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BA SineDrive User's Manual
CHAPTER 4:
MODE OF OPERATION AND TUNING
In This Section:
• Introduction ..................................................................4-1
• Velocity and Current Mode ..........................................4-1
• Tuning ..........................................................................4-2
4.1.
Introduction
This chapter contains all information regarding the BAS's modes of operation.
4.2.
Velocity and Current Mode
These two modes require an external command ±10 volt signal on P1-17 and P1-18. With
either mode, the BAS samples the external command and sinusoidally commutates a
brushless motor. If velocity mode is selected, the user can close the velocity loop
digitally on the BAS.
Commutation of a brushless motor requires the user to enter the encoder resolution
(PRM:4) and the number of pole-pairs (PRM:5). A commutation shift can also be added
by changing PRM:11.
A digital low pass filter can also be added to remove noise due to the PI controller or any
contamination during the A/D conversion. To enable the filter, change PRM:9 to a 1. The
filter cutoff can be found in PRM:10.
The user can also enable and disable the amplifier through the external enable line P1-5.
The polarity of this signal can be selected through PRM:22. A fault output is also
available on P1-10. Both the external enable and the fault output are opto-isolated.
When operating in current or velocity mode, the user typically needs to send the encoder
signals to the BAS and the external controller. To minimize the wiring, the encoder
signals on P3 are passed directly to P1-21, 22, 23, 24.
4.2.1. Current Mode
To operate the BAS in current mode, the user must first change the operating mode to
current command. This can be done by changing PRM:20 to 1. For this change to take
effect, a reset (CTRL-D) must be sent to the BAS.
When operating in current mode, the BAS relies on an external controller to close the
position and velocity loops. The BAS uses this command and with the encoder, will
sinusoidally commutate a brushless motor.
Version 1.4
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Mode of Operation and Tuning
Aerotech, Inc.
4-1
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