Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 93)

Geo MACRO Drive User and Reference Manual

Setting Up Turbo Motor Operation 81

• The two leads of the brush motor’s armature are connected to amplifier phases (half-bridges) that are

driven by the A and C-phase PWM commands from Turbo PMAC. The amplifier may have an

unused B-phase half-bridge, but this does not need to be present.

The following settings are the same as for permanent-magnet brushless servo motors with an absolute

phase reference:

• Ixx01=3 (commutation over the MACRO ring)

• Ixx02 should contain the address of the PWM A register for the output channel used or the MACRO

Node register 0 (these are the defaults), just as for brushless motors.

• Ixx29 and Ixx79 phase offset parameters should be set to minimize measurement offsets from the A

and B-phase current feedback circuits, respectively.

• Ixx61, Ixx62, and Ixx76 current loop gains are set just as for brushless motors.

• Ixx73 = 0, Ixx74 = 0: These default settings ensure that Turbo PMAC will not try to do a phasing

search move for the motor. A failed search could keep Turbo PMAC from enabling this motor.

• Ixx77 = 0 to command zero direct (field) current.

• Ixx78 = 0 for zero slip in the commutation calculations.

• Ixx82 should contain the address of ADC B register for the feedback channel used (just as for

brushless motors) when the ADC A register is used for the rotor (armature) current feedback. The B

• Ixx81 > 0: Any non-zero setting here makes Turbo PMAC do a phasing read instead of a search

move for the motor. This is a dummy read, because whatever is read is forced to zero degrees by the

settings of Ixx70 and Ixx71, but Turbo PMAC demands that some sort of phase reference be done.

(Ixx81=1 is fine.)

• Ixx84 is set just as for brushless motors, specifying which bits the current ADC feedback uses.

Usually, this is $FFF000 to specify the high 12 bits.

Special settings for brush motor direct PWM control:

• Ixx70 = 0: This causes all values for the commutation cycle to be multiplied by 0 to defeat the

rotation of the commutation vector.

• Ixx72 = 512 (90

e) if voltage and current numerical polarities are opposite, 1536 (270

e) if they are

the same. If the amplifier would use 683 (120

e) for a 3-phase motor, use 512 here; if it would use

1365 (240

e) for a 3-phase motor, use 1536 here.

• Ixx96 = 1: This causes Turbo PMAC to periodically clear the integrator for the (non-existent) direct

current loop, which could slowly charge up due to noise or numerical errors and eventually interfere

with the real quadrature current loop.

Settings that do not matter:

• Ixx71 (commutation cycle size) does not matter because Ixx70 setting of 0 defeats the commutation

cycle.

• Ixx75 (Offset in the power-on phase reference) does not matter because commutation cycle has been

defeated. Leaving this at the default of 0 is fine.

• Ixx83 (ongoing commutation position feedback address) doesn’t matter, since the commutation has

been defeated. Leaving this at the default value is fine.

Ixx91 (power-on phase position format) does not matter, because whatever is read for the power-

on phase position is reduced to zero.

2) Set up all M-Var definitions. If using PEWIN32Pro and using a node space setup which equates

each motor number with the sequential node number (i.e. motor 1 is node 0, motor 2 is node 1, motor

1 2 ... 88 89 90 91 92 93 94 95 96 97 98 ... 204 205

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Delta Tau GEO MACRO DRIVE User Manual Page 93

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