The following is a table for the MaxPlus (MPM) Resolver Option 1 Termination to ViX Connections:
|ViX Feedback Connector X2||Option 1 Resolver Cable (170-24xxx)***|
|Wire Function||Pin#||Pin Letter||Function||Wire Color***|
|Cos -||11||G||COS GND||Black|
|REFres -||15||R||REF GND||Yellow/White|
|Connector Housing*||*||D||RES SHLD||Drain|
*The shield connections of the feedback cable should be connected to the ViX Feedback 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 2360.
Resolver/Encoder Out Polarity - AFTER the SETUPFB command is executed, the resolver will count positive when the motor shaft rotates clockwise. Also, the encoder output signals on the X4 connector, pins 4&5(Z) 10&15(B) 9&14(A), will count in the positive direction as well. Therefore, a clockwise rotation of the shaft will increase resolver counts when aR(PA) is queried on the drive, and will increase the encoder counts sent out of the drive to an external device connected to X4. FOR OPERATING SYSTEM 2.3 AND BELOW: IN ORDER FOR THE RESOLVER TO INCREMENT THE ENCODER OUTPUT POSITION, THE ViX DRIVE MUST BE ENABLED. YOUR CONTROLLER WILL ONLY SHOW A CHANGE IN POSITION IF THE ViX IS ENABLED (X4/11 brought to the proper voltage level set by system variable ES)6K Controller connection - the encoder output (X4 encoder out pins) counts correctly to a positive commanded input on the ViX, therefore, we do not need to make any adjustments to the feedback in the 6K (ENCPOL0).
ACR Controller connection - the encoder output (X4 encoder out pins) counts correctly to a positive commanded input on the ViX, therefore, we do not need to make any adjustments to the feedback in the ACR (MULT is positive).
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).