Delta Tau GEO BRICK DRIVE Manuel D’Utilisation

Absolute Power-On 

Phasing, channels 

1 through 4 

 

ChPhaseSel (Binary)  0  0  0  0  1  1  1  1  => ChPhaseSel =$0F 

ChPhaseSel (Hex) 

0 

F 

 

 

Absolute Power-On 

Phasing, channels 

1,3,5,7 

 

ChPhaseSel (Binary)  0  1  0  1  0  1  0  1  => ChPhaseSel =$55 

ChPhaseSel (Hex) 

5 

5 

 

 

//=========================== NOTES ABOUT THIS PLC EXAMPLE ================================// 
// This PLC example utilizes: - P7050 through P7079 
// 

 

 

 

- Suggested M-Variables (make sure they are downloaded) 

 

// Make sure that current and/or future configurations do not create conflicts with  
// these parameters. 
//=========================================================================================// 
 
P7050..7079=0  ; Reset P-Variables at download 
 
//==================================== USER INPUT =========================================// 
#define Mtr1SF P7050  #define Mtr5SF P7054  ; Motors scale factor 
#define Mtr2SF P7051  #define Mtr6SF P7055  ; cts/rev for rotary encoders 
#define Mtr3SF P7052  #define Mtr7SF P7056  ; cts/user units (i.e. mm, inches) for linear  
#define Mtr4SF P7053  #define Mtr8SF P7057  ;  
Mtr1SF=0 

Mtr5SF=0 

; --User Input 

Mtr2SF=0 

Mtr6SF=0 

; --User Input 

Mtr3SF=0 

Mtr7SF=0 

; --User Input 

Mtr4SF=0 

Mtr8SF=0 

; --User Input 

 
#define Mtr1PhaseTest P7058 

#define Mtr5PhaseTest P7062 

; Phase force test values 

#define Mtr2PhaseTest P7059 

#define Mtr6PhaseTest P7063 

;  

#define Mtr3PhaseTest P7060 

#define Mtr7PhaseTest P7064 

;  

#define Mtr4PhaseTest P7061 

#define Mtr8PhaseTest P7065 

;  

Mtr1PhaseTest=0 Mtr5PhaseTest=0 

; --User Input 

Mtr2PhaseTest=0 Mtr6PhaseTest=0 

; --User Input 

Mtr3PhaseTest=0 Mtr7PhaseTest=0 

; --User Input 

Mtr4PhaseTest=0 Mtr8PhaseTest=0 

; --User Input 

 
#define ChPhaseSel P7066 

; Select channels to perform power-on phasing (in Hexadecimal) 

ChPhaseSel=$0   

 

; Channels selected for power-on phasing --User Input 

 
//=============================== DEFINITIONS & SUBSTITUTIONS =============================// 
#define ChNo 

 

P7067  ; Present addressed channel 

#define PhaseOffset 

P7068  ; Holding register for computing phase position offset 

#define ActPos  

P7069  ; Indirect addressing index for actual position, 162 

#define PresPhasePos  P7070  ; Holding register for computing present phase position 
#define Ixx70   

P7071  ; Indirect addresssing index for No of commutation cycles, 170  

#define Ixx71   

P7072  ; Indirect addresssing index for commutation cycle size, 171  

#define Mxx71   

P7073  ; Indirect addresssing index for phase position register, 171 

#define PhaseErrBit 

P7074  ; Indirect addresssing index for phasing search error bit, 148 

#define PhaseTest 

P7075  ; Indirect addresssing index for force phase test values, 7058 

#define MtrSF   

P7076  ; Indirect addresssing index for motor scale factor, 7050 

#define ChNoHex 

P7077  ; Channel number in hex 

#define Ixx08   

P7078  ; Indirect addresssing index for position scale factor, 108 

#define ChPhaseTrue 

P7079  ; Present channel power-on phasing flag, =1 true =0 false 

 
//=================================== PLC SCRIPT CODE =====================================// 
Open plc 1 clear 
ChNo=0   

; Reset channel number 

While(ChNo!>7) ; Loop for 8 channels 
 ChNo=ChNo+1 

 

 ChNoHex=exp((ChNo-1)*ln(2)) 
 ChPhaseTrue=(ChPhaseSel&ChNoHex)/ChNoHex 
 If (ChPhaseTrue!=0)  ; Absolute read on this channel? 
  MtrSF=7050+(ChNo-1)*1 
  PhaseTest=7058+(ChNo-1)*1 
  Ixx70=170+(ChNo-1)*100 
  Ixx71=171+(ChNo-1)*100 
  ActPos=162+(ChNo-1)*100