Geo Brick Drive User Manual
Motor Setup
194
Open-Loop Test, Encoder Decode: I7mn0
Having phased the motor successfully, it is now possible to execute an open loop test. The open-loop test
is critical to verify that the direction sense of the encoder is the same as the command output.
A positive command should create a velocity and position counting in the positive direction; a negative
command should create a velocity and position counting in the negative direction. The open-loop test can
be done manually from the terminal window (e.g. #1O5) while gathering position, velocity data, or by
simply monitoring the direction of the velocity in the position window. The PMACTuningPro2 Software
provides an automatic open loop utility, which is convenient to use.
A successful open-loop test should look like the following:
The open loop magnitude (output) is adjustable, start off with 1 - 2 percent command output and
increment gradually until you see a satisfactory result.
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