Delta Tau PMAC2 PCI User Manual Page 54
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PMAC2 User Manual
46 Setting Up PMAC2 Commutation (Direct PWM or Sine Wave)
64*
o
o
360
360%HEZ
Offset =
The offset computed here should be rounded to the nearest integer.
In our example, this comes to:
hex011667.1064
o
360
o
60
64
o
o
360
360%
o
60
Offset
Β
=≈=∗=∗=
The test showed that the hall-effect sensors were in the reversed direction, not standard, so bit 22 is set to
one. With bit 23 (a value of 8 in the first hex digit) set to 1 to specify hall effect sensing, the first two hex
digits of Ix81 become $CB. If Flag register 1 at address $C000 were used for the hall-effect inputs, Ix81
would be set to $CBC000.
The description of Ix81 in the Software Reference shows the common values of offsets used, for all the
cases where the zero point in the hall-effect cycle is at a 0
o
, 60
o
, 120
o
, 180
o
, -120
o
, or -60
o
point -- where
manufacturers generally align the sensors.
Note:
Ix75 is not used for the phase position offset in this method. It can be used to store
the final correction based off fine phasing.
Overall Procedure Summary
The full phase reference then consists of the following steps:
• Do a rough phase reference using the hall-effect sensors as specified by Ix81, either automatically on
power-up/reset if Ix80=1, or on the $ command if Ix80=0.
• Do a homing search move on the motor, using the index pulse as part of the home trigger.
• Wait for the motor to settle in-position (following error less than Ix27) at the home position using the
motor in-position status bit – suggested M-variable Mx40 – [WHILE(M140=0)...]
• Force the motor phase position register to the pre-determined value at this point with a command like
Mx71=Ix75.
PLC-Based Hall-Effect Reference
Alternately a power-on PLC program could be used to do the hall-effect phasing. This is useful if extra
error trapping is desired, or if sensors of a different format are used.
A program based on the results of the example table would be:
OPEN PLC 1 CLEAR
IF (M128&7=2) ; Hall Effect State 1 (0 to -60 deg)?
M171=I171/-12 ; Set phase angle to -30 deg
P170=1 ; Phasing OK flag
ENDIF
IF (M128&7=6) ; Hall Effect State 2 (-60 to -120 deg)?
M171=I171*-3/12 ; Set phase angle to -90 deg
P170=1 ; Phasing OK flag
ENDIF
IF (M128&7=4) ; Hall Effect State 3 (-120 to -180 deg)?
M171=I171*-5/12 ; Set phase angle to -150 deg
P170=1 ; Phasing OK flag
ENDIF
IF (M128&7=5) ; Hall Effect State 4 (180 to 120 deg)?
M171=I171*5/12 ; Set phase angle to 150 deg
P170=1 ; Phasing OK flag
ENDIF
IF (M128&7=1) ; Hall Effect State 5 (120 to 60 deg)?
- ^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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