Delta Tau Geo Brick, User Manual

Page: 217 / 294

Geo Brick Drive User Manual
Motor Setup 217
DC Brush Motor Setup
Before you start

At this point of the setup process it is assumed that the encoder has been wired and configured
correctly in the Encoder Feedback section. And that moving the motor/encoder shaft by hand
shows encoder counts in the position window.

Parameters with Comments ending with -User Input require the user to enter information
pertaining to their system/hardware.

Downloading and using the suggested M-variables is highly recommended.

Description of the setup parameters can be found in the Turbo Software Reference Manual
Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96)
On power-up, the phasing search error bit has to be cleared to allow motor move commands to DC Brush
motors. The current-loop integrator output should not be allowed to build up over time. The motor (non-
existent) direct current-loop output should be zero-ed periodically. This is equivalent, but more efficient
than setting Ixx96 to 1.
M148->Y:$C0,8,1 ; Motor 1 Phasing error fault bit
M248->Y:$140,8,1 ; Motor 2 Phasing error fault bit
M348->Y:$1C0,8,1 ; Motor 3 Phasing error fault bit
M448->Y:$240,8,1 ; Motor 4 Phasing error fault bit
M548->Y:$2C0,8,1 ; Motor 5 Phasing error fault bit
M648->Y:$340,8,1 ; Motor 6 Phasing error fault bit
M748->Y:$3C0,8,1 ; Motor 7 Phasing error fault bit
M848->Y:$440,8,1 ; Motor 8 Phasing error fault bit
M129->Y:$BC,0,24,U
; Motor 1 Direct Current-Loop Integrator Output
M229->Y:$13C,0,24,U ; Motor 2 Direct Current-Loop Integrator Output
M329->Y:$1BC,0,24,U ; Motor 3 Direct Current-Loop Integrator Output
M429->Y:$23C,0,24,U ; Motor 4 Direct Current-Loop Integrator Output
M529->Y:$2BC,0,24,U ; Motor 5 Direct Current-Loop Integrator Output
M629->Y:$33C,0,24,U ; Motor 6 Direct Current-Loop Integrator Output
M729->Y:$3BC,0,24,U ; Motor 7 Direct Current-Loop Integrator Output
M829->Y:$43C,0,24,U ; Motor 8 Direct Current-Loop Integrator Output
I196,8,100=1
; Turbo PMAC PWM control for Brush motor.
; The tuning software disables PLCs if not told otherwise.
; This will ensure zero direct current loop output tuning
Open plc 1 clear
If (M148=1)
CMD"M148,8,100=0" ; Clear Phasing Error Bit
EndIF
M129=0 M229=0 M329=0 M429=0
; Axis1-4 Zero Current-Loop Integrator Output
M529=0 M629=0 M729=0 M829=0 ; Axis5-8 Zero Current-Loop Integrator Output
Close ; For Brush Motor Control, PLC has to be executing periodically
Note
Remember to configure the Tuning software to allow this PLC to run
while performing position loop tuning.
Commutation Enable, Phase Angle, Current Mask: Ixx01, Ixx72, Ixx84
I101,8,100=1 ; Motors 1-8 Commutation enabled
I172,8,100=1536 ; Motors 1-8 Commutation phase angle (Geo Brick Drive specific)
I184,8,100=$FFF000 ; Motors 1-8 Current-Loop Feedback Mask Word (Geo Brick Drive specific)