factory default the user can reinitialize it as follows If using MACRO IC 0 to reinitialize ACC 24M2A type MS 15 then MSSAVIS then MS 15 If using MACRO IC 1 type MS 31 then MSSAV31 then MS 31 If using MACRO IC 2 use MS 47 then MSSAV47 then MS 47 and so on for other MACRO IC s Then establishing communication is as follows 1 2 6 Within PeWin32Pro2 in the Terminal Window type MACSTA255 Type I11 n in order to assign this ACC 24M2A to Station n N ACC 24M2A must be assigned to any unused Station Number e g UT N 11 1 to assign ACC 24M2A to Station 1 Note If a Macro I O error is received make sure 16840 16841 and I79 are set correctly Also make sure that the unit has not been assigned a Station number already If the Station has already been assigned a Station number there are two options A Find out the station number n and enter MACSTA n where n is the station number to initiate MACRO ASCII communication with the Station B Reset the station number of all the Stations by entering MACSTAO and then enter STN 0 Hit CTRL T T to exit MACRO ASCH Mode Type MACSTAn where n is the Station Number assigned in step 2 e g
104. yle MACRO Bank A Register Structure Node Structure Gate3 i MacrolnA j 0 8 bits of 0 Gate3 i MacrolnA j 1 16 bits of O Gate3 i MacrolnA j 2 16 bits of O Gate3 i MacrolnA j 3 16 bits of O Gate3 i MacroOutA j 0 8 bits of 0 Gate3 i MacroOutA j 1 16 bits of O Gate3 i MacroOutA j 2 16 bits of O Gate3 i MacroOutA j 3 16 bits of O Configuring with Power PMAC 59 Accessory 24M2A Gate3 Style MACRO Bank B Register Structure Node Structure Gate3 i MacroInB j 0 Gate3 i MacroInB j 1 Gate3 i MacroInB j 2 8 bits of 0 16 bits of O 16 bits of O Gate3 i MacroInB j 3 16 bits of O Gate3 i MacroOutB j 0 Gate3 i MacroOutB j 1 8 bits of 0 16 bits of O Gate3 i MacroOutB j 2 Gate3 i MacroOutB j 3 16 bits of O 16 bits of O Configuring with Power PMAC 60 Accessory 24M2A In Gate2 style MACRO the contents of each servo node are arranged in each MACRO IC as follows Gate2 Style MACRO Input Register Structure Node Structure Gate2 i Macro j 0 Gate2 i Macro j 1 8 bits of 0 Gate2 i Macro j 2 8 bits of 0 Gate2 i Macro j 3 8 bits of 0 Gate2 Style MACRO Output Register Structure Node Structure Bit 23 Bit

Delta Tau ACC-24M2A User's Manual

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