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In the Detailed Plot section of data gathering, specify data gathering at intervals of one servo cycle.  
Select for gathering the commanded and actual direct current registers every servo cycle for the motor 
under test.  The addresses for these registers are found in the following table. 
Commanded Direct Current Registers 

Motor 

# 

1 2 3 4 5 6 7 8 

Address 

Motor 

# 

9  10 11 12 13 14 15 16 

Address 

Motor 

# 

17 18 19 20 21 22 23 24 

Address 

Motor 

# 

25 26 27 28 29 30 31 32 

Address 

Motor 

# 

1 2 3 4 5 6 7 8 

Address 

Motor 

# 

9  10 11 12 13 14 15 16 

Address 

Motor 

# 

17 18 19 20 21 22 23 24 

Address 

Motor 

# 

25 26 27 28 29 30 31 32 

Address 

Executing the Current-Loop Test 

Once the data gathering has been set up, the following commands can be given: 

DEFINE GATHER 

; Reserve memory for data gathering buffer 

#1 

; Make sure proper motor is addressed 

GAT O0 

; Start data gathering and give current command 

ENDG K 

; Stop gathering and end current command 

The data is then uploaded and plotted.  The aim is to get as quick a response as possible to the 
commanded value, without significant overshoot or any instability.  Typical current loop proportional 
gains are in the range 0.6 to 0.9.  Typical current loop integral gains are around 0.01. 

Clean-Up 

When finished with this test, restore the following: 

• 

Set I171 back to its proper value 

• 

Set I7002 back to its proper value 

There should now be properly operating current loops.  Now, get the commutation algorithm working 
properly.  See the Finishing Setting up Turbo PMAC Commutation section. 

This section explains how to set up the commutation scheme if Turbo PMAC is performing the 
commutation for a motor, but not the digital current loop.  In this mode, Turbo PMAC outputs two phase 
current commands to the amplifier, usually as analog voltages through digital-to-analog converters 
(DACs).  In the steady state, these voltages are a sinusoidal function of time, so this mode is often called 
sine-wave output. 

For Turbo PMAC to operate a motor in the sine-wave commutation analog output mode, two analog 
outputs are required for the motor.  When used through a PMAC2-style Servo IC, this requires DACs on 
both the A and B sub-channels of a given channel.  These dual DACs can be found on Acc-8E or Acc-8A 
(with Option 2) breakout boards, or on UMAC Acc-24E2A axis-interface/breakout boards.