Delta Tau PMAC2 PCI User Manual Page 19
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PMAC2 User Manual
Basic Motor Setup on PMAC2 11
OUTPUT1 A,B,C
ADCIN1 A,B
ENCODER/FLAG1
ADCIN2 A,B
GENERAL I/O
OUTPUT/ADCIN
CONTROL
6
2
6
2
12
2
2
60
24-Bit
DATA BUS
7-Bit
ADDRESS BUS
OUTPUT2 A,B,C
ENCODER/FLAG2
ENCODER/FLAG
STATUS & CONTROL
2
12
2
CLOCK CONTROL
MACRO RING
READ REGISTERS
(48)
MACRO RING
SHIFT REGISTERS
MACRO RING
WRITE REGISTERS
(48)
MACRO RING
STATUS & CONTROL
I/O & PIN USE
CONTROL
8
8
DEDICATED-
HARDWARE
USE OF
I/O PINS
GENERAL-
PURPOSE
USE OF
I/O PINS
Figure 7 DSP Gate Command Output Registers
Position-Loop Feedback Address
Ix03 specifies the address of the register PMAC2 reads for the position-loop feedback for the motor. This
is almost always the address of a processed feedback data register in the encoder conversion table. With
the default conversion table, the default values of Ix03 specify the processed data for Encoder n, where n
= x; these values are suitable for most applications, regardless of the command output mode. Refer to the
User’s Guide section on the encoder conversion table for more information.
Velocity-Loop Feedback Address
Ix04 specifies the address of the register PMAC2 reads for the velocity-loop feedback for the motor. It
works just like Ix03, and contains the same address as Ix03 unless dual feedback is used for the motor.
Flag Address
Ix25 specifies the address of the register PMAC2 uses for its flag information. The flags used are
HOMEn, PLIMn, MLIMn, USERn, FAULTn, AENAn, CHCn, CHTn, CHUn, CHVn, and CHWn. The
default values of Ix25 specify the flag register for machine interface channel n, where n = x.
Power-Up Mode
Ix80 specifies whether PMAC will try to control the motor immediately on power-up/reset, performing a
phasing search if necessary; or whether it will put the motor in a killed state on power-up/reset and await
a command to enable the motor.
Commutation Parameters
If Ix01 is set to 1, variables Ix70 to Ix84 for the motor must be set properly to perform the commutation
and/or current loop closure in the PMAC2. The settings of these variables are explained in one of the
following sections: Setting Up PMAC2 for Direct PWM Control, or Setting Up PMAC2 for Sine-Wave
Output 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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