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Application Note...

Setup for PMAC Commutation of Brushless PMDC (AC-Servo) Motors and Moving Coil Brushless Linear Motors...

PMAC can be used to not only provide servo control of a motor system (closing both the position and velocity loops) but can additionally perform the algorithms necessary to commutate brushless permanent magnet servomotors, in either rotary or linear forms, and AC induction motors. The controller utilizes incremental encoder feedback to keep track of rotor position (stationary magnet track position in a linear motor) and outputs two sinusoidal phase commands. The third phase command is generated via a balance loop in the amplifier. Resolver feedback may be used in conjunction with the Acc-8D Opt 7 R/D converter board to produce incremental encoder feedback if the motor is equipped with a resolver. This procedure will guide the PMAC user through the setup for commutating either brushless PMDC motors (sometimes referred to as AC-servomotors or merely Brushless motors) or moving coil brushless linear motors. The motor and amplifier should already be wired, and there should be no load connected to the motor's output shaft or linear table for this setup procedure. PMAC must be capable of commutating the motor, verified by open-loop moves, before the servo loop can be tuned....

Setting up Brushless Motor Commutation...

Motor commutation is only one of PMAC's many capabilities. To implement this capability, several software parameters need to be set up initially. Figure 1 gives an overview of the setup of PMAC for brushless motor commutation. 1. The first step in setting up the PMAC to commutate a motor, is to tell the control to perform commutation for the specific motor. The commutation calculations for a motor are enabled by setting Ix01 = 1. Example To enable commutation of motor #3, set I301=1. 2. PMAC must be told which two DAC outputs will output the sinusoidal commutation command signals to the amplifier. This is accomplished by the setup of Ix02 with the lower address of a pair of adjacent DAC registers. Possible values for Ix02 are Hex...

$C002 $C00A $C012 $C01A $C022 $C02A $C032 $C03A...

49154 49162 49170 49178 49186 49194 49202 49210...

DAC1 & DAC2 DAC3 & DAC4 DAC5 & DAC6 DAC7 & DAC8 DAC9 & DAC10 DAC11 & DAC12 DAC13 & DAC14 DAC15 & DAC16...

Example 1 Continuing with the setup of motor #3 and assuming that motors #1 and #2 are not PMAC commutated (thus using 1 DAC each) motor #3 could use DACs 3 and 4. Therefore, I302 = $C00A (o...

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Brushless Motor Commutation .pdf common support support bak 09 22 2011 technotes brushless motor commutation

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Delta Tau Motion Control - easy - to - use, cost - effective motion control. Supplier of single and multi - axis controllers and drives for stepper and servo motors. Available formats include PCI, Ethernet,...

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