Table of Contents - TG Drives

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