Omron CK3W-AX1313 Series Startup Manual page 28

3 DirectPWM Interface Connection Procedure
No. Set item
*1 EncTable[1].Type
*2 EncTable[1].pEnc
*3 EncTable[1].Scale-
Factor
*4 Gate3[0].Chan[0].E
ncCtrl
*5 Gate3[0].Ad-
cAmpStrobe
*6 Gate3[0].AdcAm-
pHeaderBits
*7 Gate3[0].Chan[0].P
wmFreqMult
*8 Gate3[0].Chan[0].P
wmDeadTime
*9 Gate3[0].Chan[0].P
ackInData
*10 Gate3[0].Chan[0].P
ackOutData
*11 Motor[1].pPha-
seEnc
*12 Motor[1].Phase-
PosSf
3-14
Set value
1 Enable EncTable[1] as single-word (32 bits) read.
Gate3[0].Chan[0].S Assign the digital quadrature encoder data to EncTable[1].
ervoCapt.a
1/exp2(8) Calculate a scale factor set value in accordance with the following for-
mula because EncTable[1] is 32 bits and Gate3[0].Chan[0].ServoCapt
(digital quadrature encoder data) is 24 bits.
Set value :
7 Set the digital quadrature encoder conversion method to four multipli-
cation, counterclockwise.
$fffffc Specify AMP Strobe Word. If $fffffc is set, the Controller is compatible
with all AD converters.
2 Set the header length of analog to digital conversion data to 2 bits.
Set it depending on the Servo Drive specifications.
2 Set the PWM frequency to 15 kHz. Calculate the PWM frequency in
accordance with the formula below.
f =
PWM
f
IntPhase
Make sure that the value is 40 kHz or less and the same as the Servo
Drive maximum input frequency or less.
15 Set the PWM signal dead time to 800 ns. Calculate the dead time in
accordance with the formula below.
Dead time = 0.0533 μs × Gate3[0].Chan[0].PwmDeadTime
Set it depending on the Servo Drive specifications.
2 AdcAmp compression: Enabled
If the digital current loop is implemented, enable data compression that
improves algorithm efficiency.
1 Enable PWM/DAC compression. If the commutation and digital current
loop are calculated, enable data compression that improves algorithm
efficiency.
Gate3[0].Chan[0].P Use the digital quadrature encoder for commutation position feedback.
haseCapt.a
2048/ Set a scale factor (Sf) of the commutation position (angle). Use the fol-
(256*2000*4/5) lowing formula to calculate the scale factor if 24 bits digital quadrature
encoder (Gate3[0].Chan[0].ServoCapt) is assigned to 32 bits EncTa-
ble[1] as this example.
Sf =
256 × Encoder resolution × Encoder multiplication setting
Set it depending on the specifications of equipment used.
The following shows parameters for equipment used in this example.
256: 2
Encoder resolution: 2000 pulses per rotation
Encoder multiplication: 4 multiplication
Number of motor pole pairs: 5 pairs (10 poles)
Description
1
(32 bits -24 bits )
2
Gate3[0].Chan[0].PwmFreqMult+1
2
: Internal phase clock frequency
2048 × Number of motor pole pairs
(32 bits - 24 bits)
= 256
CK3M-series Startup Guide DirectPWM Interface (O047)
× f
IntPhase