Rockwell Automation SA500 Drive Configuration and Programming - Manual (Page 3)

Table of Contents I
C
ONTENTS
Chapter 1 Introduction
Chapter 2 Configuring the UDC Module, Regulator Type, and Parameters
2.1
Adding a UDC Module ..................................................................................... 2-1
2.2 Entering the Drive Parameters ........................................................................ 2-2
2.3 Using the Brushless Parameter Entry Screens ............................................... 2-5
2.3.1 Power Module Data Screen (Brushless) ............................................... 2-5
2.3.2 Motor Data Screen (Brushless) ............................................................. 2-6
2.3.3 Motor Data Screen (Brushless - Speed Loop Enhanced) ..................... 2-7
2.3.4 Feedback Data Screen (Brushless) ...................................................... 2-9
2.3.5 Feedback Data Screen (Brushless - Speed Loop Enhanced)............. 2-10
2.4 Using the Vector Parameter Entry Screens................................................... 2-12
2.4.1 Power Module Data Screen (Vector)................................................... 2-12
2.4.2 Motor Data Screen (Vector) ................................................................ 2-13
2.4.3 Motor Data Screen (Vector - Speed Loop Enhanced)......................... 2-15
2.4.4 Feedback Data Screen (Vector).......................................................... 2-17
2.4.5 Feedback Data Screen (Vector - Speed Loop Enhanced) .................. 2-19
2.5 Generating the Drive Parameter Files and Printing Drive Parameters .......... 2-21
Chapter 3 Configuring the UDC Module’s Registers
3.1
Register and Bit Reference Conventions Used in this Manual ........................ 3-2
3.2 Rail I/O Port Registers (Registers 0-23) .......................................................... 3-6
3.3 UDC/PMI Communication Status Registers (Registers 80-89/1080-1089) ..... 3-9
3.3 Command Registers (Registers 100-149/1100-1149) ................................... 3-17
3.4 Volatile Gain Registers (Registers 150-199/1150-1199) ............................... 3-23
3.4.1 Speed Loop Gain Variables ................................................................ 3-23
3.4.2 Position Loop Gain Variables .............................................................. 3-24
3.5 Feedback Registers (Registers 200-299/1200-1299).................................... 3-26
3.6 Application Registers (Registers 300-599, Every Scan)
(Registers 1300-1599, Every Nth Scan) ........................................................ 3-40
3.7 UDC Module Test I/O Registers (Registers 1000-1017) ............................... 3-43
3.7.1 UDC Module Test Switch Inputs Register (Register 1000) ................. 3-43
3.7.2 UDC Module Meter Port Setup Registers (Registers 1000-1017)....... 3-45
3.7.2.1 Resolution of Meter Port Data............................................... 3-46
3.8 Interrupt Status and Control Registers (Registers 2000-2047) ..................... 3-51
Chapter 4 Application Programming for DPS Drive Control
4.1
AutoMax Tasks ................................................................................................ 4-1
4.2 UDC Tasks ...................................................................................................... 4-1
4.2.1 Typical Structure of a UDC Task........................................................... 4-3
4.2.2 Local Tunable Variables........................................................................ 4-6
4.2.2.1 Calculating Local Tunable Values........................................... 4-7
4.2.3 UDC/PMI Task Communication ............................................................ 4-7
4.3 AutoMax Processor Task and UDC Task Coordination .................................. 4-9