Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup
51
True DAC Output (±10V)
Clock Settings, Output Mode
Default Clock settings are suitable for most applications. Output mode is set to DAC. The following is a
4-channel true DAC setting’s Turbo PMAC script code for a Turbo PMAC Clipper and Acc-8ES.
I7000 = 6527
; Servo IC 0 PWM Frequency 4.5 KHz, Max Phase Frequency 9 KHz
I7001 = 0
; Servo IC 0 Phase Clock 9 Khz
I7002 = 3
; Servo IC 0 Servo Clock 2.25
I10 = 3713991
; Servo Interrupt Time
I7016,4,10 = 3
; Output Mode, DAC axis 1-4
I7005 = $7FFFC0
; Servo IC 0 DAC Strobe, 18-bits DAC circuit for Acc-8ES
Flag Control, Ixx24
The following diagram showcases important bit settings pertaining to flags, and amplifier information:
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Amplifier Enable Use Bit
= 0 Use amp enable output
= 1
Don’t use amp enable
Amplifier Fault Use Bit
= 0 Enable amp fault input
= 1 Disable amp fault input
Overtravel Limit Use Bit
= 0 Enable hardware over-travel limits
= 1 Disable hardware over-travel limits
Amplifier Fault Polarity Bit
= 0 For low true amp
= 1 For high true amp
Bit #:
Flag Register Type
Always =1 for Turbo PMAC Clipper
(Turbo PMAC)
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
2.25
; Servo Clock [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
Summary of Contents for Turbo PMAC Clipper
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Page 11: ...Turbo PMAC Clipper Connections and Software Setup 11 SPECIFICATIONS Part Number ...
Page 78: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 78 APPENDIX B SCHEMATICS ...
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