Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup
58
I603=$3506 I604=$3506
; Channel 6 position and velocity pointers
(First Acc-1P)
I703=$3507 I704=$3507
; Channel 7 position and velocity pointers
(First Acc-1P)
I803=$3508 I804=$3508
; Channel 8 position and velocity pointers
(First Acc-1P)
I903=$3509 I904=$3509
; Channel 9 position and velocity pointers (Second Acc-1P)
I1003=$350A I1004=$350A
; Channel 10 position and velocity pointers (Second Acc-1P)
I1103=$350B I1104=$350B
; Channel 11 position and velocity pointers (Second Acc-1P)
I1203=$350C I1204=$350C
; Channel 12 position and velocity pointers (Second Acc-1P)
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, disabling the over-travel limits and amplifier fault input yields
$120001.
I124,4,100 = $120001
; Channels 1-4
I524,4,100 = $120001
; Channels 5-8
(First Acc-1P)
I924,4,100 = $120001
; Channels 9-12
(Second Acc-1P)
Implementing PID gains, Ixx30..Ixx35
In PFM mode, the PID Gains can be determined using the following empirical equations:
[MHz]
CLock
PFM
Ixx08
660000
Ixx30
// Channels 1-4 PID Gains (with default clock settings):
I130,4,100 = 11190
; Motors 5-8 Proportional Gain
I131,4,100 = 0
; Motors 5-8 Derivative Gain
I132,4,100 = 15038
; Motors 5-8 Velocity FeedForward Gain
I133,4,100 = 0
; Motors 5-8 Integral Gain
I134,4,100 = 0
; Motors 5-8 Integral Mode
I135,4,100 = 0
; Motors 5-8 Acceleration FeedForward Gain
// Channels 5-8 PID Gains (with default clock settings):
I530,4,100 = 11190
; Motors 5-8 Proportional Gain
(First Acc-1P)
I531,4,100 = 0
; Motors 5-8 Derivative Gain
(First Acc-1P)
I532,4,100 = 15038
; Motors 5-8 Velocity FeedForward Gain
(First Acc-1P)
I533,4,100 = 0
; Motors 5-8 Integral Gain
(First Acc-1P)
I534,4,100 = 0
; Motors 5-8 Integral Mode
(First Acc-1P)
I535,4,100 = 0
; Motors 5-8 Acceleration FeedForward Gain
(First Acc-1P)
0
Ixx31
[KHz]
Freq.
Servo
6660
Ixx32
0
..Ixx35
3
Ixx3
Summary of Contents for Turbo PMAC Clipper
Page 5: ......
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 ...
Page 79: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 79 ...
Page 80: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 80 ...
Page 81: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 81 ...
Page 82: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 82 ...
Page 83: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 83 ...
Page 84: ...Turbo PMAC Clipper Hardware Reference Manual Appendix B 84 ...