Справочник Пользователя для Delta Tau TURBO CLIPPER DRIVE
Turbo Clipper Drive User Manual
Motor Setup Guidelines
74
If the Halls transition goes from 3 to 1 (with positive movement of the motor) as shown
in the plot, bit #22 of Ixx91 is set to 1 for reversed direction. Use this definition in
deriving Ixx91:
in the plot, bit #22 of Ixx91 is set to 1 for reversed direction. Use this definition in
deriving Ixx91:
#define Mtr1UVTrans3_1 M7025
; Reversed direction: 3 to 1
Mtr1UVTrans3_1->*
Mtr1UVTrans3_1=$C00000
Mtr1UVTrans3_1=$C00000
If the Halls transition goes from 1 to 3 (with positive movement of the motor), bit #22 of
Ixx91 is set to 0 for standard direction. Use this definition in deriving Ixx91:
Ixx91 is set to 0 for standard direction. Use this definition in deriving Ixx91:
#define Mtr1UVTrans1_3 M7025
; Standard direction: 1 to 3
Mtr1UVTrans1_3->*
Mtr1UVTrans1_3=$800000
Mtr1UVTrans1_3=$800000
The HEZ is derived from plot, showing about 5 degrees in the example plot.
f. Setting Ixx81, Deriving Ixx91
f. Setting Ixx81, Deriving Ixx91
Power-On Phase Position Address
Ixx81 Hall Effect
Channel 1
$78000
Channel 2
$78008
Channel 3
$78010
Channel 4
$78018
Channel 1 is setup for Hall Effect phasing. The example plot reveals that the direction
is reversed, and the HEZ is about 5 degrees:
I181=$78000
; Channel 1 Power-On Phase Position Address
#define HEZ
P7025
; Hall Effect Zero
HEZ=5
; Degrees –User Input
#define HEZTemp
P7026
; Temporary User Variable
HEZTemp = INT(((HEZ%360)/360)*64)
; Processing Hall Effect Zero
I191=(HEZTemp*65536)+Mtr1UVTrans3_1 ; Shift 16 bits left and set transition bit
Resulting I191=$C00000
g. Save Ixx81, Ixx91 parameters to the Turbo Clipper Drive after satisfactory testing;
meaning cycling power a few times, moving the motor to random locations attempt to
phase and issue jog or open loop commands reliably.
phase and issue jog or open loop commands reliably.
h. Hall Effect fine phasing (optional): The idea is to phase the motor manually as tight
as possible, and use a point of reference (known repeatable location) along the travel
of the motor to record the phase position (Mxx71). This is a one-time test per
installation. On subsequent power-ups, the motor is phased using Hall Effect sensors
and moved to that reference point, where the phase position is overwritten by the
value recorded from the manual-phasing reference test. The most repeatable reference
location is usually the home position of the motor, which is most reliably achieved
using position capture with a combination of flag and index pulse.
of the motor to record the phase position (Mxx71). This is a one-time test per
installation. On subsequent power-ups, the motor is phased using Hall Effect sensors
and moved to that reference point, where the phase position is overwritten by the
value recorded from the manual-phasing reference test. The most repeatable reference
location is usually the home position of the motor, which is most reliably achieved
using position capture with a combination of flag and index pulse.