Delta Tau PMAC2 PCI User Manual Page 18
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PMAC2 User Manual
10 Basic Motor Setup on PMAC2
ADC Input
Value A
ADC Input
Value B
ADC Frequency
Control
ADC Strobe
Control
24
Data
6
Address
ADC Shift
Register A
ADC Shift
Register B
ADCINA
ADCINB
ADCCLK
ADCSTROBE
PHASE
CLOCK
Indicates that one register controls
all ADC input channels on IC
*
*
*
Figure 6 PMAC2 Gate Array IC Input Channel
Parameters to Set up Motor Operation
Each Motor x has setup I-variables to permit specific software configuration of that motor’s control
algorithms. The hundred’s digit of the I-variable specifies which motor is being configured; for example
I100 activates or de-activates Motor 1. The generic reference for the variable uses the letter x for the
motor digit; Ix00 refers generally to the activation variable for Motor x, where x = 1 to 8.
Most of the software configuration of a motor involves setting proper values for these variables, as
explained in the following sections. This section has a quick survey of the key variables, and the
variables that are common to all modes.
Activating the Motor
The Ix00 motor activation parameter must be set to 1 for any motor that is to be used on PMAC2. It
should be set to 0 for any motor that is not used, so PMAC2 will not waste computation time on that
motor.
Does PMAC Commutate the Motor?
The Ix01 commutation enable parameter must be set to 1 if PMAC2 is performing the commutation
and/or digital current loop for the motor. It must be set to 0 for any motor if PMAC2 is performing
neither the commutation nor digital current loop for the motor.
Command Output Address
Ix02 specifies the addresses of the registers to which PMAC2 writes the command outputs for the motor.
The default values of Ix02 contain the address of the A command register in DSPGATE1. For the
machine interface channel n, where n = x; these values are suitable for analog output modes with and
without commutation, and for direct PWM control.
- ^1 USER MANUAL 1
- Copyright Information 2
- Operating Conditions 2
- Figures 7
- INTRODUCTION 9
- Configuration for a Task 10
- PMAC2 is a Computer 10
- Manual Layout 11
- Safety Summary 12
- Technical Support 13
- PMAC2 User Manual 14
- 6 Introduction 14
- BASIC MOTOR SETUP ON PMAC2 15
- To encoder/Timer 17
- Activating the Motor 18
- Command Output Address 18
- Flag Address 19
- Power-Up Mode 19
- Commutation Parameters 19
- Frames of Reference 21
- Working in the Field Frame 22
- MPLIFIER 23
- Hardware Setup 24
- PMAC2 Parameter Setup 25
- 1902I1901I3900I*2 27
- 10I +++= 27
- Commutation Enable: Ix01 28
- Command Output Address: Ix02 28
- PWM Scale Factor: Ix66 29
- Hardware Connection 31
- I-Variable Setup 32
- Purpose 33
- Preparation 33
- PWM/ADC Phase Match 35
- Voltage Six-Step Test 36
- Executing the Test 37
- Action To Take 37
- Cleaning Up 38
- Debugging 38
- Digital Current Loop Gains 39
- Clean-Up 40
- PMAC2 User Manual 43
- Verifying Basic Operation 45
- Synchronous Motor Test 47
- Asynchronous Motor Test 47
- I179=0 I129=0 49
- I175=M171-(M175*I170) 51
- Using the Test Results 53
- Overall Procedure Summary 54
- Power-On Phasing Search 55
- Two-Guess Phasing Search 56
- Stepper-Motor Phasing Search 56
- J/ ; Close servo loop 57
- What To Do Next 59
- Single Output Command 61
- Encoder Decode Control: I9n0 63
- Output Mode Control: I9n6 63
- Signal Timing 66
- Parameter Setup 66
- Encoder Conversion Table 68
- Scale Factors: Ix08, Ix09 69
- )kHz(ServoFreq*666032Ix 70
- Testing the Setup 71
- Ring Cycle Frequency Control 75
- Interface Type 81
- Signal Formats 81
- FM Format Select: I9n6 83
- MLDT Feedback Select: I9n0 84
- Table Result Register 84
- Scaling the Feedback Units 86
- JIO Port 87
- Direction Control 88
- Inversion Control 88
- Alternate Uses 88
- Multiplexer Port (JTHW) 89
- JANA Port 90
- Multiplexing Principle 91
- Analog Data Table 91
- Servo Feedback Use 93
- Absolute Power-On Position 94
- Principle of Operation 96
- Initial Setup 96
- + HomeOffset 97
- PIC Registers 99
- Interrupt Source Signals 100
- Position Compare 5 (EQU5) 101
- Watchdog 101
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