Справочник Пользователя для Delta Tau GEO BRICK DRIVE
Geo Brick Drive User Manual
Motor Setup
188
Absolute Power-On Phasing: EnDat | SSI | BiSS
With absolute serial encoders, the absolute serial data can be used to establish a phase reference position
on power-up without moving the motor or executing a phase search move.
on power-up without moving the motor or executing a phase search move.
The automatic setup of power-on phasing with PMAC is established through finding the motor’s phase
offset (a one-time test per installation) and storing the result (scaled properly) in the phase position offset
register (Ixx75). It also requires specifying the power-on phase source (Ixx81), and format (Ixx91).
offset (a one-time test per installation) and storing the result (scaled properly) in the phase position offset
register (Ixx75). It also requires specifying the power-on phase source (Ixx81), and format (Ixx91).
The following, is a summary of the settings with the various proposed setup techniques:
Technique 1
Technique 2/3
(Ixx01=1)
For Ixx01= 3
For Ixx01= 1
PhaseOffset
(found experimentally)
Read from
Serial data register A
Read from
Position ECT result
Read from
Commutation ECT result
Ixx81
= Serial data register A = Ixx83 (Pos. ECT result)
= Comm. ECT result
Ixx91
= Unsigned, Y-register
ST bits
= Unsigned, X-register,
(ST + 5bit shift) bits
= Unsigned, X-register,
18 bits
Ixx75
= ( - PhaseOffset * Ixx70 ) % Ixx71
Note
The automatic power-on phasing routine (Ixx75, Ixx81, and Ixx91)
expects the least significant bit of the data to be right most shifted (at
bit 0).
expects the least significant bit of the data to be right most shifted (at
bit 0).
Remember that the serial data register A address for each of the channels is:
Serial Data Register A
Channel 1 Y:$78B20 Channel 5 Y:$78B30
Channel 2 Y:$78B24 Channel 6 Y:$78B34
Channel 3 Y:$78B28 Channel 7 Y:$78B38
Channel 4 Y:$78B2C Channel 8 Y:$78B3C
Caution
Prior to implementing an absolute power-on phasing routine, make
sure that the motor can be phased manually, and that open-loop and/or
closed-loop moves (require PID tuning) can be performed
successfully.
sure that the motor can be phased manually, and that open-loop and/or
closed-loop moves (require PID tuning) can be performed
successfully.