Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
Executing Individual Motor Moves
233
For more information on these moves, look under RAPID-mode moves in the Writing and Executing
Motion Programs section and in the description of {axis}{data}^{data} motion-program
statements in the Software Reference manual.
Motion Programs section and in the description of {axis}{data}^{data} motion-program
statements in the Software Reference manual.
Open-Loop Moves
Open-loop moves, as their name implies, do not do closed-loop position control. They open up the servo
loop and just put commands of the specified magnitude on the outputs. Typically, these are used for
diagnostic purposes, but they can also be used in the actual applications.
loop and just put commands of the specified magnitude on the outputs. Typically, these are used for
diagnostic purposes, but they can also be used in the actual applications.
These moves are executed using the motor-specific O{constant} on-line command, where
{constant} represents the magnitude of the output as a percentage of Ixx69, the maximum output
parameter for the motor. This command may not be part of a motion program, and it may not be given to
a motor when that motor’s coordinate system is executing a motion program, even if it is not moving that
motor.
{constant} represents the magnitude of the output as a percentage of Ixx69, the maximum output
parameter for the motor. This command may not be part of a motion program, and it may not be given to
a motor when that motor’s coordinate system is executing a motion program, even if it is not moving that
motor.
If Turbo PMAC does not commutate the motor, this command creates a constant signal on the single
output for the motor. If Turbo PMAC does commutate the motor, this command sets the magnitude of
the signal that is input into the sinusoidal commutation algorithm for the motor.
output for the motor. If Turbo PMAC does commutate the motor, this command sets the magnitude of
the signal that is input into the sinusoidal commutation algorithm for the motor.
To do a variable O-command, define an M-variable to the filter result register (X:$AE for Motor 1, etc.),
command an O0 to the motor to put it in open-loop mode, then assign a variable value to the M-variable.
This technique will even work on PMAC-commutated motors.
command an O0 to the motor to put it in open-loop mode, then assign a variable value to the M-variable.
This technique will even work on PMAC-commutated motors.
The PMAC Executive Program tuning section uses the open-loop moves to allow you to diagnose and
tune amplifier response.
tune amplifier response.