MichelH

Ok, it is now clear for me! Thank you very much for your answers!

Hello Ixx66 fonction is not clear for me: I also have to controle different motors (Brush and brushless motors) with Geo Macro drives. I read the chapter "setting up turbo motor operation" and as described Ixx66 = 16384 (p. 80, Geo Macro Drive User). Regarding Sina's answer, I don't really understand the role of Ixx66: For example, my drives input is 230 VAC (then a 325 VDC). Then I should use a transformer for my input voltage in order to controle 110 VDC motors (that was my first idea before I read the spec of Ixx66)? And I read in Turbo SRM's quote: "If Ixx66 is set to a smaller value than PWM maximum count, it serves as a voltage limit for the motor (Vmax = VDC * PWM_Max_Count / Ixx66)" (source: Software reference manual: Turbo Pmac/Pmac2, p. 106) I also understand that for Geo Macro, Ixx66 is a constant. So how can I controle the output voltage, if not with Ixx66? Thank you for your clarification MH

Thank you very much serkan! I will try to understand this way! I'm not familiar with DAC/ADC but your explanation seems clear! Thanks again Michel

Hello I am a new user of turbo Pmac. I'm working with Etel motors and amplifiers for current regulation and position servo loop via Macro done by Pmac. I read the manual and some of the post on the forum but I still don't understand how to figure out my problem. I made my regulation loop with physical units in order to convert my gain in Pmac units Here's the pmac position loop regulation to understand what I mean (schema is available at p. 152 of Turbo Pmac user manual) I calculate my gain with physicals unit (wich correspond with the logic of the schema) Proportionnal gain Kp (as Pmac Ixx30) [A/rad] or [A/m] Derivative gain Kd (as Pmac Ixx31) Integral gain Ki (as Pmac Ixx33) [1/s] (units are: A: ampere, rad: radians, m: meters, s: second) I am aware that Pmac units are [count] I also know: Ixx69 the max. output current How many count to make a motor turn (or 2 Pi rad). I also read the units of Ixx30 (Kp) which are Ixx08/2^19 and the same logic for Ixx31 and Ixx33. But I can't figure out the unit conversion I hope you can understand what I mean, I would be glad to explain more If you want. Thank you Michel