Table of Contents - TG Drives

60
RD1, Resolver/Digital converter #1.
EXTENDED REGISTER GROUPS
error interrupt. Also when running routines in order to
adjust the Rdx.singain this mode must be turned off.
RD1.Mode=32 Automatic temperature compensation using SysIo.PWM0.
When this mode is activated the resolver amplitude RD1.Ampl
is monitored with the rate specified in SysIo.ChkTmr. The
resolver excitation voltage (SysIo.PWM0) is changed in order
to maintain a RD1.Ampl value as specified in RD1.ChkNom. No
change is made until the difference
exceeds the value in RD1.ChkThreshold.
In the case the RD1.Ampl falls below RD1.ChkLowLim or we
have reached the max/min adjustment then a resolver error
interrupt is generated and a reason code is stored in
RD1.ChkErr.
♦ Warning. If you use this mode make sure that any PL
code that manipulates SysIo.PWM0 is removed.
Additional bits:
b7 (128) Set CCW rotation.
Note. When used as the commutation source, in order to
change the motor rotation, you also need to change the
rotation definition on the motor. See Rotation definition
change.
RD1.Pos 1 -2 31 ..2 31 -1 R
The 32-bit extended position in ”increments”, where an
electrical turn on the resolver (2-pole) equals 8192 (or 65536)
increments.
Resolution is approx. 2000-4000 increments/turn or 2-4
increments.
RD1.Speed 2 -2 31 ..2 31 -1 R
Speed of the resolver in increments-per-second. Resolution is
approximately 2000-4000 increments-per-second.
RD1.Ampl 3 0..32767 R
i
The combined amplitude of SIN and COS signals from the
resolver. This value is used to adjust the phase of the
sample/hold signal so that the SIN and COS signals are
sampled at their maximum (10000 to 16000). If this value
exceeds 16000, the A/D inputs are overloaded and the
accuracy drastically decreases. If the value is less than 15000,
the accuracy decreases proportional to the signal level.
The content of the SysIo.PWM0 register affects both
resolver #1 and #2; since both resolvers are driven from
the same excitation circuit.
RD1.SHAdj 4 -150..150 RW
Sample/Hold phase adjustment. (Time offset for sample/hold
signal in microseconds.) This value is used to adjust the phase
of the sample/hold signal so that the SIN and COS signals are
sampled at their maximum, and thereby the RD1.Ampl reaches
its maximum value. At this adjustment, the RD1 is tuned to
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001