Installation manual

Geo Direct PWM Amplifier
Power PMAC3 Drive Setup 38
Key Channel Parameters
The following channel-specific parameters are essential for the proper software setup of the Geo Direct
PWM Drive:
Structure Element
Description
Typical/Default
Notes
Gate3[i].Chan[j].PwmFreqMult
PWM Frequency
0
4.5 KHz PWM
Motor[x].ServoCtrl
Activate channel
1
Motor[x].PhaseCtrl
Commutation enable
1
With PackInData = 0
Motor[x].PhaseOffset
Commutation Phase angle
-683
-512 for Brush Motor
Motor[x].pAdc
Current Feedback Address
Pointer
Initiated by the firmware
Motor[x].AdcMask
ADC Mask
$FFF00000
Motor[x].PwmSf
PWM Scale Factor
= 0.9 * 16384
Voltage limiter
Motor[x].I2TSet
Continuous current limit
To be
Computed
Motor I
2
T protection
Motor[x].I2TTrip
Integrated current limit
Motor I
2
T protection
Motor[x].MaxDac
Maximum command output
Current limiter
Motor[x].IiGain
Integral
Current Loop
Tuning
Motor[x].IpfGain
Forward path proportional
Motor[x].IpbGain
Back-path proportional
Note
A Save and a Reset ($$$) is necessary for these parameters to take
effect.
 Motor[x].PwmSf is calculated based on the motor and bus voltages
If the Motor Rated Voltage is greater than > Bus Voltage:
Motor[x].PwmSf = 0.9 * 16384
If the Motor Rated Voltage is less than < Bus Voltage:
Motor[x].PwmSf = 0.9 * 16384 * V
Motor
/V
Bus
 I2T Settings Example:
GLOBAL ContCurrent = 3; // RMS Continuous Current Limit [Amps] -User Input
GLOBAL PeakCurrent = 9; // RMS Instantaneous Current Limit [Amps] -User Input
GLOBAL MaxADC = 16.26; // =16.26 for 5/10A -User Input, see electrical specs
GLOBAL I2TOnTime = 2; // Time allowed at peak Current [sec] -User Input
Motor[1].MaxDac = (PeakCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tSet = (ContCurrent / MaxADC) * 32767 * COSD(30)
Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2tSet,2)) * I2TOnTime