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No.
Set item
Set value
Description
*25
Motor[1].I2tSet
28377*1.1/11.25
Set a rated current limit value (RMS). Compare those of the Servo
Drive and the motor, and use a smaller value. The motor has a smaller
value in this example.
Use the following formula for calculation.
I2tSet =
Cos (30°) × 32767 × Rated current
Servo driver ADC full-range current
Determine parameters depending on the equipment used.
The following shows parameters for equipment used in this example.
Rated current for R88M-K05030T: 1.1 A (RMS)
ADC full range current for CDHD-0032APB0: 11.25 A (RMS)
*26
Motor[1].I2tTrip
(Motor[1].Max-
Dac*Motor[1].Max-
Dac − Mo-
tor[1].I2tSet*Mo-
tor[1].I2tSet)*3
Set a motor integrated current limit. Use the following formula for cal-
culation.
I2tTrip = (MaxDAC
2
+ IdCmd
2
− I2tSet
2
) × allowable time (second)
Allowable time for R88M-K05030T: 3 seconds
*27
Motor[1].AbsPha-
sePosOffset
400
Specify the minimum operation that is considered to be an efficient
phase search. Although the commutation cycle (2048) 1/4 = 512 (90°)
is ideal, it is set to approximately 80% in this example considering that
problems such as friction can prevent the operation.
If
Motor[1].PhaseFindingStep=1
displacement is smaller than this
value during phase search, the phase search is considered to be failed
by Power PMAC.
*28
Motor[1].PhaseFin-
dingDac
4000
Set the size of phase-sequence current that is output to each motor
phase in phase search. Adjust it depending on the equipment used.
*29
Motor[1].PhaseFin-
dingTime
1000
Set duration of each step during phase search. Adjust it depending on
the equipment used.
The following duration is used in this example.
Duration = Servo cycle × Motor[1].PhaseFindingTime = 1 ms × 1000 =
1000 ms
*30
Motor[1].PowerOn-
Mode
1
1: Enables the motor after phase search.
0: Kills the motor after phase search.
3 DirectPWM Interface Connection Procedure
3-16
CK3M-series Startup Guide DirectPWM Interface (O047)