Installation manual

Geo Direct PWM Amplifier
Turbo PMAC2 Drive Setup 45
 I2T Settings, Ixx57, Ixx58, and Ixx69 Example:
#define ServoClk 2.258 ; Servo Clock [KHz]—computed in Dominant Clock Settings Section
#define ContCurrent 3 ; Continuous Current Limit [Amps] -User Input
#define PeakCurrent 9 ; Instantaneous Current Limit [Amps] -User Input
#define MaxADC 16.26 ; =16.26 for 5/10A -User Input, see electrical specs
#define I2TOnTime 2 ; Time allowed at peak Current [sec] -User Input
I157 = INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169 = INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158 = INT((I169*I169- I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
Caution
Trying to enable the Geo Direct PAM Drive with misreported current
data could result in damaging the electronics of the Drive.
At this point of the drive-motor setup, and before tuning the current loop, a couple of sanity checks can be
performed, making sure that:
 Enabling the drive with a #nO0 command does not produce any faults in neither the drive nor PMAC.
 The current sensors are operating properly by monitoring the current measurements (i.e. Mxx05, and
Mxx06). These should be reporting value fluctuating around 0. Frozen values, or values greater than
1000 indicate that the current sensors are not functioning properly, or a software parameter is
incorrect (i.e. I7m06, Ixx72, Ixx84)
Subsequently, the current loop (Ixx61, Ixx62, and Ixx76) can be tuned using the tuning utility in the
Pewin32Pro2 software. Commutation, encoder feedback, phasing, and position loop tuning can then be
setup for closed loop control.
Note
Complete closed loop setup procedure can be found in the pertaining
hardware axis-interface, and Turbo User/Software reference manuals.