Delta Tau TURBO CLIPPER DRIVE ユーザーズマニュアル
Turbo Clipper Drive User Manual
Motor Setup Guidelines
71
Manual Phasing Method:
Useful for troubleshooting and testing for “good” phase finding
output value used in 2-guess or stepper method. It can be used regardless of the type of feedback.
The manual phasing method consists of locking the motor tightly to one of its phases and
resetting the Phase position register in PMAC. It is useful for troubleshooting, rough phasing and
testing for a “good” phase finding output value.
Steps to follow, or implement in a PLC:
The manual phasing method consists of locking the motor tightly to one of its phases and
resetting the Phase position register in PMAC. It is useful for troubleshooting, rough phasing and
testing for a “good” phase finding output value.
Steps to follow, or implement in a PLC:
a. Record the values of Ixx29, and Ixx79 to restore them at the end of test.
b. Set Ixx29=0, and write a positive value to Ixx79 then issue a #nO0.
b. Set Ixx29=0, and write a positive value to Ixx79 then issue a #nO0.
500 is a reasonable conservative starting value for Ixx79. Adjust appropriately
(most likely increase) to force the motor (unloaded) to lock tightly onto a phase.
c. Set Phase Position register to zero, Suggested M-Variable Mxx71=0
d. Issue a #nK to kill the motor
e. Restore Ixx29, and Ixx79 to their original values
f. Clear Phasing search error bit, Suggested M-Variable Mxx48=0
g. The motor is now ready to jog/close the loop
d. Issue a #nK to kill the motor
e. Restore Ixx29, and Ixx79 to their original values
f. Clear Phasing search error bit, Suggested M-Variable Mxx48=0
g. The motor is now ready to jog/close the loop
Motor 1 Manual Phasing Example PLC:
#define Mtr1PhasePos
M171
; Motor 1 Phase Position Register, Suggested M-Variable
Mtr1PhasePos->X:$B4,0,24,S
#define Mtr1PhaseErrBit
#define Mtr1PhaseErrBit
M148
; Mtr1 Phasing Search Error Bit, Suggested M-Variable
Mtr1PhaseErrBit->Y:$C0,8
Open plc 3 clear
I5112=500*8388608/I10 while(I5112>0) Endw
P129=I129 P179=I179
; Store Ixx29, and Ixx79
I129=0 I179=1000
; Set Ixx29=0 and Ixx79 to positive value (adjustable)
I5112=100*8388608/I10 while(I5112>0) Endw
; 100 msec delay
CMD"#1o0"
; Issue 0% open loop command output
I5112=3000*8388608/I10 while(I5112>0) Endw
; 3 seconds delay to allow motor to settle
Mtr1PhasePos=0
; Set phase register to zero
I5112=500*8388608/I10 while(I5112>0) Endw
; 1/2 second delay
CMD"#1K"
; Kill Motor
I5112=100*8388608/I10 while (I5112>0) Endw
; 100 msec delay
I129=P129 I179=P179
; Restore Ixx29 and Ixx79 to original values
Mtr1PhaseErrBit=0
; Clear Phasing search error bit
I5112=500*8388608/I10 while (I5112>0) Endw
; 1/2 second delay
Dis plc 3
; Disable PLC, run only once
close
2-Guess Phasing Method:
Rough phasing method for motors with relatively small loads or
quick setups for testing. Typical (example) values:
Ixx73=1200 ; Phase Finding Output Value (Adjustable). Units of 16-bit DAC
Ixx74=8
Ixx73=1200 ; Phase Finding Output Value (Adjustable). Units of 16-bit DAC
Ixx74=8
; Units of Servo Cycles
Ixx80=4
; 2-guess method, no absolute position read, no power-on phasing
Stepper Phasing Method:
Finer than the 2-guess method, usually used on motors with
significant loads. Typical (example) values:
Ixx73=1200 ; Phase Finding Output Value (Adjustable). Units of 16-bit DAC
Ixx74=80
Ixx73=1200 ; Phase Finding Output Value (Adjustable). Units of 16-bit DAC
Ixx74=80
; Units of Servo Cycles * 256
Ixx80=6
; Stepped method, no absolute position read, no power-on phasing