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How do I control speed with Turbo PMAC ?


Abhijit
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How to configure PMAC PID filter in order to control the speed of a servo motor? External servo drive is configured in torque mode and PMAC will receive speed command on an analog input. Feedback is the simulated quadrature encoder pulses from servo drive.
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You can integrate the analog input in the Encoder Conversion Table, then introduce the result as a master position to the position controlled servo motor. You just have to make sure your integration is working properly before slaving your servo motor to it. Also, make sure your master position scale factor Ixx07 is adjusted properly or your motor could be commanded beyond its capability which will result in a fatal following error condition.
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Abhijit,

 

The master position is evaluated every servo cycle and input to PID every servo cycle, so your bandwidth for the velocity loop would be as good as the bandwidth you have on your PID tuning of the servo motor.

 

Although, if you need to implement any sort of filter on your analog input, whether RC filter or digital filter in PMAC, it will affect the overall bandwidth of the system.

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