Справочник Пользователя для Delta Tau GEO BRICK LV
Geo Brick LV User Manual
Motor Setup
190
Setting up Ixx75, the phase position offset
The Phase position offset is set up using the following equation:
The Phase position offset is set up using the following equation:
Where: PhaseOffset is the recorded value (found earlier) from the phase force test.
In this mode, and upon issuing a #n$ command, PMAC will compute the correct phase position then close
the loop on the motor (motor must be tuned to hold position).
the loop on the motor (motor must be tuned to hold position).
!
Caution
It is imperative that the absolute position read is performed
successfully prior to issuing a phase command.
successfully prior to issuing a phase command.
If closing the position loop is not desired with the #n$ command then it is advised to create a simple PLC,
in which the current and PID loop gains are set to zero prior to issuing #n$ then restored (and motor
killed) after the phase position has been set, e.g.:
Open PLC 1 Clear
// Make sure that the absolute position is read and reported prior to this script code
I5111=100*8388608/I10 While(I5111>0) Endw
// Make sure that the absolute position is read and reported prior to this script code
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"#1K"
; Make sure motor is killed
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"I130..139=0"
; Zero PID loop gains
I161=0 I162=0 I176=0
; Zero Current loop gains
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
CMD"#1$"
; Phase command
I5111=500*8388608/I10 While(I5111>0) Endw
; 500 msec delay
CMD"#1K"
; Kill Motor
I5111=500*8388608/I10 While(I5111>0) Endw
; 500 msec delay
// Here: ok to restore PID and current loop gains
// I130=X I131=X I132=X I133=X I134=X I135=X I136=X I137=X I138=X I139=X
// I161=X I162=X I176=X
I5111=100*8388608/I10 While(I5111>0) Endw
// I130=X I131=X I132=X I133=X I134=X I135=X I136=X I137=X I138=X I139=X
// I161=X I162=X I176=X
I5111=100*8388608/I10 While(I5111>0) Endw
; 100 msec delay
Dis PLC 1
Close
Close