Delta Tau Geo Brick, User Manual

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Geo Brick Drive User Manual
Motor Setup 192
Absolute Power-On Phasing: Yaskawa absolute encoders
With absolute encoders, the single turn data is used to find an absolute phase position offset per electrical
cycle thus an absolute phase reference position.
Note
Prior to implementing a power-on phasing routine you should try and
be able to phase the motor manually, successfully execute open-loop
moves (output and encoder direction matching), and jog commands
(require PID tuning). Remember to increase the fatal following error
limit with high resolution encoders when executing closed-loop moves
The U-phase in the Yaskawa motor/encoder assemblies is usually aligned with the index pulse, which
should result in the same motor phase offset per one revolution for each encoder type (i.e. 16, 17, or 20-
bit).
Yaskawa Absolute Encoders Single-Turn Data
16-bit 17-bit 20-bit
#define Mtr1STD4_15 M180
#define Mtr2STD4_15 M280
#define Mtr3STD4_15 M380
#define Mtr4STD4_15 M480
#define Mtr5STD4_15 M580
#define Mtr6STD4_15 M680
#define Mtr7STD4_15 M780
#define Mtr8STD4_15 M880
Mtr1STD4_15->Y:$278B20,4,16
Mtr2STD4_15->Y:$278B24,4,16
Mtr3STD4_15->Y:$278B28,4,16
Mtr4STD4_15->Y:$278B2C,4,16
Mtr5STD4_15->Y:$278B20,4,16
Mtr6STD4_15->Y:$278B34,4,16
Mtr7STD4_15->Y:$278B38,4,16
Mtr8STD4_15->Y:$278B3C,4,16 #define Mtr1STD0_23 M180
#define Mtr2STD0_23 M280
#define Mtr3STD0_23 M380
#define Mtr4STD0_23 M480
#define Mtr5STD0_23 M580
#define Mtr6STD0_23 M680
#define Mtr7STD0_23 M780
#define Mtr8STD0_23 M880
Mtr1STD0_23->Y:$278B20,0,24
Mtr2STD0_23->Y:$278B24,0,24
Mtr3STD0_23->Y:$278B28,0,24
Mtr4STD0_23->Y:$278B2C,0,24
Mtr5STD0_23->Y:$278B20,0,24
Mtr6STD0_23->Y:$278B34,0,24
Mtr7STD0_23->Y:$278B38,0,24
Mtr8STD0_23->Y:$278B3C,0,24 #define Mtr1STD4_23 M180
#define Mtr2STD4_23 M280
#define Mtr3STD4_23 M380
#define Mtr4STD4_23 M480
#define Mtr5STD4_23 M580
#define Mtr6STD4_23 M680
#define Mtr7STD4_23 M780
#define Mtr8STD4_23 M880
Mtr1STD4_23->Y:$278B20,4,20
Mtr2STD4_23->Y:$278B24,4,20
Mtr3STD4_23->Y:$278B28,4,20
Mtr4STD4_23->Y:$278B2C,4,20
Mtr5STD4_23->Y:$278B20,4,20
Mtr6STD4_23->Y:$278B34,4,20
Mtr7STD4_23->Y:$278B38,4,20
Mtr8STD4_23->Y:$278B3C,4,20
A one-time simple test (per installation) is performed on an unloaded motor to find the motor phase
position offset:

Enable the Absolute position read PLC. Previously created in the feedback section.

Record the values of Ixx29, and Ixx79 to restore them at the end of test.

Set Ixx29=0, and write a positive value to Ixx79 then issue a #nO0. 500 is a reasonably
conservative value for Ixx79 to start with. Adjust appropriately (most likely increase) to force the
motor (unloaded) to lock tightly onto a phase.

Record the Single-Turn Data value (defined in the table above) and store in the user defined
motor phase offset.

Issue a #nK to kill the motor

Restore Ixx29, and Ixx79 to their original values
Yaskawa Absolute Encoders Motor Phase Offset (found from above test procedure)
16-bit 17-bit 20-bit
#define PhaseOffset_16Bit P184
PhaseOffset_16Bit=5461 #define PhaseOffset_17Bit P184
PhaseOffset_17Bit=10922 #define PhaseOffset_20Bit P184
PhaseOffset_20Bit=30000
Note
Appropriate masking is required with 17-bit encoders to process the
data correctly.