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ViX - (MPM) Encoder Option 1 Software Setup

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:
Feedback Connections
ViX Feedback Connector X2Option 1 Encoder Cable (175-0xxx)***
Wire FunctionPin#Pin LetterFunctionWire Color***
+5 VDC output5K+5VDCRed
incremental enc.A+8BCH ABlue/White
incremental enc.A-7CCH A\Black/White
incremental enc.B+12NCH BBlue
incremental enc.B-11PCH B\Yellow
incremental enc.Z+1MCH ZYellow/White
incremental enc.Z-2UCH Z\Red/White
Commutation f-b A09ECH UPink
None*N.C.*RCH U\Tan
Commutation f-b A113FCH VWhite
Commutation f-b A214GCH WBrown/White
None*N.C.*SCH U\Green
None*N.C.*HCH W\Orange/White
Connector Housing****DGnd/CableDrain
Motor overtemp+ 10ATHERMOrange
Motor overtemp-6LTHERMBrown
Connector Housing****JSHLDBlack

*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.
Motor Power Connections
ViX Motor Power Screw TerminalsOption 1 Motor Power Cable
X1 FunctionPhasePin LetterFunctionWire Color
Phase UUAPhase RRed
Phase VVBPhase SBlack
Phase WWCPhase TBlue
GroundGNDDPE GNDGreen/Yellow

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).