Delta Tau 5xx-603869-xUxx manual Parameters to Set up Global Hardware Signals

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Brick Motion Controller Hardware Reference Manual

etc.), then writing values to the M-variable. The analog outputs are intended to drive high-impedance inputs with no significant current draw. The 220Ω output resistors will keep the current draw lower than 50 mA in all cases and prevent damage to the output circuitry, but any current draw above 10 mA can result in noticeable signal distortion.

The following I-variables must be set properly to use the digital-to-analog (filtered DAC) outputs:

I7000

= 1001

; PWM frequency 29.4kHz, PWM 1-4

I7001

= 5

; Phase Clock 9.8kHz

I7002

= 3

; Servo frequency 2.45kHz

I7003

= 1746

; ADC frequency

I7100

= 1001

; PWM frequency 29.4kHz, PWM 5-8

I7103

= 1746

; ADC frequency

I70n6

= 0

; Output mode: PWM

Ixx69

= 1001

; DAC limit 10Vdc

I10

= 3421867

; Servo interrupt time

n = channel number from 1 to 8 xx = motor number from 1 to 8

Parameters to Set up Global Hardware Signals

I7000 determines the frequency of the MaxPhase clock signal from which the actual phase clock signal is derived. It also determines the PWM cycle frequency for Channels 1 to 4. This variable is set according to the equation:

I7000 = INT[117,964.8/(4*PWMFreq(KHz)) - 1]

The Clipper Board filtered PWM circuits were optimized for about 30KHz. The minimum frequency I7000 should be set to is 1088 (calculated as 27.06856KHz)

I7001 determines how the actual phase clock is generated from the MaxPhase clock, using the equation:

PhaseFreq(kHz) = MaxPhaseFreq(kHz)/(I7001+1)

I7001 is an integer value with a range of 0 to 15, permitting a division range of 1 to 16. Typically, the phase clock frequency is in the range of 8 kHz to 12 kHz. About 9 KHz is standard, set I7001 = 5.

I7002 determines how the servo clock is generated from the phase clock, using the equation:

ServoFreq(KHz) = PhaseFreq(KHz)/(I7002+1)

I7002 is an integer value with a range of 0 to 15, permitting a division range of 1 to 16. On the servo update, which occurs once per servo clock cycle, PMAC updates commanded position (interpolates) and closes the position/velocity servo loop for all active motors, whether or not commutation and/or a digital current loop is closed. Typical servo clock frequencies are 1 to 4 kHz. The PMAC standard is about 2 KHz, set I902 = 3.

I10 tells the Clipper Board interpolation routines how much time there is between servo clock cycles. It must be changed any time I7000, I7001, or I7002 is changed. I10 can be set according to the formula:

I10 = (2*I7000+3)(I7001+1)(I7002+1)*640/9

I10 should be set to 3421867.

I7003 determines the frequency of four hardware clock signals used for machine interface channels 1-4; This can be left at the default value (I7003=*) unless the on board Option-12 ADCs are used. The four

System Wiring

27

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Contents 125 Delta Tau Data Systems, Inc. Technical Support Safety InstructionsCopyright Information Operating ConditionsPage Page Revision History Page Table of Contents Brick Motion Controller Hardware Reference Manual Introduction Brick Motion Controller FeaturesBrick Motion Controller Hardware Reference Manual Brick Motion Controller Options Part NumberMacro and Special Feedback Options Analog I/O OptionsCommunication Options Use of Equipment Receiving and UnpackingBrick Motion Controller Hardware Reference Manual Earth Grounding Paths Wiring Earth-GroundNoise Problems X1-X8 Encoder Input 1 to ConnectorsPin Symbol Function X11-12 Analog I/O Ch7 X11 and Ch8 X12, Optional X9/10 Female DB-9 Connector Pin # SymbolX11/12 Female DB-9 Connector Pin # Symbol Function X9-10 Analog I/O Ch5 X9 and Ch6 X10, OptionalX15 Watchdog X13 USB 2.0 ConnectorX14 RJ45, Ethernet Connector Pin # SymbolS2 Firmware Reload Enable TB1 Power ConnectorS1 Re-Initialization on Reset Control Description J4 Limit Inputs 1-4 AxisJ5 Limit Inputs 5-8 Axis Limit and Flag Circuit WiringGND Sample J4/J5, Flags Wiring DiagramsAMP1-AMP8 Amplifier connections 1 to Amplifier Fault / Amplifier Enable diagrams J6 General Purpose I/O J6 General Purpose I/O Female DB-37 Connector Pin # SymbolSourcing Sinking Suggested M-var. # AddressJ7 Extra General Purpose I/O Optional Symbol FunctionSuggested M-var. # Address J8 Extra General Purpose I/O Optional J8 General Purpose I/O Female DB-37 Connector Pin # SymbolSuggested M-var. # Address GBL Sample J6/J7, I/O Wiring DiagramsFunction Pin # Setting up Quadrature EncodersSignal Format Hardware SetupChannel# Address Description Encoder Loss SetupBipolar Setting up the Analog Inputs optionalFiltered DAC Outputs Configuration optional Parameters to Set up Global Hardware Signals Parameters to Set Up Per-Channel Hardware Signals Multi-Channel Servo IC I-Variables Setting up for Pulse and Direction OutputSoftware Setup I7m00 Servo IC m MaxPhase/PWM Frequency ControlI7mn0 Servo IC m Channel n Encoder Decode Control I7mn6 Servo IC m Channel n Output Mode SelectSingle-Channel I-Variables I7m04 PFM Pulse Width ControlIxx31 Motor x Derivative Gain Ixx34 Motor xx Integration ModeIxx30 Motor xx Proportional Gain ExampleBrick Motion Controller Hardware Reference Manual Diagnosing Cause of Watchdog Timer Trip Watchdog TimerActions on Watchdog Timer Trip Troubleshooting Screw Lock Size for all DB-connectors DB- Connector Spacing SpecificationsX1-8 DB-15 Connectors for encoder feedback X9-12 DB-9 Connectors for Analog I/OType of Cable for Encoder Wiring Appendix a Inputs SchematicsJ6 and J7 General Purpose I/O Outputs Opto Gnd PlaneLimits 1,2,3,4 J4 Limit Inputs for AxisLimits 5,6,7,8 J5 Limit Inputs for AxisDimensional Layout and Connector location
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