Reference Manual

PMAC 2 Software Reference
PMAC I-Variable Specification 117
When the digital current loop is used for drives connected to the PMAC2 through a
MACRO station, the typical values for Ix82 are:
Node/Register Ix82 Node/Register Ix82
Node 0/Reg 1 & 2 $C0A2 Node 8/Reg 1 & 2 $C0B2
Node 1/Reg 1 & 2 $C0A6 Node 9/Reg 1 & 2 $C0B6
Node 4/Reg 1 & 2 $C0AA Node 12/Reg 1 & 2 $C0BA
Node 5/Reg 1 & 2 $C0AE Node 13/Reg 1 & 2 $C0BE
If Ix82>0, the following variables must be set properly for correct operation of the digital
current loop:
Ix61: Current-Loop Integral Gain
Ix62: Current-Loop Forward-Path Proportional Gain
Ix66: PWM Scale Factor
Ix72: Commutation Phase Angle
Ix76: Current-Loop Back-Path Proportional Gain
Ix84: Current-Loop Feedback Mask Word
Ix83 Motor x Ongoing Phasing Position Address
Range
Legal PMAC X and Y addresses
Units
Legal PMAC X and Y addresses
Default
Variable PMAC(1) PMAC2 PMAC2
Ultralite
I183 $C001 $C001 $8C0A0
I283 $C009 $C009 $8C0A4
I383 $C011 $C011 $8C0A8
I483 $C019 $C019 $8C0AC
I583 $C021 $C021 $8C0B0
I683 $C029 $C029 $8C0B4
I783 $C031 $C031 $8C0B8
I883 $C039 $C039 $8C0BC
Remarks
For a motor commutated by PMAC2, this parameter tells PMAC2 where to read its
commutation (phasing) position information for Motor x every commutation cycle. This
can be a different address from that used for power-on/reset phasing position, which is
determined by Ix81.
Bits 0 to 15 of Ix83 contain the 16-bit address of the register to be read. Bit 19 of Ix83
tells whether the register has a X address or a Y address; a 0 value specifies X, and a 1
value (which makes the hexadecimal digit have an 8 value) specifies Y.
For PMAC(1) and PMAC2 boards with on-board encoder circuitry, Ix83 typically contains
the address of the phase position encoder register for encoder x; this is the default. Since
these registers have X addresses, bit 19 is 0.
On PMAC(1) boards, because two channels are required for commutation output, usually
only the odd-numbered channels are used for commutation feedback. This is reflected in
the defaults.