ANCA Motion AMD2000 3A, User Manual, Page: 106 / 189

AMD2000 Series - Servo Drive - User Manual
106
DS619-0-00-0019 - Rev 0
ANCA Motion
The following table shows the list of IDN’s relevant to FOI configuration and described in further detail below.
IDN Label Units
S-0-0051/51 PEST_s32Position_Feedback_1 [10-4 mm]
S-0-0116/116 MCPOS_u32Motor_EncRevsPerMechRev NA
P-0-0006/32774 MCPOS__u16ElectricalPoles_Per_Rev NA
P-0-0238/33006 ICONT_as32Idq_Cmd [mA]
P-0-0249/33017 VCONT_s16PWM_VectorTime [2-14 % of VDCBus]
P-0-0282/33050 CMNT_as32Idq_Estim [mA]
P-0-0285/33053 CMNT_s32ThetaComm [10-4 elec rev]
P-0-0289/33057 MCFO_boThetaElec_IndexPulseOffset_Evaluated NA
P-0-0290/33058 MCFO_s32ThetaElec_IndexPulseOffset_Threshold [10-4 elec rev]
P-0-0291/33059 MCFO_s32ThetaElec_Offset_Estim [10-4 elec rev]
P-0-0292/33060 MCFO_en16DQAlignment_Ctrl NA
P-0-0294/33062 MCFO_en16IndexPulseOffset_Ctrl NA
P-0-0295/33063 MCFO_s32ThetaElec_IndexPulseOffset_Estim [10-4 elec rev]
P-0-0296/33064 MCFO_s32ThetaElec_IndexPulseOffset [10-4 elec rev]
P-0-0297/33065 MCFO_en16FieldOrientationInit_Type NA
P-0-0298/33066 MCFO_s32ThetaElec_PresetOffset [10-4 elec rev]
P-0-0301/33069 MCDQA__s32DQAlignment_Current [mA]
P-0-0303/33071 MCDQA__s32DQAlignment_Current_Tolerance [mA]
P-0-0305/33073 MCDQA__as32ThetaElec_TestAngles [2-24 elec rev]
P-0-0312/33080 MCPA_en16AbsoluteFeedback_Type NA
P-0-0596/33364 HWADC_au16EncoderCosSin_Com_Sample [16 bits ADC counts]
P-0-1039/33807 MCPOS_s32ThetaElec_Estim_Motor [10-4 elec rev]
P-0-1132/33900 MCFOJ_s32Stimulus_Amplitude [mA]
P-0-1133/33901 MCFOJ_s32Stimulus_Frequency [10-4 Hz]
P-0-1135/33903 MCFOJ_u16SM_RepeatCount NA
P-0-1136/33904 MCFOJ_u16SM_StimulusTime [T1]
P-0-1137/33905 MCFOJ_s32ThetaMech_MaxDeviation [10-4 Mech rev/sec]
P-0-1138/33906 MCFOJ_u16PhaseEstimator_ThetaDelay [T1]
P-0-1142/33910 MCFOJ_en16TorqueEstim_Model NA
P-0-1145/33913 MCFOJ_s32TorqueEstim_J [kg.mm2]
P-0-1146/33914 MCFOJ_s32TorqueEstim_K [2-8 Nm/mech rev]
P-0-1439/34207 HWENC_as32EncoderCount_Index [counts]
DQ Alignment
DQ Alignment injects magnetising current into the motor windings, resulting in the rotor moving to align with the
stator magnetic field. This resulting position is latched and used to determine the correct offset. To verify the
alignment, the motor commutation angle is commanded to move to seven different positions in order to verify the
expected rotor movements. The default values for these seven positions [in electrical revolutions], as defined by
IDN 33073 are:

0.0

0.3

0.6

1.0

0.7

0.5

0.0
With the above default values, a PMAC motor will move 360/(motor poles/2) [mechanical degrees] during DQ
Alignment FOI. For a motor with 12 poles, this is 60 [mechanical degrees].