Power Brick Controller User Manual
Connections and Software Setup
45
Utilizing the following expression, for channels 1 – 4 as an example:
And monitoring the magnitude of the signals in the lower 16 bits of
PowerBrick[].Chan[].AtanSumOfSqr
(e.g. in the watch window):
First, set up the excitation output magnitude,
ResExcitMag
. Start with highest (value of 3). We
want the value of
AtanSumOfSqr
(lower 16 bits) to be the greatest possible.
Set up the excitation frequency divider,
ResExcitFreqDiv
. Resolver manufacturers generally
specify a minimum operating frequency. Set this typically to a value of 0, same as the phase
clock.
Set up the excitation delay (from the phase clock),
ResExcitDelay
. This value is also configured
experimentally to produce the greatest possible value of the signal’s magnitude, which is in the
lower 16 bits of
AtanSumOfSqr
.
Configuring Resolver ECT
Once, the resolver excitation signal is set up, the encoder conversion table can be configured as follows
(e.g. channel 1, motor #1):
Resolver Counts per User Units
With resolvers, the feedback resolution is set by the ASIC interface hardware, and produces 65,536
counts per revolution.
GLOBAL
ResExcitDelay;
GLOBAL
ResExcitMag;
GLOBAL
ResExcitFreqDiv;
ResExcitMag = 3
// [0 - 3]
ResExcitFreqDiv = 0
// [0 - 3]
ResExcitDelay = 65
// [0 - 255]
PowerBrick[0].ResolverCtrl = ResExcitDelay*
EXP2
(24) + ResExcitMag*
EXP2
(22) + ResExcitFreqDiv*
EXP2
(20)
Motor[
1
].ServoCtrl =
1
EncTable[
1
].Type =
1
EncTable[
1
].pEnc = PowerBrick[
0
].Chan[
0
].AtanSumofSqr.a
EncTable[
1
].pEnc1 = Sys.pushm
EncTable[
1
].index1 =
0
EncTable[
1
].index2 =
0
EncTable[
1
].index3 =
0
EncTable[
1
].index4 =
0
EncTable[
1
].index5 =
0
EncTable[
1
].index6 =
0
EncTable[
1
].ScaleFactor =
1
/
65536
