Delta Tau Geo Brick, User Manual

Page: 176 / 294

Geo Brick Drive User Manual
Motor Setup 176
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
Close