Delta Tau TURBO CLIPPER DRIVE 사용자 설명서
Turbo Clipper Drive User Manual
Motor Setup Guidelines
75
Example: Channel 1 is driving a motor with home capture done using home flag and
index pulse high true. The recorded phase position from manual phasing reference
test was found to be 330, and stored (saved) in a user defined variable. Setup and fine
phasing example PLC:
index pulse high true. The recorded phase position from manual phasing reference
test was found to be 330, and stored (saved) in a user defined variable. Setup and fine
phasing example PLC:
I7012=3 ; Motor 1 Capture Control, Index high and Flag high
I7013=0 ; Motor 1 Capture Control flag select, Home Flag
#define Mtr1DesVelZero
I7013=0 ; Motor 1 Capture Control flag select, Home Flag
#define Mtr1DesVelZero
M133
; Motor 1 Desired-velocity-zero bit, Suggested M-Variable
Mtr1DesVelZero->X:$0000B0,13,1
;
#define Mtr1InPosBit
M140
; Motor 1 Background in-position bit, Suggested M-Variable
Mtr1InPosBit->Y:$0000C0,0,1
;
#define Mtr1PhasePos
M171
; Motor 1 Phase Position Register, Suggested M-Variable
Mtr1PhasePos->X:$B4,0,24,S
;
#define Mtr1RecPhasePos
P7027 ;
Mtr1RecPhasePos=330
; Recorded Phase Position (Manual phasing reference test)
Open plc 3 clear
I5311=500*8388608/I10 while(I5311>0)Endw
; 1/2 sec delay
CMD"#1$"
; Phase motor, using Hall Effect Sensors
I5311=50*8388608/I10 while(I5311>0)Endw
; 50 msec Delay
While(Mtr1DesVelZero=0 or Mtr1InPosBit=0) Endw
; Wait until motor settles, and in position
CMD"#1hm"
; Issue a home command
I5311=50*8388608/I10 while(I5311>0)Endw
; 50 msec Delay
While(Mtr1DesVelZero=0 or Mtr1InPosBit=0)Endw
; Wait until motor settles, and in position
Mtr1PhasePos =Mtr1RecPhasePos
; Adjust Phase Position
I5311=500*8388608/I10 while(I5311>0)Endw
; 1/2 sec delay
CMD"#1K"
; Kill Motor (Optional)
Disable plc 3
; Execute only once
Close
Delta Tau provides an automatic Hall Effect setup software utility as an alternative to the manual
Hall Effect setup. This can be found at
Hall Effect setup. This can be found at
Note
The automatic software utility requires jogging the motor; make
sure the motor is phased (custom, 2-guess, or stepper method)
and that the position-loop PID tuning is acceptable.
sure the motor is phased (custom, 2-guess, or stepper method)
and that the position-loop PID tuning is acceptable.
Position-
Loop PID Gains: Ixx30…Ixx39
The position-loop tuning is done as in any Turbo PMAC PID-Loop setup. The
PMACTuningPro2 automatic or interactive utility can be used for fine tuning.
PMACTuningPro2 automatic or interactive utility can be used for fine tuning.
WARNING
Remember to perform an Open Loop Test (if you have not
already) before trying to close the loop to make sure that the
encoder decode (I7mn0) is correct. Essentially a positive
open loop command should result in position direction (of
the encoder) motion and vice-versa.
already) before trying to close the loop to make sure that the
encoder decode (I7mn0) is correct. Essentially a positive
open loop command should result in position direction (of
the encoder) motion and vice-versa.