Installation manual

Geo Direct PWM Amplifier
Drive Command Structure 46
DRIVE COMMAND STRUCTURE
Default Mode
In default mode, the Geo Direct PWM Drive returns phases A and B current measurements as well as
global and axis faults.
Caution
Failure to set the ADC strobe word correctly could result in damaging
the drive’s electronics.
The global and axes faults are in the lower 12 bits of ADC A, whereas the current measurements are in
the upper 12bits of ADC A:
ADC A Data Register
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Phase A Current Measurement
Global and Axis Faults
The ADC Strobe word must be set up properly for the data to come back correctly (and proper operation):
PMAC Type
ADC Strobe Word
Value
ADC A data register
Non-Turbo
WX:$C014
$3FFFFF
Y:$C005
Turbo
I7m06
$3FFFFF
Mxx05
Power PMAC2
Gate1[i].AdcStrobe
$3FFFFF
Gate1[i].Chan[j].Adc[0]
Power PMAC3
Gate3[i].AdcAmpCtrl
$FFFFFC02
Gate3[i].Chan[j].AdcAmp[0]
Note
In normal mode operation, the ADC Strobe word has to be set for each
Servo IC which has a PWM Drive attached to it.
Note
The ADC Strobe word can be saved with the SAVE command. It will
be set automatically on the next power-up or normal reset.
Note
In default mode, ADC B does not contain any significant data.