User's Manual

PMAC2 User Manual
Setting Up PMAC2 Commutation (Direct PWM or Sine Wave) 51
What To Do Next
Once the appropriate steps in this section have been taken, the motor’s commutation and current loop
should be operating correctly. The motor should turn in both directions with O-commands; positive O-
commands should cause the motor position to count in the positive direction, and negative O-commands
should cause the motor position to count in the negative direction.
Once this is done, the next step is to set up and tune the position/velocity loop servo, either the standard
PID loop, or the optional Extended Servo Algorithm. This is done in the same method as for PMAC
motors without digital current loop and/or PMAC commutation. For purposes of tuning, a system with
PMAC commutation and/or current loop looks like a torque mode drive to the position/velocity loop.
Remember to store the I-variable values you have set here to the non-volatile flash memory with the
SAVE command.