Delta Tau GEO BRICK DRIVE Manuel D’Utilisation
Geo Brick Drive User Manual
Motor Setup
216
Moving the Motor
In Direct Micro-Stepping of AC Induction motors, the pseudo closed-loop allows the use of Jog
commands for positioning, rotating at a pre-specified speed, or indefinite rotation in either direction. In
this mode, the AC Induction motor is commanded exactly the same as a DC Brushless (Servo) motor.
commands for positioning, rotating at a pre-specified speed, or indefinite rotation in either direction. In
this mode, the AC Induction motor is commanded exactly the same as a DC Brushless (Servo) motor.
Counts per Revolution
The number of counts per revolution is calculated as follows:
#define Mtr4StepAngle
P7010 ; Motor #4 Step Angle
Mtr4StepAngle =360/(ElecCyclePerRev*4)
#define Mtr4CtsPerRev
#define Mtr4CtsPerRev
P7011 ; Motor #4 Counts Per Revolution
Mtr4CtsPerRev=360*512/ Mtr4StepAngle
Example: A 4-pole AC Induction motor has 2 electrical cycles per revolution, which translates into a step
angle of 45 degrees, or 4096 counts per revolution.
Knowing the number of counts per revolution, the Jog maximum acceleration Ixx19 (and motion program
maximum acceleration Ixx17) and Velocity Ixx22 (and motion program maximum velocity Ixx16) can be
set correspondingly.
Note
Start with slow acceleration rates (i.e. default of 0.015625) to make
sure top speeds are attainable, and then increase the acceleration up to
permissible motor specified rates.
sure top speeds are attainable, and then increase the acceleration up to
permissible motor specified rates.