This FAQ allows the user to setup Option 1 Encoder motors with software changes. Option 1 Encoder motors can also be setup through hardware changes. Please see "ViX - (MPM) Encoder Option 1 Hardware Setup."
The following is a table for the MaxPlus (MPM) Encoder Option 1 Termination to ViX Connections:
|ViX Feedback Connector X2||Option 1 Encoder Cable (175-0xxx)***|
|Wire Function||Pin#||Pin Letter||Function||Wire Color***|
|+5 VDC output||5||K||+5VDC||Red|
|incremental enc.A+||8||B||CH A||Blue/White|
|incremental enc.A-||7||C||CH A\||Black/White|
|incremental enc.B+||12||N||CH B||Blue|
|incremental enc.B-||11||P||CH B\||Yellow|
|incremental enc.Z+||1||M||CH Z||Yellow/White|
|incremental enc.Z-||2||U||CH Z\||Red/White|
|Commutation f-b A0||9||E||CH U||Pink|
|Commutation f-b A1||13||F||CH V||White|
|Commutation f-b A2||14||G||CH W||Brown/White|
*The Hall signals on the MPM motors are diffential, therefore, you do not need to connect the negative signals of each hall state to the single-ended ViX Hall signals.
**The shield connections of the feedback cable should be connected to the ViX X2 header's metal housing (if possible).
***The wire colors may not apply to your cable. Option 1 encoder cable wire colors can vary, however, the wire function should be consistent among all cables. If your cable wire marker (labels) are no longer present or readable, please contact Parker.
|ViX Motor Power Screw Terminals||Option 1 Motor Power Cable|
|X1 Function||Phase||Pin Letter||Function||Wire Color|
|Phase U||U||A||Phase R||Red|
|Phase V||V||B||Phase S||Black|
|Phase W||W||C||Phase T||Blue|
SETUPFB - Because the MaxPlus motor's commutation cycle is different than the legacy Compumotor series motors, there are parameters used to compensate for this through software. The ViX can set these up automatically using the SETUPFB command. Please connect to the terminal in the EASI-V software, type the SETUPFB command, and follow the directions. Once the setup is complete, query the IX command (aR(IX)), it should report a value near 1210.
Encoder Polarity - AFTER the SETUPFB command is executed, the encoder will count negative when the motor shaft rotates clockwise. In addition, the encoder output signals on the X4 connector, pins 4&5(Z) 10&15(B) 9&14(A), will now count in the same direction as the feedback device. Therefore, a clockwise rotation of the shaft will decrease encoder counts when aR(PA) is queried on the drive, and also will decrease the encoder counts sent out of the drive to an external device. connected to X4.
6K Controller connection - the encoder output (X4 encoder out pins) now counts opposite to a positive commanded input on the ViX, therefore, the encoder polarity on the 6K Controller MUST be set to invert, ENCPOL1, direction for each servo axis.
ACR Controller connection - the encoder output (X4 encoder out pins) now counts opposite to a positive commanded input on the ViX, therefore, the encoder polarity on the ACR Controller MUST be set to invert, MULT to a negative value, direction for each servo axis.
Motor Setup (parameters) - a method for generating the motor configuration file is to look your motor up in the Gemini Motor Setup Wizard of the Motion Planner Software. This will assist you in the value for Viscous Damping. The Damping term in the Gemini Motor Wizard is in units of (Nm/rad/sec) but the Easi-V software requires (Nm/Krpm), so we need to mulitply 104.72 (or (2*pi*1000)/60). Please also note that the units for Kt are in Nm/A(peak). The spec for Torque Sensitivity (or Torque Constant) in the catalog is in units of Nm/A(rms). Therefore, you will need to multiply the value in the catalog by 0.707 to get Nm/A(peak).