Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
126
Setting Up Turbo PMAC-Based Commutation and/or Current Loop
I279=P279
; Restore real bias to B
IF (ABS(P271)>I271/12)
; Greater than 1/12 cycle?
M248=0
; Clear phasing error bit
CMD"#2J/"
; Close servo loop
ELSE
; Not enough movement
CMD"#2K"
; Bad phasing, kill
SEND"PHASING FAILED"
DISABLE PLC 1
; Keep from executing again
CLOSE
WARNING:
Make sure an algorithm of this type can be executed reliably. Do not attempt this
algorithm if the position sensor or drive is unpowered or faulted. Turbo PMAC
does not permit the open-loop enabled state required for this PLC if it is into
overtravel limits. The automatic overtravel limit functions may have to be
disabled with Ixx13, Ixx14, and Ixx24. Special logic may be required to step out
of a limit before the full phasing can be done. Remember that improper phase
referencing can lead to runaway conditions. Make sure that both Turbo PMAC
fatal following error limit Ixx11 and amplifier overcurrent fault protections are
active and working.
algorithm if the position sensor or drive is unpowered or faulted. Turbo PMAC
does not permit the open-loop enabled state required for this PLC if it is into
overtravel limits. The automatic overtravel limit functions may have to be
disabled with Ixx13, Ixx14, and Ixx24. Special logic may be required to step out
of a limit before the full phasing can be done. Remember that improper phase
referencing can lead to runaway conditions. Make sure that both Turbo PMAC
fatal following error limit Ixx11 and amplifier overcurrent fault protections are
active and working.
Final Phase Correction with Index Pulse
To make the final phase correction, move the Turbo PMAC motor to the index pulse and force the value
obtained during the fine phasing test into the phase position register. Before doing this, the
position/velocity servo loop must be reasonably tuned; the tuning for this loop is the same as for any other
PMAC motor.
obtained during the fine phasing test into the phase position register. Before doing this, the
position/velocity servo loop must be reasonably tuned; the tuning for this loop is the same as for any other
PMAC motor.
Usually the move to the index pulse will be the homing search move, where the trigger for the home
position includes the leading edge of the index pulse; typically the first index pulse inside the home flag
pulse. I-variables I7mn2 and I7mn3 control the home trigger. Typically the preliminary phasing will
permit a reasonable move all the way to the home position. It is also possible to perform a preliminary
homing search to the first index pulse, correct the phase, and then do the real homing search.
position includes the leading edge of the index pulse; typically the first index pulse inside the home flag
pulse. I-variables I7mn2 and I7mn3 control the home trigger. Typically the preliminary phasing will
permit a reasonable move all the way to the home position. It is also possible to perform a preliminary
homing search to the first index pulse, correct the phase, and then do the real homing search.
Once arriving at a known position in the commutation cycle, use the SETPHASE command to force a
predetermined value into the phase position register. When the SETPHASE command is executed, the
value in motor parameter Ixx75 is copied into the phase position register immediately. The SETPHASE
command can be used as an on-line command, in a motion program, or in a PLC program.
A sample motion program segment that performs the homing search and phase correction is:
predetermined value into the phase position register. When the SETPHASE command is executed, the
value in motor parameter Ixx75 is copied into the phase position register immediately. The SETPHASE
command can be used as an on-line command, in a motion program, or in a PLC program.
A sample motion program segment that performs the homing search and phase correction is:
HOME1
; Command homing search move
WHILE (M140=0) WAIT
; Loop until in position
SETPHASE
; Force value into phase position register