Rockwell Automation SA500 Diagnostics, Troubleshooting Guide - Manual (Page 17)

PMI Operating Modes 3-1
C
HAPTER
3
PMI Operating Modes
The PMI's default operating mode is idle. All other operating modes are selected by
the programmer in the Drive Control register (100/1100). Table 3.1 shows the available
operating modes. Note that the operating modes are mutually exclusive, i.e., only one
mode may be enabled at a time (this is checked by the interlock tests).
The PMI's operating modes are shown in figure 3.1 and are described in the following
sections.
3.1 Idle Mode
The PMI's default operating mode after passing the power-up diagnostics is idle.
When in idle mode, the PMI is waiting for a command from the Drive Control register
(100/1100) to change operating modes.
In order for the PMI to enter the requested operating mode, the Interlock tests must be
passed. If any of the Interlock tests fails, or if any fault is latched in the Drive Fault
register (202/1202), the PMI will remain in the idle mode.
The PMI will return to the idle mode when it exits any of the other operating modes.
3.2 PMI Run Mode
To execute the control algorithm(s), the programmer sets:
• the PMI Run Enable bit (register 100/1100, bit 0, PMI_RUN@) for the torque minor
loop
and, if required,
• the Speed Loop Enable bit (register 100/1100, bit 3, SPD_ON@) for the speed
minor loop
• the Position Loop Enable bit (register 100/1100, bit 4, POS_ON@) for the position
minor loop.
Table 3.1 – PMI Operating Modes
Operating
Mode
Drive Control
Register Bit Mode Description
Idle N/A The PMI’s default operating mode during which no algorithms are
running.
PMI Run 0 Executes the torque, speed, or position control algorithm.
Alignment Test 1 Enables the resolver alignment procedure for brushless drives.