Table of Contents - TG Drives
Table of Contents - TG Drives
Table of Contents - TG Drives
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1 2 3 4 5 6<br />
X7:A<br />
16<br />
15<br />
14<br />
13<br />
12<br />
11<br />
10<br />
9<br />
8<br />
7<br />
6<br />
3<br />
4<br />
1<br />
2<br />
X7:B<br />
34<br />
33<br />
32<br />
31<br />
30<br />
29<br />
22<br />
21<br />
23<br />
X4/X5<br />
In 1<br />
In 2<br />
In 3<br />
In 4<br />
In 5<br />
In 6<br />
In 7<br />
In 8<br />
In 9<br />
1 2 3 4 5 6<br />
In 10<br />
Enable<br />
In1 +<br />
In1 -<br />
In2 +<br />
In2 -<br />
Out 1<br />
Out 2<br />
Out 3<br />
Out 4<br />
Out 5<br />
Out 6<br />
X7:B<br />
Out1<br />
Gnd<br />
Out2<br />
DMC CAN2<br />
Interface<br />
Isolated<br />
V +<br />
V gnd<br />
CAN gnd<br />
CAN_H<br />
CAN_L<br />
X9<br />
9 6 3 7 2<br />
Capture input<br />
Analog<br />
Analog<br />
Analog<br />
Analog<br />
In.Di1<br />
In.Di2<br />
In.Di3<br />
In.Di4<br />
In.Di5<br />
In.Di6<br />
In.Di7<br />
In.Di8<br />
In.Di9<br />
Serial<br />
Interface<br />
RS 232<br />
Daisy Chain<br />
DMCLan1<br />
Interface<br />
In.Di10<br />
In.Enable<br />
Digital<br />
( 14 bit )<br />
Digital<br />
( 14 bit )<br />
Out.Do1<br />
Out.Do2<br />
Out.Do3<br />
Out.Do4<br />
Out.Do5<br />
Out.Do6<br />
Digital<br />
( 12 bit )<br />
Digital<br />
( 12 bit )<br />
Ana.In1<br />
Ana.In2<br />
Ana.Out1<br />
Ana.Out2<br />
And 8<br />
X8:A<br />
9<br />
4<br />
5<br />
7<br />
Counter<br />
1 2 3 4 5 6 7 8<br />
.Count<br />
.Freq<br />
.Timebase<br />
.Prescale<br />
Capture.mode<br />
Identifier<br />
4<br />
5 6<br />
7<br />
3 8<br />
2 9<br />
1 0<br />
4<br />
5 6<br />
7<br />
3 8<br />
+ exe<br />
M +<br />
M -<br />
2 9<br />
1 0<br />
- exe<br />
LED's<br />
Power On<br />
CPU OK<br />
Led 1<br />
Led 2<br />
Led 3<br />
Led 4<br />
Led 5<br />
Led 6<br />
Led 7<br />
Led 8<br />
1 2 3 4 5 6<br />
Analog<br />
Capture.pin<br />
.Mode<br />
.Value<br />
.V0<br />
.V1<br />
Sysio.led<br />
Digital<br />
( 14 bit )<br />
AnyBus-S Interface<br />
Pr<strong>of</strong>ibus DP<br />
Interbus-S<br />
DeviceNet<br />
Ethernet<br />
Full Blown Version<br />
Optad.M1<br />
Pr<strong>of</strong>ile Generator<br />
Pg.PosSpeed<br />
Pg.acc<br />
Pdata Array<br />
(pr<strong>of</strong>ile Acc)<br />
pdata acc,t<br />
pdata acc,t<br />
pdata acc,t<br />
pdata acc,t<br />
pdata acc,t<br />
pdata acc,t<br />
pdata 0,0<br />
Reduced Version<br />
Pg.ret<br />
Pg.Speed<br />
Pg.rslope<br />
�<br />
dt<br />
+<br />
Pg.Proscale<br />
1024<br />
Gear.mode<br />
+<br />
Pos Abs<br />
Pos Inc<br />
Pos Rel<br />
Gear.Pos<br />
(periodic in<br />
Cam mode<br />
with period<br />
1024 x Gear.Camlen)<br />
The periods are<br />
counted in<br />
Gear.CamPeriods<br />
And 2<br />
Gear Box<br />
Gear.Out<br />
Gear.Pos<br />
Pr<strong>of</strong>ile Acc<br />
dt<br />
Gear.OffsetAct<br />
[Gear.Offset]<br />
[Gear.OffsetInc]<br />
d<br />
dt<br />
Pdata Array<br />
(cam)<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
pdata pos,0<br />
Gear.Incr<br />
Gear.InAct<br />
Pg.aspeed<br />
And 2<br />
DMC2E System<br />
Gear.In<br />
Pg.DConnApos<br />
dt<br />
Gear.mode<br />
Gear.Speed<br />
n x Gear.CamInc<br />
+<br />
+<br />
�<br />
And 128<br />
Pg.apos<br />
And 128<br />
Pg.mode<br />
Internal Timer<br />
1kHz<br />
Pos<br />
Mod<br />
Off(clr)<br />
Gear.Mode<br />
Gear.mode<br />
Gear.Campos<br />
And 128<br />
Gear.PosRef<br />
And 2<br />
Gear.Camscale<br />
1024<br />
= 0<br />
Gear.mode<br />
And 1<br />
And 32+1<br />
And 4+1<br />
�<br />
Rd2.mode<br />
Reg.PosRef<br />
�<br />
d<br />
dt<br />
Pos<br />
Mod<br />
On(clr)<br />
And 4<br />
+<br />
+<br />
Gear.SlaveSpeed<br />
Regulator<br />
�<br />
-<br />
-<br />
�<br />
.Module<br />
.Count<br />
.Pos<br />
.Module<br />
.Count<br />
.Pos<br />
d<br />
dt<br />
P<br />
I<br />
D<br />
Feed<br />
Forward<br />
.Pos<br />
0<br />
1<br />
2<br />
3<br />
4<br />
.Speed<br />
.Pos<br />
.Speed<br />
.Pos<br />
.Speed<br />
.Pos<br />
.Speed<br />
Motor.Comm<br />
EN1<br />
EN2<br />
EN3<br />
EN4<br />
+<br />
ModEN3<br />
ModEN4<br />
�<br />
Gear.SlaveSPos<br />
0 Rd1<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
0<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
0<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
0<br />
1<br />
2<br />
3<br />
4<br />
5<br />
6<br />
7<br />
Reg.TorqLim<br />
Rd2<br />
Endat<br />
IEnc<br />
Pg<br />
Reg.Torque<br />
Sysio.Pwm0<br />
( 255 - 0 )<br />
Rd1.Pos<br />
Rd1.RPos<br />
Rd1.Speed<br />
Rd1.Ampl<br />
Sysio.Rd1sin<br />
Sysio.Rd1cos<br />
Rd2.Pos<br />
Rd2.RPos<br />
Phase Split<br />
Rd2.Ampl<br />
Sysio.Rd2sin<br />
Sysio.Rd2cos<br />
Rd2.Speed<br />
Rd2.FiltSpeed<br />
ENDAT interface<br />
(Encoder Interface)<br />
Endat /<br />
Encoder<br />
FPGA<br />
Resolver Interface<br />
PWM<br />
Resolver 1<br />
Digital<br />
( 14 bit )<br />
Resolver 2<br />
Digital<br />
( 14 bit )<br />
Motor.poles<br />
.phalign<br />
.ppr<br />
X<br />
X<br />
.Commpos<br />
Sine<br />
(4 kHz)<br />
Analog<br />
Analog<br />
Angle calculation:<br />
sine<br />
a = arctan ----cos<br />
Supply<br />
Gnd<br />
Sine +<br />
Sine -<br />
Cos +<br />
Cos -<br />
Sine +<br />
Sine -<br />
Cos +<br />
Cos -<br />
Current References<br />
Full Blown Version<br />
X6:A<br />
9<br />
7<br />
3<br />
2<br />
4<br />
5<br />
11<br />
10<br />
12<br />
13<br />
Digital<br />
( 12 bit )<br />
Analog<br />
Digital<br />
( 12 bit )<br />
Analog<br />
A<br />
_<br />
A<br />
B<br />
_<br />
B<br />
R<br />
_<br />
R<br />
+ 5 V<br />
+ 5 V sens.<br />
0 V<br />
Iref_R X3<br />
Iref_S<br />
0 V sensor<br />
Data +<br />
Data -<br />
Clk +<br />
Clk -<br />
X6:B<br />
18<br />
17<br />
3<br />
16<br />
2<br />
15<br />
1<br />
14<br />
20<br />
7<br />
19<br />
6<br />
21<br />
8<br />
11<br />
24<br />
23<br />
10<br />
22<br />
9
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