Delta Tau Turbo PMAC Clipper, Hardware Reference Manual

Page: 48 / 84

Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup 48
Example:
Setting Ixx24 for a low true amplifier and disabling the over-travel limit switches yields $20001.
I124,4,100 = $20001
I2T Protection: Ixx57, Ixx58
I2T is a software thermal model (PMAC internal calculation) used to protect motor and drive from
exceeding current specifications. For a safe setup, the lower limit of continuous and peak current
specifications between the motor and drive should be selected.
Example:
A Turbo PMAC Clipper driving a torque-mode amplifier that has a gain of 3 amperes/volt and a
continuous current rating of 10 amperes, with a motor rated to 12 amperes continuous.
Using the amplifier’s continuous current rating of 10 Amps:
#define ContCurrent 10 ; Continuous Current Limit [Amps] – User Input
#define MaxADC 30 ; full range ADC reading, Amplifier Spec. – User Input
#define I2TOnTime 2 ; Time allowed at peak Current, Amp/motor spec [sec] – User Input
#define ServoClk 2.45 ; Servo Clock, pre-defined in suggested clocks [Khz]
I157 = INT(I7000*ContCurrent/MaxADC)
I158 = INT((I7000*I7000-I157*I157)*ServoClk*1000*I2TOnTime/(I7000*I7000))
I257=I157
I357=I157 I457=I157 I557=I157
I657=I157 I757=I157 I857=I157
I258=I158 I358=I158 I458=I158 I558=I158
I657=I158 I757=I158 I857=I158
Open Loop Test: Encoder/Decode
The open-loop test is critical to verify the direction sense of the encoder counting versus the command
output. A positive command should create a positive velocity and a position counting in the positive
direction; a negative command should create a negative velocity and a position counting in the negative
direction. The Open Loop test utility in the PMACTuningPro2 Software can be used to execute and open
loop test. It can also be carried manually from the terminal window while gathering position, velocity data
or simply monitoring the motor velocity in the position window.
Satisfactory Open-Loop Test Result