Turbo PMAC Clipper Hardware Reference Manual
Drive – Motor Setup
52
Open Loop Test: Encoder/Decode
The open-loop test is critical to verify the direction sense of the encoder counting versus the command
output. A positive command should create a positive velocity and a position counting in the positive
direction; a negative command should create a negative velocity and a position counting in the negative
direction. The Open Loop test utility in the PMACTuningPro2 Software can be used to execute and open
loop test. It can also be carried manually from the terminal window while gathering position, velocity data
or simply monitoring the motor velocity in the position window.
Satisfactory Open-Loop Test Result
The open-loop test is usually
performed on an unloaded motor. The
open loop command output is
adjustable, start off with a
conservative 1 to 2 percent command
output (i.e. #nO2) value and increment
gradually until you see a satisfactory
result.
If the failure persists (inverted saw
tooth, as shown in the plot), or you
observe oscillations in the response
instead of a saw tooth, then most likely
the direction sense of the encoder is
opposite to the command output.
Unsatisfactory Open Loop Test Result
General recommendation for troubleshooting an unsuccessful open loop test
An inverted saw tooth response, most times, indicates that the direction sense of the encoder is opposite to
that of the command output.
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