No.
Set item
Set value
Description
*1
EncTable[1].Type
1
Enable EncTable[1] as single-word (32 bits) read.
*2
EncTable[1].pEnc
Gate3[0].Chan[0].S
ervoCapt.a
Assign the digital quadrature encoder data to EncTable[1].
*3
EncTable[1].Scale-
Factor
1/exp2(8)
Calculate a scale factor set value in accordance with the following for-
mula because EncTable[1] is 32 bits and Gate3[0].Chan[0].ServoCapt
(digital quadrature encoder data) is 24 bits.
Set value :
1
2
(32 bits -24 bits )
*4
Gate3[0].Chan[0].E
ncCtrl
7
Set the digital quadrature encoder conversion method to four multipli-
cation, counterclockwise.
*5
Gate3[0].Ad-
cAmpStrobe
$fffffc
Specify AMP Strobe Word. If
$fffffc
is set, the Controller is compatible
with all AD converters.
*6
Gate3[0].AdcAm-
pHeaderBits
2
Set the header length of analog to digital conversion data to 2 bits.
Set it depending on the Servo Drive specifications.
*7
Gate3[0].Chan[0].P
wmFreqMult
2
Set the PWM frequency to 15 kHz. Calculate the PWM frequency in
accordance with the formula below.
f
PWM
=
Gate3[0].Chan[0].PwmF1
2
× f
IntPhase
f
IntPhase
: Internal phase clock frequency
Make sure that the value is 40 kHz or less and the same as the Servo
Drive maximum input frequency or less.
*8
Gate3[0].Chan[0].P
wmDeadTime
15
Set the PWM signal dead time to 800 ns. Calculate the dead time in
accordance with the formula below.
Dead time = 0.0533 μs × Gate3[0].Chan[0].PwmDeadTime
Set it depending on the Servo Drive specifications.
*9
Gate3[0].Chan[0].P
ackInData
2
AdcAmp compression: Enabled
If the digital current loop is implemented, enable data compression that
improves algorithm efficiency.
*10
Gate3[0].Chan[0].P
ackOutData
1
Enable PWM/DAC compression. If the commutation and digital current
loop are calculated, enable data compression that improves algorithm
efficiency.
*11
Motor[1].pPha-
seEnc
Gate3[0].Chan[0].P
haseCapt.a
Use the digital quadrature encoder for commutation position feedback.
*12
Motor[1].Phase-
PosSf
2048/
(256*2000*4/5)
Set a scale factor (Sf) of the commutation position (angle). Use the fol-
lowing formula to calculate the scale factor if 24 bits digital quadrature
encoder (Gate3[0].Chan[0].ServoCapt) is assigned to 32 bits EncTa-
ble[1] as this example.
Sf
=
2048 × Number of motor pole pairs
256 × Encoder resolution × Encoder multiplication setting
Set it depending on the specifications of equipment used.
The following shows parameters for equipment used in this example.
256: 2
(32 bits - 24 bits)
= 256
Encoder resolution: 2000 pulses per rotation
Encoder multiplication: 4 multiplication
Number of motor pole pairs: 5 pairs (10 poles)
3 DirectPWM Interface Connection Procedure
3-14
CK3M-series Startup Guide DirectPWM Interface (O047)
