Installation manual
Geo Direct PWM Amplifier
Power PMAC2 Drive Setup 41
Key Channel Parameters
The following channel-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:
Structure Element
Description
Typical/Default
Notes
Motor[x].ServoCtrl
Activate channel
1
Motor[x].PhaseCtrl
Commutation enable
1
Motor[x].PhaseOffset
Commutation Phase angle
683
512 for Brush Motor
Motor[x].pAdc
Current Feedback Address
Pointer
Initiated by the firmware
Motor[x].AdcMask
ADC Mask
$FFF000
Motor[x].PwmSf
PWM Scale Factor
= 0.9 * Gate1[i].PwmPeriod
Voltage limiter
Motor[x].I2TSet
Continuous current limit
To be
computed
Motor I
2
T protection
Motor[x].I2TTrip
Integrated current limit
Motor I
2
T protection
Motor[x].MaxDac
Maximum command output
Current limiter
Motor[x].IiGain
Integral gain
Current Loop
Tuning
Motor[x].IpfGain
Forward path proportional gain
Motor[x].IpbGain
Back-path proportional gain
Note
A Save and a Reset ($$$) is necessary for these parameters to take
effect.
Motor[x].PwmSf is calculated based on the motor and bus voltages
If the Motor Rated Voltage is greater than > Bus Voltage:
Motor[x].PwmSf = 0.9 * Gate1[i].PwmPeriod
If the Motor Rated Voltage is less than < Bus Voltage:
Motor[x].PwmSf = 0.9 * Gate1[i].PwmPeriod * V
Motor
/V
Bus
I2T Settings Example:
GLOBAL ContCurrent = 3; // RMS Continuous Current Limit [Amps] -User Input
GLOBAL PeakCurrent = 9; // RMS Instantaneous Current Limit [Amps] -User Input
GLOBAL MaxADC = 16.26; // = 16.26 for 5/10A -User Input, see electrical specs
GLOBAL I2TOnTime = 2; // Time allowed at peak Current [sec] -User Input
Motor[1].MaxDac = (PeakCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tSet = (ContCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2tSet,2)) * I2TOnTime