Delta Tau Geo Brick, Руководство пользователя

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Geo Brick Drive User Manual
Motor Setup 180
With positive movement of the motor, if the halls state transition is from 1 to 3 (as seen in
the example plot) then use the following set of equations:
I181=$78000 ; Channel 1 power-on phase address (see table below)
#define HallsTrans1_3 M7025 ; Standard direction, 1 to 3
#define Mtr1HEZ P7025 ; Hall effect zero
#define Mtr1HEZTemp P7026 ; Intermediate calculation
HallsTrans1_3->* ;
HallsTrans1_3=$800000 ; Bit #22=0 for standard transition
Mtr1HEZ=180 ; Degrees – User Input
Mtr1HEZTemp = INT(((Mtr1HEZ%360)/360)*64) ; Processing hall effect zero
I191=(Mtr1HEZTemp*65536)+HallsTrans1_3 ; Shift 16 bits left and set transition bit
With positive movement of the motor, if the halls state transition is from 3 to 1 then use
the following set of equations:
I181=$78000 ; Channel 1 power-on phase address (see table below)
#define HallsTrans3_1 M7025 ; Reversed direction, 3 to 1
#define Mtr1HEZ P7025 ; Hall effect zero
#define Mtr1HEZTemp P7026 ; Intermediate calculation
HallsTrans3_1->* ;
HallsTrans3_1=$C00000 ; Bit #22=1 for reversed transition
Mtr1HEZ=180 ; Degrees – User Input
Mtr1HEZTemp = INT(((Mtr1HEZ%360)/360)*64) ; Processing hall effect zero
I191=(Mtr1HEZTemp*65536)+HallsTrans3_1 ; Shift 16 bits left and set transition bit
Note
The only user input in the above set of equations is the Hall Effect
Zero angle, derived from the plot.
Power-On Phase Position Address
Ixx81 For Hall Sensors
Channel 1 $78000 Channel 5 $78100
Channel 2 $78008 Channel 6 $78108
Channel 3 $78010 Channel 7 $78110
Channel 4 $78018 Channel 8 $78118
Alternatively, the above procedure can be performed using the
Halls Automatic Utility software available
on our forum.
Note
The automatic software utility requires jogging the motor; make sure
the motor is phased (custom, 2-guess, or stepper method) and that the
position-loop tuning is acceptable for closed loop movement.