Delta Tau GEO BRICK LV Manual De Usuario
Turbo PMAC User Manual
110
Setting Up Turbo PMAC-Based Commutation and/or Current Loop
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
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
Y:$00B8 Y:$0138 Y:$01B8 Y:$0238 Y:$02B8 Y:$0338 Y:$03B8 Y:$0438
Motor
#
9 10 11 12 13 14 15 16
Address
Y:$04B8 Y:$0538 Y:$05B8 Y:$0638 Y:$06B8 Y:$0738 Y:$07B8 Y:$0838
Motor
#
17 18 19 20 21 22 23 24
Address
Y:$08B8 Y:$0938 Y:$09B8 Y:$0A38 Y:$0AB8 Y:$0B38 Y:$0BB8 Y:$0C38
Motor
#
25 26 27 28 29 30 31 32
Address
Y:$0CB8 Y:$0D38 Y:$0DB8 Y:$0E38 Y:$0EB8 Y:$0F38 Y:$0FB8 Y:$1038
Actual Direct Current Registers
Motor
#
1 2 3 4 5 6 7 8
Address
Y:$00B9 Y:$0139 Y:$01B9 Y:$0239 Y:$02B9 Y:$0339 Y:$03B9 Y:$0439
Motor
#
9 10 11 12 13 14 15 16
Address
Y:$04B9 Y:$0539 Y:$05B9 Y:$0639 Y:$06B9 Y:$0739 Y:$07B9 Y:$0839
Motor
#
17 18 19 20 21 22 23 24
Address
Y:$08B9 Y:$0939 Y:$09B9 Y:$0A39 Y:$0AB9 Y:$0B39 Y:$0BB9 Y:$0C39
Motor
#
25 26 27 28 29 30 31 32
Address
Y:$0CB9 Y:$0D39 Y:$0DB9 Y:$0E39 Y:$0EB9 Y:$0F39 Y:$0FB9 Y:$1039
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.
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.
properly. See the Finishing Setting up Turbo PMAC Commutation section.
Setting Up Turbo PMAC for Sine-Wave Output Control
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.
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.
Hardware Setup
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.
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.