Delta Tau Geo Direct PWM Amplifier Instalační manuál stáhnout pdf (Strana 38)

Geo Direct PWM Amplifier

Power PMAC3 Drive Setup 38

Key Channel Parameters

The following channel-specific parameters are essential for the proper software setup of the Geo Direct

PWM Drive:

Structure Element

Description

Typical/Default

Notes

Gate3[i].Chan[j].PwmFreqMult

PWM Frequency

4.5 KHz PWM

Motor[x].ServoCtrl

Activate channel

Motor[x].PhaseCtrl

Commutation enable

With PackInData = 0

Motor[x].PhaseOffset

Commutation Phase angle

-683

-512 for Brush Motor

Motor[x].pAdc

Current Feedback Address

Pointer

Initiated by the firmware

Motor[x].AdcMask

ADC Mask

$FFF00000

Motor[x].PwmSf

PWM Scale Factor

= 0.9 * 16384

Voltage limiter

Motor[x].I2TSet

Continuous current limit

To be

Computed

Motor I

T protection

Motor[x].I2TTrip

Integrated current limit

Motor I

T protection

Motor[x].MaxDac

Maximum command output

Current limiter

Motor[x].IiGain

Integral

Current Loop

Tuning

Motor[x].IpfGain

Forward path proportional

Motor[x].IpbGain

Back-path proportional

Note

A Save and a Reset ($$$) is necessary for these parameters to take

effect.

 Motor[x].PwmSf is calculated based on the motor and bus voltages

If the Motor Rated Voltage is greater than > Bus Voltage:

Motor[x].PwmSf = 0.9 * 16384

If the Motor Rated Voltage is less than < Bus Voltage:

Motor[x].PwmSf = 0.9 * 16384 * V

Motor

Bus

 I2T Settings Example:

GLOBAL ContCurrent = 3; // RMS Continuous Current Limit [Amps] -User Input

GLOBAL PeakCurrent = 9; // RMS Instantaneous Current Limit [Amps] -User Input

GLOBAL MaxADC = 16.26; // =16.26 for 5/10A -User Input, see electrical specs

GLOBAL I2TOnTime = 2; // Time allowed at peak Current [sec] -User Input

Motor[1].MaxDac = (PeakCurrent / MaxADC) * 32767 * COSD(30)

Motor[1].I2tSet = (ContCurrent / MaxADC) * 32767 * COSD(30)

Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2tSet,2)) * I2TOnTime

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