How can I connect GV-U6E to UMI-7764?

[Gino]

We have Compumotor GV-U6E (gemini servo drive), PCI-7344 & UMI-7764 for third party amplifier to operate Linear Servo Table. Some connections is not clear to understand. I will appreciate it if anyone can helo us connect the pins. The pin connection (GV-U6E) is attached.

[Brent_R]

Gino,

Okay, I will first step through the required inputs and then the optional inputs.

Connect the +10VCmd the UMI AOUTx for the axis you are using and the -10VCmd to the GND. We are forcing the differential to single ended conversion here.

Connect all of the encoder lines to their respective pins on the UMI. I believe either "pseudo" or "pass through" will work. It sounds simple, but I'm not sure I completely understand "pass through". You may want to contace the drive manufacturer for clarification. The 7344 is expecting a quadrature encoder signal. Z index is required only for homing, but the encoder feedback (A, B) is not optional for the 7344.

Connect the drive Enable to the UMI INHOUTx and set the UMI INHOUT switch to active high. You will need to
provide +5VDC from the UMI to the VINref(26), since the UMI is not compatible with the drive's internal +24VDC pullup. The Enable is used to shut the drive down if the motion card is powered off or has an error.

Optionally, connect Output 2 (Drv Flt) to the INHINx line on the UMI. This can be used to tell the motion card that the drive has a problem. Also, connect any limit switches (forward, reverse, home) to the UMI.

Please let me know if there is anything I overlooked.

Regards,

Brent Runnels
Applications Engineer
National Instruments

[Gino]

Most of pin connectors are wired, but I am not sure of them.
So now I am giving you the pin maps referring to Gemini GV hardware installation guide (Input and Outputs, page 60), 406 LXR Series manual (3.43 Limit and Home Connections, page 14), and UMI-7764 Manual (page 5).

Motor & Drive Pin connector -----> PCI-7344 (National Instrument) motion controller

Positive Limit (Orange, Limit & Home Cable) -----> Forward Limit
Home (Green, Limit & Home Cable) -----> Home Input
Negative Limit (Blue, Limit & Home Cable) ------> Reverse Limit
43 (Output 2 Drive Flt, Drive Connector) ------> Inhibit Input
24 (+- 10V Cmd-) ------> Digital Ground
23 (+- 10V Cmd+)
------> Analog Output
25 (Analog Ground) ------> Analog Ouput Ground
2 (Digital Ground) ------> Inhibit Output

+5 to +24VDC (Red, Limit & Home Cable) ------> +5V (Output)
Yellow, Black(Ground), and 1 (Enable) -------> Digital Ground
14 (Encoder Out A+) --------> Encoder Phase A
15 (Encoder Out A-) --------> Encoder Phase A bar
16 (Encoder Out B+) --------> Encoder Phase B
17 (Encoder Out B-) --------> Encoder Phase B bar
12 (ZX+ ) --------> Encoder Index
13 (ZX-) ---------> Encoder Index bar


For the further information, I attached the PDF files so that you can compare them.
Please let me know if there is any mistake.
I am looking forward
to hearing you soon. Thank you.


Best Regards,
Jin Ho Lee

[Brent_R]

Most of the connections look good. I would recommend to connect the (+- 10V Cmd-) to the analog output ground on the UMI instead of the digital ground. The grounds go to the same place, but are kept separate for noise reasons.

Also, do not connect the (digital ground 2) to the inihibit out on the UMI. Instead, you should connect the (enable 1) line to the inhibit out on the UMI. This allows the controller to disable the drive if there is a fault on the control side. In the opposite direction, the (Drive Flt 43) line going to the Inhibit Input allows the drive to tell the controller if there is a fault on the drive side.

Otherwise, things look fine.

Regards,

Brent R.
Applications Engineer
National Instruments

[Gino]

Thank you. Now I faced a new difficulty with a Servo Tune. In MAX, I tried to tune the servo motor. The questions are:

1. The Error (#-70125) is shown sometimes, indicating
"Error# -70125 occured at Enable Axes (flex_enable_axes) on Reserved 0x00.
Possible Reasons
Motion: -70125 (NIMC_wrongModeErr)
The function was not executed because it was attempted at an illegal time."
Is there any solution of this?

2. In Calibration Servo Tune of MAX, The servo motor started to move so fast when I click the Autotune, and then the servo motor bump to the end of rail. I am afraid that the motor is going to be damaged without a proper way.

3. In Interactive mode, The red light turns on in "Home switch is active." But The light turns off in "Limit s
witch is active," even though I wired the limit (Forward and Reverse) pin on UMI-7644 from Servo Motor. Can I solve this problem?

I will appreciate it if you reply to me again.
Thank you.

Regards,

Jin Ho.

[Brent_R]

Jin,

Make sure the limit polarity is set correctly and both the forward and reverse limits are enabled in MAX.

Also check the polarity of the inhibit in and inhibit out switches on the UMI. The inhibit out should be set to active high since the drive enable is active low. Inhibit is the inverse of enable.

The inhibit in should be set to match the polarity specified by OUTLVL on the drive.

Regards,

Brent R.

[Gino]

Almost I have done wiring. I faced a new difficulty that there is an error indicating:

"70119(NIM_limitSwitchActive Error) occurred in Start Motion (flex_Start) on Axis/Axis Ctrl 0x01.
: This desired move cannot be completed ecause the limit input is active in the direction of travel."

Also, in order to make Postion Control, would you tell me what I have to do?
Thanks.
Best Regards,
JinHo