Delta Tau Geo Direct PWM Amplifier Manuel d'installation télécharger pdf (Page 39)

Geo Direct PWM Amplifier

Power PMAC3 Drive Setup 39

Caution

Trying to enable the Geo Direct PAM Drive with misreported current

data could result in damaging the electronics of the Drive.

At this point of the drive-motor setup, and before tuning the current loop, a couple of sanity checks can be

performed, making sure that:

 Enabling the drive with a #nOut0 command does not produce any faults in neither the drive nor the

PMAC.

 The current sensors are operating properly by monitoring the current measurements (i.e.

Motor[x].IaMeas, and Motor[x].IbMeas). These should be reporting values fluctuating around 0.

Frozen values, or values greater than 1000 indicate that the current sensors are not functioning

properly, or a software parameter is incorrect (i.e. Gate3[i].AdcAmpStrobe, Motor[x].PhaseOffset,

Motor[x].AdcMask)

Subsequently, the current loop (Motor[x].IiGain, Motor[x].IpfGain, and Motor[x].IpbGain) can be tuned

using the tuning utility in the IDE software. Commutation, encoder feedback, phasing, and position loop

tuning can then be configured for closed loop control.

Note

Complete closed loop setup procedure can be found in the pertaining

hardware axis-interface, and Power PMAC User/Software Reference

manuals.

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Delta Tau Geo Direct PWM Amplifier Manuel d'installation Page 39