Rockwell Automation SA500 Drive Configuration and Programming - Manual (Page 101)

SA500 Drive Register Reference A-1
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PPENDIX
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SA500 Drive Register Reference
REGISTER MAP
Registers Function
0-23 Rail I/O port registers
24-79 System Use Only
80-89 UDC/PMI comm. status registers for drive A
90-99 System Use Only
100-108 Command registers for drive A
109-149 System Use Only
150-199 Volatile gain registers for drive A
200-221 Feedback registers for drive A
222-299 System Use Only
300-599 Application registers updated every scan
for drives A and B
600-999 System Use Only
1000 UDC module test switch register
1001-1017 UDC module meter port setup registers
1018-1079 System Use Only
1080-1089 UDC/PMI comm. status registers for drive B
1090-1099 System Use Only
1100-1108 Command registers for drive B
1109-1149 System Use Only
1150-1199 Volatile gain registers for drive B
1200-1221 Feedback registers for drive B
1222-1299 System Use Only
1300-1599 Application registers updated every scan
for drives A and B
1600-1999 System Use Only
2000-2010 Interrupt Status and Control registers for
drives A and B
2011-2047 System Use Only
REGISTER/BIT DESCRIPTIONS
Rail I/O PORT REGISTERS
A / B
0 / 12
PMI port 0, channel 0
1 / 13 PMI port 0, channel 1
2 / 14 PMI port 0, channel 2
3 / 15 PMI port 0, channel 3
4 / 16 PMI port 0 faults (see below)
5 / 17 PMI port 0 check bit fault counter
6 / 18 PMI port 1, channel 0
7 / 19 PMI port 1, channel 1
8 / 20 PMI port 1, channel 2
9 / 21 PMI port 1, channel 3
10 / 22 PMI port 1 faults (see below)
11 / 23 PMI port 1 check bit fault counter
RAIL FAULT BITS (Registers 4/16 and 10/22)
Bit
0 Analog ch. 0 input over-range
1 Analog ch. 0 input under-range
2 Analog ch. 1 input over-range
3 Analog ch. 1 input under-range
4 Analog ch. 2 input over-range
5 Analog ch. 2 input under-range
6 Analog ch. 3 input over-range
7 Analog ch. 3 input under-range
8 No device plugged into configured port
9 Bad ID code
10 Bad rail comm. check bits received
11 PMI processor interface not ready
UDC-PMI COMMUNICATION STATUS
A/B
80 /1080 UDC ports status
Bit
0 Invalid receive interrupt
1 No end of frame status received
2 CRC/framing error
3 Overrun error
4 DMA format error
5 Transmitter underrun
6 CCLK communication synch error
7 External loopback data error
8 Missed gains
9 Multiplexed data verification error
10 No matching PMI OS present
11 Invalid PMI OS header
12 Incompatible PMI hardware
81 /1081 UDC good message received count
82 /1082 UDC CRC error count
83 /1083 UDC format error count
84 /1084 PMI communication status
Bit
0 Invalid receive interrupt
1 No end of frame status
2 CRC/framing error
3 Overrun error
4 DMA format error
5 Transmitter underrun
6 CCLK communication synch error
8 UDC CCLK communication synch error
9 Multiplexed data verification error
12 Invalid PMI start OS address
13 Insufficient PMI memory to load PMI OS
14 Invalid PMI load address
15 PMI OS overflow
85 /1085 PMI good message received count
86 /1086 PMI CRC error count
87 /1087 PMI format error count
88 /1088 Fiber-optic link communication status
89 /1089 UDC transmitted message count
COMMAND REGISTERS
A/B
100/1100 Drive Control
Bit
0 Enable PMI loop
PMI_RUN@
1 Resolver alignment test ALN_TST@
3 Speed loop on SPD_ON@
4 Position loop on POS_ON@
6 (reserved for future use) SPD_TUN@
8 Fault reset FLT_RST@
9 Warning reset WRN_RST@
10 Enable notch filter NTCH_EN@
15 UDC task running (status)* UDC_RUN@
*Bit 15 in register 100/1100 must not be written
to by the programmer. All other bits in 100/1100
are read/write.
COMMAND REGISTERS (Continued)
A/B
101/1101 I/O Control
Bit
0 Stop intrpol fld ref crv
NO_INTR@
2 External fault LED EXT_LED@
4 Auxiliary output AUX_OUT@
6 Enable resolver bal calib RES_CAL@
8 Enable external strobe STR_ENA@
9 Enable ext strb falling edge STR_ENF@
10 Calculate Iz value
TUNE_IZ@
15 UDC loopback test UDC_LB@
102/1102 External torque reference TRQ_REF%
105/1105 Speed reference into ramp SPD_STPT%
106/1106 Position reference POS_STPT%
107/1107 Speed reference no ramp SPD_REF%
108/1108 Position feedback from UDC EXT_POS_FB%
109/1109 External reference flux wkn EXT_CP_REF%
VOLATILE GAIN REGISTERS
SPEED LOOP VARIABLES
A/B
150/1150 Speed loop crossover freq WCOS%
151/1151 Speed loop damping factor ZETAS%
152/1152 Speed loop rate limit SPD_RATE%
153/1153 Speed loop feed forward SPD_FF%
154/1154 Notch filter center frequency NTCH_W%
155/1155 Notch filter Q factor NTCH_Q%
156/1156 Tach loss max velocity error SPD_ERR_THR%
157/1157 Speed loop inertia scaling
J_SCALE%
POSITION LOOP VARIABLES
A/B
160/1160 Position loop crossover freq WCOP%
161/1161 Position loop damping factor ZETAP%
162/1162 Position loop rate limit POS_RATE%
163/1163 Position loop feed forward POS_FF%
164/1164 Position loop limit plus POS_LP%
165/1165 Position loop limit minus POS_LM%
166/1166 Tach loss max position error POS_ERR_THR%
FEEDBACK REGISTERS
A/B
200/1200 Drive status
Bit
0 Drive enable grant
PMI_ON@
1 Resolver alignment OK ALN_OK@
2 Torque ref in positive limit TRQ_SP@
3 Torque ref in negative limit TRQ_SM@
4 Positive position limit
POS_SP@
5 Negative position limit POS_SM@
6 (reserved for future use) SPD_OK@
8 Fault detected FLT@
9 Warning detected WRN@
10 Notch filter enabled NTCH_ON
11 Torque loop ref in pos sat TRF_SP@
12 Torque loop ref in neg sat TRF_SM@
14 CCLK synched (PMI/UDC) CCLK_OK@
15 PMI OS loaded
PMI_OK@