Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Setup
181
Hall Effect Phasing: Yaskawa Incremental encoders
Hall-effect sensors can be used for rough phasing on power-up without the need for a phasing search
move. This initial phasing provides reasonable torque. With a hall sensors’ error of about ±30° resulting a
loss in torque of about 15%, it will need to be corrected for top operation.
Hall-effect sensors usually map out 6 zones of 60° electrical each. In terms of Turbo PMAC’s
commutation cycle, the boundaries should be at 180°, -120°, -60°, 0°, 60°, and 120°.
move. This initial phasing provides reasonable torque. With a hall sensors’ error of about ±30° resulting a
loss in torque of about 15%, it will need to be corrected for top operation.
Hall-effect sensors usually map out 6 zones of 60° electrical each. In terms of Turbo PMAC’s
commutation cycle, the boundaries should be at 180°, -120°, -60°, 0°, 60°, and 120°.
Zone
Definitions
Zone
Definitions
1
#define Phase30Deg 1
#define Phase90Deg 5
#define Phase150Deg 4
#define Phase210Deg 6
#define Phase270Deg 2
#define Phase330Deg 3
#define Phase90Deg 5
#define Phase150Deg 4
#define Phase210Deg 6
#define Phase270Deg 2
#define Phase330Deg 3
4
#define Phase30Deg 4
#define Phase90Deg 6
#define Phase150Deg 2
#define Phase210Deg 3
#define Phase270Deg 1
#define Phase330Deg 5
#define Phase90Deg 6
#define Phase150Deg 2
#define Phase210Deg 3
#define Phase270Deg 1
#define Phase330Deg 5
2
#define Phase30Deg 2
#define Phase90Deg 3
#define Phase150Deg 1
#define Phase210Deg 5
#define Phase270Deg 4
#define Phase330Deg 6
#define Phase90Deg 3
#define Phase150Deg 1
#define Phase210Deg 5
#define Phase270Deg 4
#define Phase330Deg 6
5
#define Phase30Deg 5
#define Phase90Deg 4
#define Phase150Deg 6
#define Phase210Deg 2
#define Phase270Deg 3
#define Phase330Deg 1
#define Phase90Deg 4
#define Phase150Deg 6
#define Phase210Deg 2
#define Phase270Deg 3
#define Phase330Deg 1
3
#define Phase30Deg 3
#define Phase90Deg 1
#define Phase150Deg 5
#define Phase210Deg 4
#define Phase270Deg 6
#define Phase330Deg 2
#define Phase90Deg 1
#define Phase150Deg 5
#define Phase210Deg 4
#define Phase270Deg 6
#define Phase330Deg 2
6
#define Phase30Deg 6
#define Phase90Deg 2
#define Phase150Deg 3
#define Phase210Deg 1
#define Phase270Deg 5
#define Phase330Deg 4
#define Phase90Deg 2
#define Phase150Deg 3
#define Phase210Deg 1
#define Phase270Deg 5
#define Phase330Deg 4
In order to decide which set of definitions to use for a motor, a one-time test needs to be done. It consists
of forcing/locking the motor to a phase with a current offset and reading the state output of the hall
sensors.
Record the values of Ixx29, and Ixx79 to restore them at the end of test
Set Ixx29=0, write a positive value to Ixx79 and issue a #nO0. 500 is a reasonable value for
Ixx79 to start with. Increment as necessary to force the motor to tightly lock onto a phase.
Record the Yaskawa Incremental Sensors Data. The result is an integer number between 1 and 6
(a value of 0 or 7 is not valid) representing the zone of which definitions to be used in the
subsequent PLC. Remember, Turbo PMAC allows only nibble based register definitions, so in
order to read bits 1 thru 3, a 1-bit right shift or division by 2 is necessary:
subsequent PLC. Remember, Turbo PMAC allows only nibble based register definitions, so in
order to read bits 1 thru 3, a 1-bit right shift or division by 2 is necessary: