User's Manual

Turbo PMAC User Manual
Table of Contents iii
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................58
Conversion Table Processing Setup – MACRO Station Interface ......................................................................59
Scaling the Feedback Units ................................................................................................................................59
Setting up Resolvers................................................................................................................................................60
Hardware Setup ..................................................................................................................................................60
Turbo PMAC Hardware-Control Parameter Setup............................................................................................60
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................61
Conversion Table Processing Setup – MACRO Station Interface ......................................................................61
Setting Up for Power-On Absolute Position .......................................................................................................61
Scaling the Feedback Units ................................................................................................................................62
Setting Up MLDTs..................................................................................................................................................62
MLDT Interface Type..........................................................................................................................................62
Signal Formats....................................................................................................................................................62
Hardware Setup ..................................................................................................................................................63
Turbo PMAC Hardware-Control Parameter Setup............................................................................................63
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................66
Conversion Table Processing Setup – MACRO Station Interface ......................................................................66
Setting Up for Power-On Absolute Position .......................................................................................................66
Scaling the Feedback Units ................................................................................................................................66
Setting Up LVDTs, RVDTs, & Other Analog ........................................................................................................67
Hardware Setup ..................................................................................................................................................67
Turbo PMAC Hardware-Control Parameter Setup............................................................................................67
Conversion Table Processing Setup – Turbo PMAC Interface...........................................................................68
Conversion Table Processing Setup – MACRO Station Interface ......................................................................68
Setting Up for Power-On Absolute Position .......................................................................................................69
Scaling the Feedback Units ................................................................................................................................69
Setting Up Absolute Encoders ................................................................................................................................69
BASIC MOTOR SETUP...........................................................................................................................................71
Hardware Setup.......................................................................................................................................................71
Parameters to Set up Basic Motor Operation ..........................................................................................................71
Initial Setup Parameters ..........................................................................................................................................72
Activating the Motor: Ixx00................................................................................................................................72
Activating PMAC Motor Commutation: Ixx01 ...................................................................................................72
Motor Address Setup Parameters............................................................................................................................73
Command Output Address: Ixx02 .......................................................................................................................74
Position-Loop Feedback Address: Ixx03 ............................................................................................................74
Velocity-Loop Feedback Address: Ixx04 ............................................................................................................74
Flag Addresses: Ixx25, Ixx42, Ixx43...................................................................................................................74
Flag Modes: Ixx24..............................................................................................................................................75
Absolute Power-Up Position Address and Format: Ixx10 and Ixx95 .................................................................76
Power-Up Mode: Ixx80.......................................................................................................................................76
Is Turbo PMAC Commutating or Closing the Current Loop for This Motor?........................................................77
Setting up Turbo PMAC for Velocity or Torque Control .......................................................................................77
Hardware Setup ..................................................................................................................................................77
Turbo PMAC Parameter Setup...........................................................................................................................77
Setting Up Turbo PMAC2 for Pulse-and-Direction Control...................................................................................79
Hardware Setup ..................................................................................................................................................80
Signal Timing......................................................................................................................................................80
Turbo PMAC Parameter Setup...........................................................................................................................81
Testing the Setup.................................................................................................................................................85
SETTING UP TURBO PMAC-BASED COMMUTATION AND/OR CURRENT LOOP................................89
Beginning Setup of Commutation...........................................................................................................................89
Commutation Enable: Ixx01 ...............................................................................................................................89
Commutation Cycle Size: Ixx70 & Ixx71 ............................................................................................................89
Commutation Feedback Address: Ixx83 .............................................................................................................90