Rockwell-automation SA500 Drive Configuration and Programming Manual de usuario descargar pdf (Pagina 101)

SA500 Drive Register Reference

A-1

PPENDIX

SA500 Drive Register Reference

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

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@

1 2 ... 96 97 98 99 100 101 102 103 104 105 106 ... 125 126

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Rockwell-automation SA500 Drive Configuration and Programming Manual de usuario Pagina 101

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