Delta Tau Geo Direct PWM Amplifier Manuel d'utilisateur Page 42
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3U Servo Amplifier
Before testing any of Turbo PMAC’s software features for digital current loop and direct PWM interface,
it is important to know whether the hardware interface is working properly. PMAC’s M-Variables are
used to access the input and output registers directly. The examples shown here use the suggested M-
Variable definitions for Motor 1.
Purpose
The purpose of these tests is to confirm the basic operation of the hardware circuits on PMAC, in the
drive, and in the motor, and to check the proper interrelationships. Specifically:
Confirm operation of encoder inputs and decode •
•
•
•
•
•
•
Confirm operation of PWM outputs
Confirm operation of ADC inputs
Confirm correlation between PWM outputs and ADC inputs
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 suggested definitions for Motor 1, utilizing
Servo IC 0, Channel 1:
M101->X:$078001,0,24,S ; Channel 1 Encoder position register
M102->Y:$078002,8,16,S ; Channel 1 PWM Phase A command value
M104->Y:$078003,8,16,S ; Channel 1 PWM Phase B command value
M107->Y:$078004,8,16,S ; Channel 1 PWM Phase C command value
M105->Y:$078005,8,16,S ; Channel 1 Phase A ADC input value
M106->Y:$078006,8,16,S ; Channel 1 Phase B ADC input value
M114->X:$078005,14 ; 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 I7000, I7004, I7016, and I7017 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.
Controller Setup 33
- (New Version) 1
- Copyright Information 3
- Operating Conditions 3
- Safety Instructions 4
- Table of Contents iv 8
- Table of Contents v 9
- INTRODUCTION 10
- Compatible Motors 11
- Motor Poles 12
- Motor Inductance 12
- Motor Resistance 12
- Motor Back EMF 12
- Motor Cabling 13
- Motor Torque Constant 13
- Motor Inertia 13
- RECEIVING AND UNPACKING 14
- Electrical Specifications 15
- Physical Specifications 16
- MOUNTING 17
- SYSTEM WIRING 18
- Noise Problems 19
- Operating Temperature 19
- Power Supply Considerations 20
- Wiring AC Input 20
- Wiring Earth-Ground 21
- Wiring 24 V Logic Control 22
- Shunt Regulation 23
- Minimum Resistance Value 23
- Maximum Resistance Value 23
- Energy Transfer Equations 23
- 3U Servo Amplifier 24
- Backplane Board 15 24
- Backplane Board 16 25
- Backplane Board 17 26
- Bonding 27
- Filtering 27
- Backplane Board 19 28
- Backplane Board 20 29
- 3U DRIVE CONNECTIONS 30
- Axis #2 PWM Input connector 31
- P2 (36-pin Mini-D Connector) 31
- Motor Output Connector 32
- Wiring the Motor Thermostats 33
- 3UBP8A, 300-603730-10x 34
- Backplane Board 27 36
- Key Servo IC Variables 37
- Key Motor Variables 37
- Hardware Connection 38
- I-Variable Setup 38
- Controller Setup 30 39
- Controller Setup 31 40
- WARNING: 41
- Purpose 42
- Preparation 42
- PWM/ADC Phase Match 44
- Current Loop Polarity Check 44
- Troubleshooting 44
- SETTING I 45
- T PROTECTION 45
- PWM DRIVE COMMAND STRUCTURE 47
- TROUBLESHOOTING 48
- Troubleshooting 41 50
- APPENDIX A 51
- Motor Cable Drawing 52
- APPENDIX B 53
- Appendix B 45 54
- APPENDIX C 55
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