Delta Tau PMAC2 PCI User Manual download pdf (Page 61)

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PMAC2 User Manual

Setting Up PMAC2 For Velocity or Torque Control 53

SETTING UP PMAC2 FOR VELOCITY OR TORQUE CONTROL

Single Output Command

If PMAC2 is not performing the commutation for a motor, it provides a single output command value for

the motor. Usually this output represents either a velocity command or a torque (force, or current

magnitude) command, and typically this output is encoded as an analog signal voltage level.

When driving a hydraulic cylinder through either a proportional valve or a servo valve, the dynamics

appear to the PMAC2 to be those of a velocity command to a motor.

Hardware Setup

For PMAC2 to operate a motor with analog velocity-mode or torque-mode outputs, an Acc-8E analog

interface board or equivalent must be attached to the machine connector for the machine interface channel

used. The Acc-8E board contains the DACs, output op-amps, encoder and flag interfaces, and optical

isolation circuits. The following discussion assumes an Acc-8E is being used.

DAC Output Signals

The DACA outputs on the Acc-8E should be connected to the command inputs on the velocity-mode or

torque-mode amplifiers. If the inputs on the amplifier are single-ended, use the DAC+ output only, and

leave the complementary DAC- outputs floating; do not ground them. If the inputs on the amplifier are

complementary, use both the DAC+ and DAC- outputs. In either case, tie the AGND reference voltage

on the Acc-8E to the reference voltage for the amplifier input.

Amplifier Enable and Fault Interface

The amplifier enable outputs on the Acc-8E use dry-contact relays. Normally-open, normally closed,

sinking or sourcing configurations from 12V to 24V can be chosen.

The amplifier fault inputs on the Acc-8E pass through AC Opto isolators. Sinking or sourcing

configurations from 12V to 24V can be chosen.

Encoder Feedback

The Acc-8E can accept 3-channel quadrature encoder feedback, either single-ended or differential, in the

range of 5V to 12V.

Supplemental Flags

The Acc-8E can accept hall-effect signals for power-on phase information through its supplemental flag

connector on the U, V, and W flags.

Other Signals

The Acc-8E has AC Opto isolator inputs for overtravel limit, home, and user flag inputs.

PMAC2 Parameter Setup

Parameters to Set Up Global Hardware Signals

Several parameters that set up global and multi-channel hardware operation must be set for proper

operation of the analog velocity and torque-mode outputs. These variables are in the I900 to I909 range.

Servo Clock Frequency Control: I900, I901, I902

Every cycle of the SERVO clock, PMAC2 updates commanded position (interpolates) and closes the

position/velocity servo loop for all active motors, whether or not commutation and/or a digital current

loop is closed by PMAC2. Typical servo clock frequencies are 1 to 4 kHz. The default frequency of 2.25

kHz is suitable for most applications.

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Delta Tau PMAC2 PCI User Manual Page 61

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