AN016

 PMAC2
Delta Tau  PWM with Copley Digital
Introduction
The PMAC2 can be used in PWM command mode to drive
Copley digital amplifiers in the velocity or current mode. The
advantage of PWM command vs. direct H-bridge control is the
increased current loop bandwidth provided by the Copley
amplifier. The PMAC2 will typically produce only 300Hz of
current loop bandwidth, sufficient for most applications
however, for reduction of 120Hz line nose on the buss voltage
and other disturbances in the control systems, more current loop
bandwidth may be required. The Copley Digital amplifiers can
typically produce 3k Hz of current loop bandwidth.

Sr. Copley Design Engineer “Bandwidth is not a brick-wall, but

a gradual decrease in performance, which occurs in the region
of the break frequency. If the current loop bandwidth is 300 Hz,
and the disturbance is at 120Hz, you can expect a little more Image of PMAC2A-PC/104 Base Board shown stacked
than a 2:1 attenuation of the disturbance by the current loop. with the ACC-1P axes board.
Any mechanical resonance near 120Hz will exaggerate the
effect. The solution to the problem is higher current loop
bandwidth.”
PWM Parameters
PMAC2 Controllers On a PMAC2, I900 sets the PWM frequency for Channels 1-4
(these are the channels on the main PMAC2A-PC/104 board);
and I906 sets the PWM frequency for Channels 5-8 (these are
PMAC2-PCI the channels on the ACC-1P Axis 5-8 board for the PMAC2A-
This board could be used installed in a PCI bus host computer or PC/104). Using the default value of 6527 creates a PWM
used as a stand-alone motion controller. The base version frequency of 4.5kHz and provides 13+ bits of resolution. On a
without options provides 4 axes (with PWM command, +/-10V Turbo PMAC2, the comparable variable is I7m00 for each Servo
command, or Step and direction) when combined with the IC m (m= 0 - 9).
appropriate accessory ACC-8x it provides up to 8 axes (PWM
command ACC-8S, +/-10V command ACC-8E, or Step and On a PMAC2, I904 sets the PWM deadtime for Channels 1-4
direction ACC-8S) and I908 sets the PWM deadtime for Channels 5-8. In this mode
of operation, these variables should be set to 0 (not the default),
because no deadtime is required. On a Turbo PMAC2, the
Turbo PMAC2-PCI comparable variable is I7m04 for each Servo IC m.
This board can be used installed in a PCI bus host computer or
used as a stand-alone motion controller. On a PMAC2, I9n6 sets the output mode for Channel n (n = 1-
The base Turbo PMAC2-PC board can control up to 8 axes (with 8). Setting I9n6 to the default value of 0 specifies PWM outputs
PWM command, +/-10V command, or Step and direction) the for Channel n. On a Turbo PMAC2, the comparable variable is
necessary channels to control up to 32 axes are provided by I7mn6 for Servo IC m Channel n.
optional ACC-24P2 boards.
On the main PMAC2A-PC/104 board, The DIR_n output will
now serve as PWMnTOP.
PMAC2A-PC/104
This board can be used as a stand-alone motion controller or On most PMAC2 and Turbo PMAC2 systems, the "C" sub-
commanded by a host computer with its RS-232 serial port or channel for each Channel n is the easiest place to access a
the optional PC/104 bus interface, USB or Ethernet single-phase PWM signal. This signal is available on simple and
communication methods The base version without options inexpensive stepper-interface connectors and breakout boards.
provides 4 axes (with PWM command, +/-10V command, or On these, the signal of interest is usually labeled as DIRn, for the
Step and direction) When combined with the ACC-1P: it sub-channel's alternate format of pulse-and-direction output.
provides up it provides up to 8 axes (PWM command, +/-10V With I9n6 [I7mn6] set to 0, this signal will serve as PWMnTOP.
command, or Step and direction) (The PULSEn line will serve as WMnBOT, which with zero
deadtime will be the exact mirror of the top signal.)
Copley Controls Corp. • 20 Dan Rd., Canton, MA 02021 • Tel. 781-828-8090 • www.copleycontrols.com
With a command value of zero written to the register that drives
this signal, PWMnTOP will have 50% duty cycle.

With a command value equal to +I900 [I7m00] written to this

register, PWMnTOP will have 100% duty cycle.

With a command value equal to -I900 [-I7m00] written to this

register, PWMnTOP will have 0% duty cycle.

Variable Ix02 for Motor x specifies the address of the register to

which Motor x writes its servo-loop output. Typically the "x"
motor number is the same as the "n" channel number, but this
does not necessarily have to be the case. The default value of
Ix02 writes to the "A" sub-channel command register of Channel
n (n=x). To write to the "C" sub-channel command register,
simply add 2 to the default value (e.g. for Channel 1-C, use
address $C004 instead of $C002). In the Ix02 description in the
manual, these are the same addresses as for stepper pulse output.

Variable Ix69 for Motor x specifies the maximum numerical

output from the servo loop. To use the full range of PWM duty
cycle, this should be set equal to the value of I900 or I906
[I7m00 for a Turbo].
–Provided by Delta Tau VP Engineering

PWM Connections
Copley Digital Amplifiers
The channels provided by the PMAC2A-PC/104 board or the
ACC-1P board can output PWM signals for controlling PWM All the Copley Digital amplifiers can take the modern PWM
input on Copley amplifiers. These signals are at TTL levels. command input for velocity or current mode.

PMAC2A-PC/104 or ACC-1P Copley Digital Amplifier

The Xenus (AC powered), Accelus (DC powered), and Junus
(DC Brush) can also take classical +/-10V command for velocity
J4 (JMACH2)
or current mode. The AccelNet Module is PWM only.
Machine Port SIGNAL CONNECTOR
Another popular command mode, for precision are bearing
Pin 15
DIRn PWMn IN for PWM
INPUTn
nanometer applications, using the PMAC2, is the Dual analog
command. The 7xx5ACF will close a high resolution and high
GND SIGNAL GND
Pin 3 bandwidth current loop with zero crossover distortion.

Copley does manufacture the 7xx9AC, a direct H-Bridge

amplifier for use with PMAC2 direct H-Bridge control.
On the main PMAC2A-PC/104 board, The DIR_n output will However, due to the low current loop bandwidth produced by
now serve as PWMnTOP. the PMAC2, Copley does not recommend the use of direct H-
Example: On the PMAC2A-PC/104 J4(JMACH2):Machine Port Bride control in most applications. Copley does recommend the
15pin "DIR_1+" is now "PWM_1TOP") use of the PMAC2 for PWM command with Copley Digital
amplifiers for high current loop bandwidths (typically 3k Hz).

Copley Controls Corp. • 20 Dan Rd., Canton, MA 02021 • Tel. 781-828-8090 • www.copleycontrols.com
Testimonial
It works great!

Below is the Turbo PMAC file with the necessary settings.

My setup had a 3U Turbo PMAC2 in a UMAC Rack with an ACC24E2A. Rather than tap into the PWM lines I just used the
C Channel, which is available at the W Flag Input/Pulse Output terminal. This is also available on the ACC 8E for PMAC2.

The PWM signal is a 50/50 style. I was running the Accelus in Velocity mode. I know it will work just as well in torque
mode.

Tom Schneiberg

Automation & Process Controls

235 Roselawn Avenue East, Suite 18
Maplewood, MN 55117

;**************** ACCELUS-PWM.PMC ******************

;
; This file sets up motor 1 as a PWM Driven Accelus Amplifier.
; This is where the PWM input signal from the "C" Channel is the Command
; input signal, in place of the DAC Signal.
;
; ACC24E2A Setup
; E1A - E1D are ON
; The CHW1+/PUL_!+ signal (Pin 11, ENC 1) is connected to IN6 (Pin 3, J3) On the Accelus
; The GND (Pin 8, ENC 1) is connected to the GND (Pin 13, J3) on the Accelus
;
I100=1 ;Motor 1 Activate
I101=0 ;Motor 1 Commutation Enable
I102=$78204 ;Motor 1 Command Output Address
I119=0.1 ;Motor 1 Maximum Jog Acceleration
I120=0 ;Motor 1 Jog/Home Acceleration Time
I121=50 ;Motor 1 Jog/Home S-Curve Time
I122=250 ;Motor 1 Jog Speed
I124=$20001 ;Motor 1 Flag Mode Control
I129=-120 ;Motor 1 Output/1st Phase Offset
I130=3000 ;Motor 1 PID Proportional Gain
I131=300 ;Motor 1 PID Derivative Gain
I132=7160 ;Motor 1 PID Velocity Feed Forward Gain
I133=0 ;Motor 1 PID Integral Gain
I134=1 ;Motor 1 PID Integration Mode
I135=0 ;Motor 1 PID Acceleration Feed Forward Gain

I7216=1 ; Set Output Mode to Analog/PWM

Copley Controls Corp. • 20 Dan Rd., Canton, MA 02021 • Tel. 781-828-8090 • www.copleycontrols.com