Delta Tau GEO MACRO DRIVE User Manual download pdf (Page 99)

Geo MACRO Drive User and Reference Manual

Setting Up Turbo Motor Operation 87

• Determine proper current loop polarity

• Confirm commutation cycle size

• Determine proper commutation polarity

Preparation

First, define the M-Variables for the encoder counter; the three PWM output registers, the amplifier-

enable output bit, and the two ADC input registers. Using the MACRO suggested definitions for Motor

1, utilizing MACRO IC 0, Node 0:

M101->Y:$078420,0,24,S ; Channel 1 Encoder position register (read only)

M102->Y:$078420,8,16,S ; Channel 1 PWM Phase A command value (write only)

M104->Y:$078421,8,16,S ; Channel 1 PWM Phase B command value (write only)

M107->Y:$078422,8,16,S ; Channel 1 PWM Phase C command value (write only)

M105->Y:$078421,8,16,S ; Channel 1 Phase A ADC input value (read only)

M106->Y:$078422,8,16,S ; Channel 1 Phase B ADC input value (read only)

M114->X:$003440,14 ; Channel 1 Amp Enable command bit

Note:

The ADC values are declared as 16-bit variables even though typically, 12-bit

ADCs are used; this puts the scaling of the variable in the same units as Ixx69,

Ixx57, Ixx29, and Ixx79.

It is useful to monitor these values in the Watch window of the Executive program. Therefore, add the

variable names to the Watch window which causes the program to repeatedly query Turbo PMAC for the

values and display them. Then the hardware can be exercised with on-line commands issued through the

Terminal window.

To prepare Turbo PMAC for these tests:

1. Set I100 to 0 to deactivate the motor.

2. Set I101 to 0 to disable commutation. (This allows for manual use of these registers.)

3. Make sure that I6800, I6804, I6816, and I6817 are set up properly to provide the PWM signals desired.

4. If the Amplifier Enable bit is 1, set it to zero with the command M114=0.

5. Set Ixx00 and Ixx01 for all other motors to zero.

Position Feedback and Polarity Test

If the PWM command values observed in the Watch window are not zero, set them to zero with the

command:

M102=0 M104=0 M107=0

The motor can be turned (or pushed) freely by hand now. As the motor is turned, monitor the M101 value

in the Watch window. Look for the following:

• It should change as the motor is moved.

• It should count up in one direction, and count down in the other direction.

• It should provide the expected number of counts in one revolution or linear distance increment.

• As the motor is returned repeatedly to a reference position, it should report (approximately) the same

position value each time.

If these things do not happen, check the encoder/resolver operation, its connection to Turbo PMAC and

the Turbo PMAC decode variable I7mn0. Double-check that the sensor is powered. In addition, look at

the encoder waveforms with an oscilloscope.

If the direction of motion to be the positive direction is known, check this here. If the direction is

incorrect, invert it by changing I7mn0, usually from 7 to 3, or from 3 to 7. If the direction is not known,

change it later, but make another change at that time to maintain the proper commutation polarity match;

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Delta Tau GEO MACRO DRIVE User Manual Page 99

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