Справочник Пользователя для Delta Tau GEO BRICK LV

Geo Brick LV User Manual

Motor Setup

175

Alternately, a more refined manual phasing method can be implemented. Knowing a good value which
would lock the motors onto a phase (using the above procedure), the following example locks (in small
incremental steps) the motor onto one phase then steps it back into the other phase:

Manual Phasing Example 2:

#define Mtr1PhasePos

M171

; Motor 1 Phase Position Register, Suggested M-Variable

Mtr1PhasePos->X:$B4,0,24,S
#define Mtr1PhaseErrBit

M148

; Motor 1 Phasing Search Error Bit, Suggested M-Variable

Mtr1PhaseErrBit->Y:$C0,8

Open plc 1 clear
I5111=100*8388608/I10 while(I5111>0) Endw

; Delay

P129=I129

P179=I179

; Store Ixx29, and Ixx79

I129=0

I179=0

; Set ADC offsets to zero

I5111=100*8388608/I10 while(I5111>0) Endw

; Delay

CMD"#1o0"

; Issue #nO0

I5111=100*8388608/I10 while(I5111>0) Endw

; Delay

while (I129!>1500)

; Force motor to Phase A

I129=I129+10 I179=0

; by pushing current incrementally

I5111=100*8388608/I10 while(I5111>0) Endw

; Delay

Endw
while (200 < ABS(M166))endw

; Wait for motor to settle

I5111=1000*8388608/I10 while(I5111>0) Endw

; Delay

while (I179!>1500)

; Force motor to Phase B

I179=I179+10 I129=I129-10

; by pushing current incrementally

I5111=100*8388608/I10 while(I5111>0) Endw

; Delay

Endw
while (200 < ABS(M166))endw

; Wait for motor to settle

I5111=1000*8388608/I10 while(I5111>0) Endw

; Delay

Mtr1PhasePos=0

; Set phase position register to zero

I5111=250*8388608/I10 while(I5111>0) Endw

; 1/2 second delay

CMD"#1K"

; Kill Motor

I5111=100*8388608/I10 while (I5111>0) Endw

; Delay

I129=P129 I179=P179

; Restore Ixx29 and Ixx79 to original values

Mtr1PhaseErrBit=0

; Clear Phasing search error bit

I5111=500*8388608/I10 while (I5111>0) Endw

; Delay

Dis plc 1

; Run PLC once