Application Note

Setting I2T Protection for Direct PWM Commutated Motors

For PMAC2 direct PWM commutation, it is very important to set the I2T protection for the amplifier/motor system. Normally, an amplifier has internal I2T protection because it is closing the current loop. When PMAC2 is closing the current loop, then the amplifier cannot protect itself or the motor from a possible over heating condition. Because the PMAC2 is closing the current loop, it is crucial to set up I2T protection properly. It can be set up using one of the Setup Programs or manually set the Ixx69, Ixx57 and Ixx58 variables based on the following specifications: Parameter
MAX ADC Value

Description

Notes

Maximum Current output of amplifier relative to a Part of amplifier specification value of 32767 in Ixx69 Instaneous Current Limit The lower of the amplifier or motor system RMS or Peak* Continuous Current Limit The lower of the amplifier or motor system Usually RMS 2 Time at instantaneous limit Usually 2 seconds I T protection time Magnitzation Current Ixx77 value for induction motors Only for induction motors Servo Update Frequency Default is 2258 Hz. * If specification given in RMS, calculate this value by 1.41 to obtain peak current for calculations

Example Calculations for Direct PWM Commutated Motor

MAX ADC = 18A Instantaneous Current Limit = 15A Peak Continuous Current Limit = 7A RMS I2T protection time = 2 seconds Magnetization Current (Ixx77) = 0 Servo Update = 2.258 kHz
Ixx69 = Ins tan tan eousLimit( Peak ) x32767 xCos( 30 o ) MAXADC

If Calculated Ixx69>32767, then Ixx69 equals 32767

Ixx57 ContinuousLimit x32767 xCos( 30 o ) MAXADC

**Do not multiply by Cos(30o) for non-Direct PWM

Ixx58 = Ixx69 2 Ixx77 2 Ixx57 2 xServoFrequency( Hz )xTime(sec onds ) 32767 2

Therefore: Ixx69 = 23647 Ixx57 = 11305 Ixx58 = 1833

Setting I2T Protection

Application Note

Setting I2T Protection for Torque Mode Motors (Non-Direct PWM Mode)
For PMAC Torque mode (non-PWM commutation), setting I2T protection for the system can still be setup. The user might want to set these parameters up as an added layer of protection or if the amplifier does not have I2T protection, then the PMAC could be used to protect the amplifier in this manner. Normally, an amplifier has internal I2T protection because it is closing the current loop. The user can either set up the I2T protection using one of the Setup Programs or manually set the Ixx69, Ixx57 and Ixx58 variables based on the following specifications: Parameter
MAX ADC Value

Description

Notes

Maximum Current output of amplifier relative Part of amplifier specification to a value of 32767 in Ixx69 Instantaneous Current Limit The lower of the amplifier or motor system RMS or Peak* Continuous Current Limit The lower of the amplifier or motor system Usually RMS I2T protection time Time at instantaneous limit Usually 2 seconds Magnetization Current Ixx77 value for induction motors Only for induction motors Servo Update Frequency Default is 2258 Hz. * If specification given in RMS you must calculate this value by 1.41 to obtain peak current for calculations

Example Calculations for Torque Mode (Non-Direct PWM Commutated) Motors

AmpCurrent at 10V command = 15A (usually the instantaneous setting by the amplifier) Instantaneous Current Limit = 15A Peak Continuous Current Limit = 7A RMS I2T protection time = 2 seconds Magnetization Current (Ixx77) = 0 Servo Update = 2.258 kHz
Ixx69 = Ins tan tan eousLimit( Peak ) x32767 Current @ 10V ContinuousLimit x32767 Current @ 10V

If Calculated Ixx69>32767, then Ixx69 equals 32767.

Ixx57

Do not multiply by Cos(30o) for non-Direct PWM Commutation

Ixx58 = Ixx69 2 Ixx77 2 Ixx57 2 xServoFrequency( Hz )xTime(sec onds ) 32767 2

Therefore: Ixx69 = 32767 Ixx57 = 15291 Ixx58 = 3520 The diagram below illustrates how I2T protection works:

Setting I2T Protection