guke520

I use direct PWM to control the torque motor, and the step-by-step method to find the phase. Every time the phase search is unsuccessful, no matter if the phase finding current or time is increased, what might be the reason? //ACC-24E2+51E //======================================== Motor1=====================================// Motor[1].AdcMask = $FFF00000 Motor[1].AmpFaultLevel = 1 Motor[1].PhaseCtrl = 4 Motor[1].ServoCtrl=1 Motor[1].Ctrl=Sys.ServoCtrl GLOBAL DcBusInput = 340; GLOBAL Mtr1DCVoltage = 110; Motor[1].PwmSf = 0.95 * 16384 * Mtr1DCVoltage / DcBusInput Gate1[4].Chan[0].EncCtrl =7 //24E2 Gate1[4].Chan[0].OutputMode=0 Motor[1].PhaseOffset = 683 /*************************Motor1 I2T************************/ GLOBAL Ch1MaxAdc = 30; GLOBAL Ch1RmsPeakCur = 20; GLOBAL Ch1RmsContCur = 10; GLOBAL Ch1TimeAtPeak = 0.5; Motor[1].MaxDac = Ch1RmsPeakCur * 40132.44 / Ch1MaxAdc Motor[1].I2TSet = Ch1RmsContCur * 40132.44 / Ch1MaxAdc Motor[1].I2tTrip = (POW(Motor[1].MaxDac,2) - POW(Motor[1].I2TSet,2)) * Ch1TimeAtPeak /*************************Motor1 Current Loop************************/ Motor[1].IiGain = 0.2 Motor[1].IpfGain = 5.5 Motor[1].IpbGain = 0 Motor[1].IaBias = 240 Motor[1].IbBias = -935 ///System /opt/ppmac/setup/calcadcoffset 1 /*************************Motor1 Phasing************************/ Motor[1].PhasePosSf = 2048/(256*4*55040/44) //2048 * / (256 * 4* liner per commutation cycle) Motor[1].pPhaseEnc = Gate1[12].Chan[0].PhaseCapt.a Motor[1].PhaseFindingDac = Motor[1].I2tSet*0.5 Motor[1].PhaseFindingTime = 1000*Sys.ServoPeriod Motor[1].AbsPhasePosOffset = 2048/5 /*************************Motor1 setup************************/ Motor[1].pEnc=EncTable[6].a Motor[1].pEnc2=EncTable[6].a Motor[1].pLimits=0 //Gate1[4].Chan[0].Status.a Motor[1].LimitBits=25 Motor[1].pAmpFault=0 //Gate1[4].Chan[0].Status.a Motor[1].AmpFaultBit=23 Motor[1].pDac=Gate1[4].Chan[0].Pwm[0].a Motor[1].pAdc=Gate1[4].Chan[0].Adc[0].a Motor[1].pAmpEnable=Gate1[4].Chan[0].Ctrl.a Motor[1].pEncStatus=Gate1[12].Chan[0].Status.a Motor[1].pCaptFlag=Gate1[12].Chan[0].Status.a Motor[1].pCaptPos=Gate1[12].Chan[0].HomeCapt.a Motor[1].MinPos=0 Motor[1].MaxPos=0 Motor[1].InPosBand=1; /*************************Motor1 PID************************/ Motor[1].Servo.Kp=4 Motor[1].Servo.Kvfb=40 Motor[1].Servo.Kvff=40 Motor[1].Servo.Ki=0 /*************************ACC-51E************************/ Gate1[12].Chan[0].CaptCtrl=1 Gate1[12].Chan[0].EncCtrl=3 EncTable[6].type=4 EncTable[6].pEnc=Gate1[12].Chan[0].Status.a EncTable[6].pEnc1=Gate1[12].Chan[0].Adc[0].a EncTable[6].index5=0 EncTable[6].ScaleFactor=1/32 //1/1024

I set the PMAC parameters according to the 84E manual, but the PMAC could not read the position data from the Tamagawa encoder. According to Tamagawa's manual, it is necessary to send an ENABLE signal to the encoder before reading the position data, so I want to know how 84E sends this signal?

HI Sir My ACC-84E connect to a Tamagawa encoder,it has the resolution of 17 bits per revolution and the multi-turn counting of 16 bits. How can I set Global Control register and Ch Control register like SSI or Yaskawa. I did not find the setup instructions in the ACC-84 manual. Thanks