Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Setting Up Feedback and Master Position Sensors
55
Hardware Setup
If just used for power-up commutation position feedback, typically the hall sensors are wired into the U,
V, and W supplemental flags for a PMAC2-style interface channel. These are single-ended 5V digital
inputs on all existing hardware implementations. They are not optically isolated inputs; if isolation is
desired from the sensor, this must be done externally.
V, and W supplemental flags for a PMAC2-style interface channel. These are single-ended 5V digital
inputs on all existing hardware implementations. They are not optically isolated inputs; if isolation is
desired from the sensor, this must be done externally.
Note:
In the case of magnetic hall sensors, the feedback signals often come back to the
controller in the same cable as the motor power leads. In this case, the possibility
of a short to motor power must be considered; safety considerations and industrial
design codes may make it impermissible to connect the signals directly to the
Turbo PMAC TTL inputs without isolation.
controller in the same cable as the motor power leads. In this case, the possibility
of a short to motor power must be considered; safety considerations and industrial
design codes may make it impermissible to connect the signals directly to the
Turbo PMAC TTL inputs without isolation.
If used for servo position and velocity feedback (PMAC2-style Servo ICs only), the three hall sensors are
connected to the A, B, and C encoder inputs, so that the signal edges can be counted. As with quadrature
encoders, these inputs can be single-ended or differential. They are not optically isolated inputs; if
isolation is desired from the sensor, this must be done externally. There may be applications in which the
signals are connected both to U, V, and W inputs (for power-on commutation position) and to A, B, and C
inputs (for servo feedback).
connected to the A, B, and C encoder inputs, so that the signal edges can be counted. As with quadrature
encoders, these inputs can be single-ended or differential. They are not optically isolated inputs; if
isolation is desired from the sensor, this must be done externally. There may be applications in which the
signals are connected both to U, V, and W inputs (for power-on commutation position) and to A, B, and C
inputs (for servo feedback).
Turbo PMAC Hardware-Control Parameter Setup
Hall Sensor Demux Control: I7mn5, I68n5, MI915
If the hall sensors are connected to the channel’s U, V, and W inputs, you must make sure that bit 1 of the
channel’s Hall Sensor Demux Control variable is set to the default of 0. If this bit is set to 1, the
information in the U, V, and W bits of the channel’s status register is de-multiplexed from the C-channel
of the encoder input based on the states of the A and B inputs, as with Yaskawa incremental encoders.
This variable is I7mn5 for Servo ICs, I68n5, for MACRO ICs, and node-specific variable MI915 on a
MACRO Station.
channel’s Hall Sensor Demux Control variable is set to the default of 0. If this bit is set to 1, the
information in the U, V, and W bits of the channel’s status register is de-multiplexed from the C-channel
of the encoder input based on the states of the A and B inputs, as with Yaskawa incremental encoders.
This variable is I7mn5 for Servo ICs, I68n5, for MACRO ICs, and node-specific variable MI915 on a
MACRO Station.
Encoder Decode Control: I7mn0, I68n0, MI910
If the hall sensors are wired into the encoder inputs A, B, and C, the decoding of the signal is determined
by a channel-specific I-variable. For (PMAC2-style) Servo ICs, this is I7mn0 (for Servo IC m Channel
n). For MACRO IC 0 Channel n* on a Turbo PMAC (a handwheel port encoder), this is I68n0. For
encoder channels on a MACRO Station, this is node-specific variable MI910.
by a channel-specific I-variable. For (PMAC2-style) Servo ICs, this is I7mn0 (for Servo IC m Channel
n). For MACRO IC 0 Channel n* on a Turbo PMAC (a handwheel port encoder), this is I68n0. For
encoder channels on a MACRO Station, this is node-specific variable MI910.