Delta Tau GEO BRICK LV User Manual

Geo Brick LV User Manual

Motor Setup

180

Fine Phasing

Correcting for hall sensors’ error (torque loss) can be implemented using the following procedure
(performed once per installation):

1. Phase the motor manually (as tight as possible). See manual phasing section.
2. Home motor to machine zero location (e.g. most commonly using flag and C-index), with or

without home offset, similarly to how the motor would home after the machine has been
commissioned.

3. Record the phase position Mxx71 at the home location

The above procedure reveals the optimum phase position at home or zero location of the motor.
Subsequently, the motor is “roughly phased” on power up using hall sensors. And the phase position
Mxx71 is then corrected (overwritten) after the motor is homed (to known location). This is usually done
in a PLC routine.

Example:
Channel 1 is  driving a  motor  with  home capture  done using  home  flag and  index pulse  (high true). The
recorded phase position from the manual phasing reference test was found to be 330. It is stored (saved)
in a user defined variable.

I7012=3

; Motor 1 Capture Control, Index high and Flag high

I7013=0

; Motor 1 Capture Control flag select, Home Flag

#define Mtr1DesVelZero

M133

; Motor 1 Desired-velocity-zero bit, Suggested M-Variable

Mtr1DesVelZero->X:$0000B0,13,1

;

#define Mtr1InPosBit

M140

; Motor 1 Background in-position bit, Suggested M-Variable

Mtr1InPosBit->Y:$0000C0,0,1

;

#define Mtr1PhasePos

M171

; Motor 1 Phase Position Register, Suggested M-Variable

Mtr1PhasePos->X:$B4,0,24,S

;

#define Mtr1RecPhasePos

P7027 ; Recorded Phase Position (Manual phasing reference test)

Mtr1RecPhasePos=330

; -- User Input

Open plc 1 clear
I5111=500*8388608/I10 while(I5111>0)Endw

; 1/2 sec delay

CMD"#1$"

; Phase motor, using Hall Effect Sensors

I5111=50*8388608/I10 while(I5111>0)Endw

; 50 msec Delay

While(Mtr1DesVelZero=0 or Mtr1InPosBit=0) Endw

; Wait until motor settles, and in position

CMD"#1hm"

; Issue a home command

I5111=50*8388608/I10 while(I5111>0)Endw

; 50 msec Delay

While(Mtr1DesVelZero=0 or Mtr1InPosBit=0)Endw

; Wait until motor settles, and in position

Mtr1PhasePos =Mtr1RecPhasePos

; Adjust Phase Position

I5111=500*8388608/I10 while(I5111>0)Endw

; 1/2 sec delay

CMD"#1K"

; Kill Motor (Optional)

Disable plc 1

; Execute once