User manual

3U Servo Amplifier
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 PMAC2 or Turbo PMAC2 User Manual. To find out the details about these
variables, refer to the PMAC2 or Turbo PMAC2 Software Reference Manual.
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 $3FFFFF for Geo drives.)
I9n0 I7mn0 Channel Encoder decode for channel
I9n6 I7mn6 Channel Output mode for channel (Must be set to 0.)
* To change the ADC strobe word for a non-Turbo PMAC2 controller, issue a write command directly to the
memory location of the Gate array channel connected to the amplifier, I7m06. For non-Turbo PMAC2 channel
1-4, use memory location X:$C014. For non-Turbo PMAC2 channel 5-8, use memory location X:$C024.
For example: WX:$C014,$3FFFFF or I7006=$3FFFFF for Turbo.
Key Motor Variables
Caution:
The ADC Strobe Word, X:$C014 (non-Turbo) or I7m06 (Turbo), must be set to
$3FFFFF for proper operation. Failure to set I7m06 equal to $3FFFFF could result in
damage to the amplifier.
Non-Turbo Turbo Type Description
Ix00 Ixx00 General Motor enable
Ix01 Ixx01 General Commutation enable
Ix25 Ixx24 Ixx25 General Motor flag setup
Ix70 Ixx70 Commutation Number of commutation cycles per Ix71
Ix71 Ixx71 Commutation Counts per commutation cycle per Ix70
Ix72 Ixx72 Commutation
Commutation phase angle
Ix77 Ixx77 Commutation Induction motor magnization current
Ix78 Ixx78 Commutation Induction motor slip gain
Ix83 Ixx83 Commutation On-going phase position
Ix61 Ix61 Current Loop Current loop integrator gain
Ix62 Ix62 Current Loop Current loop forward path proportional gain
Ix66 Ix66 Current Loop PWM scale factor
Ix76 Ix76 Current Loop Current loop back bath proportional gain
Ix82 Ix82 Current Loop Current loop feedback address
Ix84 Ix84 Current Loop Current loop feedback ADC mask word
Ix57 Ixx57 I
2
T Continuous limit for I2T
Ix58
Ixx58 I
2
T Integrated current limit
Controller Setup 28