User manual
3U Servo Amplifier
Ix78 = 0 for zero slip in the commutation calculations •
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Ix81 = $80770: This tells PMAC2 to read the low 8 bits of Y:$0770 for the power-on phase position.
This register is forced to zero on power-on/reset, so this setting forces the phase position to zero.
Ix82 should contain the address of ADC B register for the feedback channel used (just as for
brushless motors) when the ADC A register is used for the rotor (armature) current feedback. If there
is a wound field, the stator field current feedback should be connected to ADC B. If there is a
permanent magnet field, there will be no feedback to ADC B.
Ix82 should contain the address one greater than that of the ADC B register for the feedback channel
used when the ADC B register is used for the rotor (armature) current feedback. This is suitable for
motors with only a permanent magnet field.
Ix83 does not really matter here, because the commutation position is defeated by the single-count
cycle size. However, it is fine to use the default value.
Ix84 is set just as for brushless motors, specifying which bits the current ADC feedback uses.
Ix61, Ix62, and Ix76 current loop gains are set just as for brushless motors.
Controller Setup 30