Installation manual

GEO Direct PWM Amplifiers – Preliminary Documentation
Interface Wiring 27
DIRECT PWM COMMUTATION CONTROLLER SETUP
The 3U amplifier must have the proper controller setup to command the amplifier/motor system. This
section summarizes the key variables of both Turbo and Non Turbo PMAC2 controllers that would have
to be modified for use with the amplifier. The Delta Tau setup software such as Turbo Setup will help set
these parameters for the system automatically. For details about direct commutation of brushless and
induction motors, read the User Manual for either the PMAC2 or Turbo PMAC2. To find out the details
about these variables, refer to the Software Reference Manual for PMAC2 or Turbo PMAC2.
Key Servo IC Variables
Non Turbo Turbo Type Description
I900 I7m00 Clock Max phase clock setting
I901 I7m01 Clock Divisor Phase clock divisor
I902
I7m02 Clock Divisor Servo clock divisor
I903 I7m03 Clock Hardware clock settings
I904 I7m04 Clock PWM dead time
I905 I7m05 Strobe DAC strobe word
* I7m06 Strobe ADC strobe word (Must be set to $3FFFFF for
Amplifiers.)
I9n0 I7mn0 Channel Encoder decode for channel
I9n6 I7mn6 Channel Output mode for channel (Must be set to 0.)
* To change the ADC strobe word for a non-Turbo PMAC2 controller, issue a write command directly to
the memory location of the Gate array channel connected to the amplifier. For non-Turbo PMAC2
channel 1-4, use memory location X:$C014. For non-Turbo PMAC2 channel 5-8, use memory location
X:$C024. For example: WX$C014,$3FFFFF.