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58 RD1, Resolver/Digital converter #1. EXTENDED REGISTER GROUPS RD1.Pos Is an absolute position value related to the absolute position the resolver had upon FW initialization. RD1.AmplAdj Holds the sign of the error that causes a ResolvErr interrupt. RD1. Mode = 16 High-resolution mode active. RD1. Mode = 32 Automatic amplitude compensation active. RD1.SinGain Compensation for gain differences between the sine and cosine input amplifier. RD1.ChkLowLim When the amplitude falls below this value, a resolver interrupt is generated. RD1.ChkErr Last resolver error code. RD1.ChkNom Nominal value for resolver amplitude. RD1.ChkThreshold The difference between RD1.Ampl and RD1.ChkNom must exceed this value before any action is taken. RELATED ITEMS SysIo.PWM0 Controls the amplitude of the excitation signal. An adjustment routine (PL2 coded) for this parameter is included in the SW package. The exitation amplitude is inversely proportional to this value. Vector.ResolvErr System interrupts vector for resolver monitoring. Int.SysMask Bit mask for system interrupts, bit 7 (bit value 128), enables the monitoring. Int.SysPend Bit mask for pending events, bit 7 (bit value 128), indicates the ResolvErr event. Ref Pos Statement for relocation of the relative position of the axis. EXAMPLE USAGE . RD1.Mode = 1 gosub ResCal . Ref Pos 0 ;normal operation ;adjust resolver parameters ;Sets the current reported position to 0 GROUP MEMBERS (GROUP 2) Group Member Member No Range Ability Default RD1.Mode 0 0..256 RW 0 RD1.Mode=0 Inactive RD1.Mode=1 Active Mode selects whether the RD1 is active or not. User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001
EXTENDED REGISTER GROUPS RD1, Resolver/Digital converter #1. RD1.Mode=3 Active and High-speed mode selected. This mode is recommended for use above 500 Hz (or 30.000 rpm 2-pole speed). It is also suitable for already demodulated resolvers and transducers giving a similar signal, for sensors ranging from analog hall sensors to laser interferometers. The maximum internally supported speed is 32 MHz. RD1.Mode=5 RD1.Mode=6 RD1.Mode=7 RD1.Mode=13 RD1.Mode=14 RD1.Mode=15 Use RD1 correction table (see RD1CORR group). The uncorrected RD1 position is located in the table (there is 16 values/turn), and the result is added to the RD1 position before the value is used for commutation and regulation. Use and update RD1 correction table (see group RD1CORR). For the update mode to work, the motor should be running with no load at a recommended minimum high speed of 256000. The system then assumes that all torque fluctuations in the regulator are due to imperfections in the resolver, and adjusts the table to minimize these fluctuations. This adjustment may take several seconds. While the update mode is active, no speed changes are allowed. This automatic mode is most suitable for low-accuracy resolvers such as analog hall-sensors etc. To use the correction for a DMC 2 standard resolver, a PL-code routine must be written and the adjustment time increased to minutes or no improvement will occur. RD1.Mode=16 High resolution mode. Pulses-per-revolution has been increased to accommodate the 14-bit A/D converter capability. High resolution is a new operating mode in RD1 and RD2 separatly. One revolution of a 2 pole resolver yields 65536 increments, this is eight times better than the low resolution mode. i i Several group members must be scaled up or down by 8 when using this mode. Pg.Speed = multiply by 8 to achieve the same speed as for low resolution. Pg.Acc/Pg.Ret = multiply by 8 to achieve the same acceleration/deceleration as for low resolution. Reg.Xgain= divide by 8 all gains. Where X is P, I or D for low resolution. Motor.PPR= multiply by 8 for low resolution. When this mode is activated ,the RD2 supervision is also activated, regardless of the mode setting in RD2.Mode. That is, if the RD2 resolver is deactivated, no check is performed. Currently the RD2 can not be compensated. If RD2 is enabled then in the case the RD2.Ampl falls below RD2.ChkLowLim then a resolver error interrupt is generated and a reason code is stored in RD2.ChkErr. The standard method will generate interrupts as soon as the interrupt vector has been defined and the interrupt has been enabled. This version will start after this mode bit is activated. When you run code that is designed to find values for RD1.SHAdj you should make sure that the interrupt is not enable and that this mode is disabled. And before you enter this mode then clear any pending resolver User's Manual 5.1 Inmotion Technologies AB Doc. No.9032 0027 01 (B), Rev. 11.07.2001 59
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HEAD OFFICE INMOTION TECHNOLOGIES A
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Table of Contents Table of Contents
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Related items .....................
Page 7 and 8: Related items .....................
Page 9: Creating/Editing Source Code ......
Page 12 and 13: 12 System architecture register val
Page 14 and 15: 14 B002 Timing and execution flow T
Page 16 and 17: 16 Function Block Diagram SOFTWARE
Page 18 and 19: 18 Function Block Diagram Figure 5.
Page 20 and 21: 20 Function Block Diagram Function
Page 22 and 23: 22 Load a new firmware release SOFT
Page 24 and 25: 24 User's Manual 5.1 Inmotion Techn
Page 26 and 27: 26 Argument types executing results
Page 28 and 29: 28 Mnemonic Operators PL2 NATIVE PO
Page 30 and 31: 30 Compiler Symbols PL2 NATIVE POSI
Page 32 and 33: 32 Compiler directives PL2 NATIVE P
Page 34 and 35: 34 Compiler directives Warnings: No
Page 36 and 37: 36 Spline function compilation dire
Page 38 and 39: 38 Multiline Macro MACRO DEFINITION
Page 41 and 42: PL2 Mnemonics GENERAL The general f
Page 43 and 44: PL2 MNEMONICS Standard set Mnemonic
Page 45 and 46: PL2 MNEMONICS TRACE RELATED MNEMONI
Page 47 and 48: PL2 MNEMONICS Indexed Addressing Mn
Page 49 and 50: PL2 MNEMONICS If r_length < r_Membe
Page 51 and 52: PL2 MNEMONICS Text mode \000 Intern
Page 53 and 54: Extended register groups INTRODUCTI
Page 55 and 56: EXTENDED REGISTER GROUPS STACK HAND
Page 57: EXTENDED REGISTER GROUPS RD1, Resol
Page 61 and 62: EXTENDED REGISTER GROUPS RD1.FiltSp
Page 63 and 64: EXTENDED REGISTER GROUPS RD2, Resol
Page 65 and 66: EXTENDED REGISTER GROUPS RD2, Resol
Page 67 and 68: EXTENDED REGISTER GROUPS RD2.ChkLow
Page 69 and 70: EXTENDED REGISTER GROUPS Pos Inc Pr
Page 71 and 72: EXTENDED REGISTER GROUPS Pg.ASpeed
Page 73 and 74: EXTENDED REGISTER GROUPS MOTOR, MOT
Page 75 and 76: EXTENDED REGISTER GROUPS 2-Pole: 81
Page 77 and 78: EXTENDED REGISTER GROUPS Motor.Base
Page 79 and 80: EXTENDED REGISTER GROUPS REG, PID R
Page 81 and 82: EXTENDED REGISTER GROUPS GROUP MEMB
Page 83 and 84: EXTENDED REGISTER GROUPS Positive T
Page 85 and 86: EXTENDED REGISTER GROUPS Reg, PID r
Page 87 and 88: EXTENDED REGISTER GROUPS Gear.Incr
Page 89 and 90: EXTENDED REGISTER GROUPS GROUP MEMB
Page 91 and 92: EXTENDED REGISTER GROUPS Gear, Elec
Page 93 and 94: EXTENDED REGISTER GROUPS TMR, SYSTE
Page 95 and 96: EXTENDED REGISTER GROUPS Tmr, Syste
Page 97 and 98: EXTENDED REGISTER GROUPS RELATED IT
Page 99 and 100: EXTENDED REGISTER GROUPS SysIo.ADC1
Page 101 and 102: EXTENDED REGISTER GROUPS Bit10 (102
Page 103 and 104: EXTENDED REGISTER GROUPS INT, INTER
Page 105 and 106: EXTENDED REGISTER GROUPS Bit2 (4) =
Page 107 and 108: EXTENDED REGISTER GROUPS Int, Inter
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EXTENDED REGISTER GROUPS IN, DIGITA
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EXTENDED REGISTER GROUPS X7A:6. In.
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EXTENDED REGISTER GROUPS X7B:33. Ou
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EXTENDED REGISTER GROUPS GROUP MEMB
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EXTENDED REGISTER GROUPS Vector, In
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EXTENDED REGISTER GROUPS CAPTURE, C
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EXTENDED REGISTER GROUPS Ana.ConnTM
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EXTENDED REGISTER GROUPS EEPROM Gro
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EXTENDED REGISTER GROUPS Bit(0..3)
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EXTENDED REGISTER GROUPS RD1CORR, P
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EXTENDED REGISTER GROUPS OptAD, ana
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EXTENDED REGISTER GROUPS OptAD.7 7
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EXTENDED REGISTER GROUPS LAN1, LOCA
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EXTENDED REGISTER GROUPS WriteLAN1
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EXTENDED REGISTER GROUPS LAN1, Loca
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EXTENDED REGISTER GROUPS LAN1, Loca
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EXTENDED REGISTER GROUPS LAN1.ErrVe
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EXTENDED REGISTER GROUPS MsgObjLAN1
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EXTENDED REGISTER GROUPS isrDone: M
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EXTENDED REGISTER GROUPS MsgObjLAN2
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EXTENDED REGISTER GROUPS Denominato
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EXTENDED REGISTER GROUPS ABIN Group
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EXTENDED REGISTER GROUPS DSTORE, Gr
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EXTENDED REGISTER GROUPS PARAREA, G
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EXTENDED REGISTER GROUPS XENDAT, Gr
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EXTENDED REGISTER GROUPS wait tmr.t
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EXTENDED REGISTER GROUPS XENDAT.Tra
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EXTENDED REGISTER GROUPS XENDAT, Af
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EXTENDED REGISTER GROUPS XENDAT.RPo
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EXTENDED REGISTER GROUPS Counter 0
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EXTENDED REGISTER GROUPS IDENTIFIER
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EXTENDED REGISTER GROUPS >RPDATA.Ar
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EXTENDED REGISTER GROUPS EXAMPLE US
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EXTENDED REGISTER GROUPS SAnyBus ;
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EXTENDED REGISTER GROUPS SAnyBus As
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EXTENDED REGISTER GROUPS PutLONG Pu
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EXTENDED REGISTER GROUPS ABOUTMAIL
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EXTENDED REGISTER GROUPS EN1-EN4, E
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EXTENDED REGISTER GROUPS IENC Group
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EXTENDED REGISTER GROUPS MODEN3-MOD
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EXTENDED REGISTER GROUPS ModEN3.Cap
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200 Computer Mode Record type 1 2 3
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PL2 On line commands PL2 ON LINE CO
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PL2 ON LINE COMMANDS Command name E
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208 B009 Definitions THE ECT MAIN M
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210 Edit in generating this code. F
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212 Compile EXITING EDIT To exit Ed
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214 Test line, assisting the user t
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216 Test including the upload and d
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1 2 3 4 5 6 X7:A 16 15 14 13 12 11
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Start (reset entry) Init If ..... t
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