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Turbo PMAC User Manual
Setting Up Turbo PMAC-Based Commutation and/or Current Loop
103
If the positive direction of motion is known, check this here. If the direction is incorrect, invert it by
changing I7mn0, usually from 7 to 3, or from 3 to 7. If it is not known yet which direction sense is
needed, change it later, but make another change at that time to maintain the proper commutation polarity
match, usually by exchanging two of the motor phase leads at the drive.
changing I7mn0, usually from 7 to 3, or from 3 to 7. If it is not known yet which direction sense is
needed, change it later, but make another change at that time to maintain the proper commutation polarity
match, usually by exchanging two of the motor phase leads at the drive.
Note:
Because I100 has been set to 0, and I103 may not yet have been set properly, any
change of position will not be reflected in the motor position window.
change of position will not be reflected in the motor position window.
PWM Output & ADC Input Connection
Make sure before applying any PWM commands to the drive and motor in this fashion that the resulting
current levels are within the continuous current rating of both drive and motor.
current levels are within the continuous current rating of both drive and motor.
First enable the amp, then apply a very small positive command value to Phase A and a very small
negative command value to Phase B with the on-line commands
negative command value to Phase B with the on-line commands
M114=1
; Enable amplifier
M102=I7000/50 M104=-I7000/50 M107=0 ; A pos, B neg, C zero
This provides a command at 2% of full voltage into the motor, which should be well within the
continuous current rating of both drive and motor. It is always a good idea to make the sum of these
commands equal to zero so as not to put a net DC voltage on the motor; putting all three commands on
one line causes the changes to happen virtually instantaneously.
continuous current rating of both drive and motor. It is always a good idea to make the sum of these
commands equal to zero so as not to put a net DC voltage on the motor; putting all three commands on
one line causes the changes to happen virtually instantaneously.
With power applied to the drive and the amplifier enabled (M114=1), current readings should be received
in the ADC registers as shown by their M-variables M105 and M106 in the Watch window.
in the ADC registers as shown by their M-variables M105 and M106 in the Watch window.
As the M-variables have been defined, +/-32,768 is full current range, which should correspond
approximately to the instantaneous current limit. Make sure that the value read does not exceed the
continuous current limit, usually which is about 1/3 of the instantaneous limit. If the value is well below
the continuous current limit, increase the voltage command to 5% to 10% of maximum. For example:
approximately to the instantaneous current limit. Make sure that the value read does not exceed the
continuous current limit, usually which is about 1/3 of the instantaneous limit. If the value is well below
the continuous current limit, increase the voltage command to 5% to 10% of maximum. For example:
M102=I7000/10 M104=-I7000/10 M107=0
; 10% of maximum
PWM/ADC Phase Match
Command values from Turbo PMAC’s Phase A PWM outputs should cause a roughly proportionate
response of one sign or the other on Turbo PMAC’s Phase A ADC input (whatever the phase is named in
the motor and drive). The same is true for Phase B.
Command values from Turbo PMAC’s Phase A PWM outputs should cause a roughly proportionate
response of one sign or the other on Turbo PMAC’s Phase A ADC input (whatever the phase is named in
the motor and drive). The same is true for Phase B.
If there is no response on either phase, re-check the entire setup, including:
•
Is the drive properly wired to Turbo PMAC, either directly or through an interface board?
•
Is the motor properly connected to the drive?
•
Is the drive properly powered, both the power stage, and the input stage?
•
Is the interface board properly powered?
•
Is the amplifier enabled (M114=1 on Turbo PMAC and indicator ON at the drive)?
•
Is the amplifier in fault condition? If so, why?
If an ADC response is received only on one phase, the phase outputs and inputs may not be properly
matched. For example, the Phase B ADC may be reading current from the phase commanded by the
Phase C PWM output. Confirm this by trying other combinations of commands as shown in the six-step
test below, and checking which ADC responds to which phase command. If there is not a proper match,
change the wiring between Turbo PMAC and the drive. Changing the wiring between drive and motor
will not help here.
matched. For example, the Phase B ADC may be reading current from the phase commanded by the
Phase C PWM output. Confirm this by trying other combinations of commands as shown in the six-step
test below, and checking which ADC responds to which phase command. If there is not a proper match,
change the wiring between Turbo PMAC and the drive. Changing the wiring between drive and motor
will not help here.