User's Manual

PMAC2 User Manual
Setting Up PMAC2 For Velocity or Torque Control 55
Parameters to Set Up Per-Channel Hardware Signals
For each machine interface channel n (n = 1 to 8) used for analog outputs, a few I-variables must be set
up properly.
Encoder Decode Control: I9n0
I9n0 must be set up to decode the feedback encoder properly. Almost always a value of 3 or 7 is used to
provide times-4 (x4) decode of a quadrature encoder (four counts per encoder line). The difference
between 3 and 7 is the direction sense of the encoder; set this variable so the motor counts up in the
direction wanted.
The polarity sense of the analog output must match that of I9n0 for the particular wiring; if it is wrong, an
unstable positive feedback and a probable runaway condition will happen. A test for determining this
polarity match is given below. Remember that if I9n0 is changed on a working motor, change the output
polarity as well.
Output Mode Control: I9n6
I9n6 must be set to 1 or 3 to specify that outputs A and B for Channel n are in DAC mode, not PWM. A
setting of 1 puts output C (not used for servo or commutation tasks in this mode) in PWM mode; a setting
of 3 puts output C in PFM mode.
Output Inversion Control: I9n7
I9n7 controls whether the serial data streams to the DACs on Channel n are inverted or not. The default
value of 0 (non-inverted) is suitable for use with the recommended Acc-8E analog interface board.
Inverting the bits of the serial data stream has the effect of negating the DAC voltage. In a servo
algorithm this is changes the polarity match between output and input, which would produce runaway if
the system were working properly before the inversion.
Parameters to Set Up Motor Operation
Several I-variables must be set up for each Motor x to enable and configure the sine-wave output for that
motor. Of course, Ix00 must be set to 1 for any active motor, regardless of the output mode for that motor.
Commutation Enable: Ix01
Ix01 is set to 0 to disable the commutation algorithms for Motor x. Commutation is performed in the
drive or the motor in this mode of operation.
Command Output Address: Ix02
Ix02 instructs PMAC2 where to place its output commands for Motor x by specifying the address. The
default values of Ix02 use the DAC register A for Machine Interface Channel n, where n = x. Ix02 seldom
needs to be changed from the default value for DAC applications. Usually the values used are shown in
the DAC Command Output Addresses table.
Chan # 1 2 3 4 5 6 7 8
Ix02
$C002 $C00A $C012 $C01A $C022 $C02A $C032 $C03A
When the PMAC2 is operating Motor x in velocity mode or torque mode commanded over a MACRO
ring, Ix02 will contain the address of a MACRO output register for one of the MACRO nodes.
When using the Type 0 MACRO protocol commonly found on single-axis MACRO drives such as the
Performance Controls FLX Drive and the Kollmorgen Fast Drive, use the Ix02 values shown in the
following table.
Node # 0 1 2 3 4 5 6 7
Ix02
$C0A3 $C0A7 $8C0A3 $8C0A7 $C0AB $C0AF $8C0AB $8C0AF
Node # 8 9 10 11 12 13 14 15
Ix02
$C0B3 $C0B7 $8C0B3 $8C0B7 $C0BB $C0BF $8C0BB $8C0BF