Delta Tau GEO BRICK LV 사용자 설명서
Geo Brick LV User Manual
Motor Setup
199
ADC Offsets: Ixx29, Ixx79
The ADC offsets importance may vary from one system to another, depending on the motor(s) type and
application requirements. They can be left at default of zero especially if a motor setup is to be
reproduced on multiple machines by copying the configuration file of the first time integration. However,
they should ultimately be set to minimize measurement offsets from the A and B-phase current feedback
circuits, respectively (read in Suggested M-variables Mxx05, Mxx06).
application requirements. They can be left at default of zero especially if a motor setup is to be
reproduced on multiple machines by copying the configuration file of the first time integration. However,
they should ultimately be set to minimize measurement offsets from the A and B-phase current feedback
circuits, respectively (read in Suggested M-variables Mxx05, Mxx06).
Note
Geo Brick LVs dating 10/1/2012 and later perform automatic ADC
offset compensation. Leave Ixx29 and Ixx79 at zero.
offset compensation. Leave Ixx29 and Ixx79 at zero.
Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0
Tuning (fine) the current loop with DC brush motors is neither critical nor required. Set Ixx61 to a
conservative value (i.e. 0.001) and perform an open-loop test. Essentially a positive open loop command
should result in position direction (of the encoder) motion and vice-versa:
conservative value (i.e. 0.001) and perform an open-loop test. Essentially a positive open loop command
should result in position direction (of the encoder) motion and vice-versa:
Reversed Encoder Decode. I7mn0 needs adjustment
Once the Encoder Decode is verified, increment Ixx61 gradually and redo the Open-Loop test until a solid
saw tooth response is observed. Note that further increasing Ixx61 will not improve the performance.
saw tooth response is observed. Note that further increasing Ixx61 will not improve the performance.
Correct Encoder Decode - Acceptable Open-Loop Response