Delta Tau Geo MACRO, Руководство пользователя и справочное руководство

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Geo MACRO Drive User Manual
128 Turbo PMAC2 Related I-Variable Reference
Hall Sensor Read: If Ixx91 contains a value from $800000 to $FF0000 (bit 23 set to 1), Motor xx will
read bits 20 through 22 of the Turbo PMAC memory or I/O register at the address specified by Ixx81. It
will expect these three bits to be encoded as the U, V, and W Hall Effect commutation signals with 120
o
e
spacing for the absolute power-on phase position. Usually in this mode, the address specified in Ixx81 is
that of a flag register.
Note:
Hall-style commutation sensors give only an approximate phase position, with a
+/-30
o
e error. Generally, it is necessary to correct the phase position value at a
known position such as the encoder’s index pulse, either using the
SETPHASE
command or by writing directly into the phase position register (suggested M-
variable Mxx71).
If the flag register is in a PMAC-style Servo IC, the flag inputs for bits 20, 21, and 22, representing W, V,
and U, are +LIMn, -LIMn, and HMFLn, respectively. In a typical application, Ixx81 specifies that these
inputs be used from the spare flag register matching the second DAC channel used for commutation.
If the flag register is in a PMAC2-style Servo IC, the input flags for bits 20, 21, and 22, representing W,
V, and U, are CHWn, CHVn, and CHUn, respectively. In a typical application, these inputs are used
from the same flag register addressed by Ixx25 for the main flags.
In this mode, bit 22 of Ixx91 allows for reversal of the sense of the hall-effect sensors. If W (bit 20 of the
register; HMFLn or CHWn) leads V (bit 21; -LIMn or CHVn), and V leads U (bit 22; +LIMn or CHUn)
as the commutation cycle counts up, then bit 22 of Ixx91 should be set to 0. If U leads V and V leads W
as the commutation cycle counts up, then bit 22 of Ixx91 should be set to 1.
In this mode, bits 16 to 21 of Ixx91 together form an offset value from 0 to 63 representing the difference
between PMAC’s commutation cycle zero and the hall-effect sensor zero position, which is defined as the
transition of the V signal when U is low. This offset has units of 1/64 of a commutation cycle, or 5.625
o
e.
Typically, one of the transitions will be at PMAC’s commutation zero point, so the desired offset values
will be 0
o
, 60
o
, 120
o
, 180
o
, 240
o
, and 300
o
, approximated by values of 0, 11($0B), 21($15), 32($20),
43($2B), and 53($35).
This operation can handle hall-effect sensors separated by 120
o
e. The following table gives the Ixx91
settings for bits 16 to 23 for all of the common cases of hall-effect settings as they relate to the PMAC
commutation cycle.
Ixx91 Values for UVW Hall States (120
o
e Spacing)
0 to
60 deg
60 to
120deg
120 to
180 deg
180 to
-120 deg
-120 to
-60 deg
-60 to
0 deg
Ixx91
011 010 110 100 101 001 $800000
001 011 010 110 100 101 $8B0000
101 001 011 010 110 100 $950000
100 101 001 011 010 110 $A00000
110 100 101 001 011 010 $AB0000
010 110 100 101 001 011 $B50000
001 101 100 110 010 011 $C00000
011 001 101 100 110 010 $CB0000
010 011 001 101 100 110 $D50000
110 010 011 001 101 100 $E00000
100 110 010 011 001 101 $EB0000
101 100 110 010 011 001 $F50000