AMC Motor Amps

Calibration/Tuning

The current control loop on drive is a PI controller with settable gains. Tuning these gains can be done with the Driveware program. DriveWare will also perform automatic communatation calibration for brushless motors. If things are acting wonky, auto-commutation may fix it.

Sparky

It looks like the best gains for our current ranges (.5-2A) are Kp = 2 and Ki = 0.5.

CAN Notes

• at bootup or NMT reset, each drives issues message (720[1] 00).

Resetting CAN ID

• Download SDO 100B.00 with the value being the new ID (1 byte)
• Download SDO 200A.01 with value AE:1C to store CANopen params to NVM (opposite byte order from manual spec if we're little-endian)

Quirks

Copying config files

Do not copy config files from one drive to another using driveware. This will give both devices the same CANopen ID, and driverware offers no explicit method to set the CANopen ID.

Documentation

Section 4.9.1:
States that AMC drives offer 10 TPDOs

Section 4.9.1:
States that AMC drives offer 9 RPDOs

Section 4.9.7:
States AMC drives support 8 RPDOs and 10 TPDOs

Section 12.1:
States key to store drive parameters is 1CAE, should be AE1C if we're little-endian.

Section 12.2.2:
Documents 9 RPDOs and 10 TPDOs

Also, why are the PDOs numbered 1-5,21-24 and 1,3-5,21-26?

Serial Connection

Only works with Windows program, DriveWare. When running DriveWare under VMWare using a usb-serial, connection is flaky and flashing WILL FAIL, very slowly.

CAN

Some commands fail when there is an open serial connection.

When the drives first boot up, they seem to start with a default bus speed momentarily before switching to the set speed. This causes CAN messages sent at that time to fail.

Updating CANopen Device IDs

CANopen devices IDs can be updated by a CANopen SDO download. Note that if you have multiple devices on the bus, and they have the same ID, this will be a problem. This can be worked around by initiating a firmware update on one of the devices. This will cause it to ignore most CAN messages, including the device ID SDO download.

CANopen IDs are also transferred when one copies the drive configuration between different drives using DriveWare (ie, upload from one drive and download to another). There appears to be no way to explicitly set the CANopen ID using DriveWare, however.