Delta Tau Geo MACRO, Руководство пользователя и справочное руководство

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Geo MACRO Drive User and Reference Manual
Setting Up Turbo Motor Operation 83
motor on the drive, and Mx54 in the watch window should be 1. If not, be sure that Ix00=0 for that
motor and that there are no amp faults on the drive. If there is an amp fault then issue a “MS$$$n” for
that drive where n is an active node on that drive. Enable PLC10. Set P2=500 P4=-500 P7=0 from
the terminal window. You should now see some rather noisy values in Mx05 and Mx06 of the watch
window. If the sign of Mx05 is positive and the sign of Mx06 is negative then the phases match the
ADC inputs and Ixx72 will be greater than 1024. For a three phase motor it will be 1365. If not, then
Ixx72 will be less than 1024. For a three phase motor it will be 683. Set p2=0p4=0p7=0 and
Mx54=0.
4) Now it is time to check the PWM phasing.
• Set Ixx70= ½ the number of poles of your motor for a rotary motor, or 1 for a linear motor.
• Set Ixx71 = 32*counts in one revolution of a rotary motor or 32 * counts in one commutation
cycle for a linear motor.
• Set Ixx80 for your phasing method – it should always be disabled on startup or reset with a
MACRO drive – the MACRO station will always lose communications with the PMAC on reset
or startup and you will need to explicitly reset the MACRO drives after each PMAC reset
BEFORE attempting to phase. Usually Ixx80=0.
• Set Ixx73 for the amount of effort used in finding phase. Around 3000 is probably ok, but this
needs to be checked against the maximums for your system and the phasing type. If phasing to
Halls or an absolute encoder this number can be very small as there will be no actual motion. If
there is a large load, friction or other, this number may need to be fairly high. For very small
loads this number may be fairly small (~1500).
• Set Ixx74 for the phase finding time – probably around 10. For Halls or absolute encoder this can
be 1. For large load it may need to be higher to allow time to settle.
• Issue a “save” command, then a “$$$”, then “ms$$$15ms$$$31ms$$$47ms$$$63”
• Run the Tuning Pro package and tune the current loop for the motor. You should end up with a
good step move with minimal dithering, at least 200 Hz natural frequency, and around 2 ms
settling time. As a rule of thumb your integral should be about one tenth of your forward path
proportional.
•
Check that your motor is free to move. Probably you will want to point an unused motor at the
encoder space for this motor and set Ix00 = 1 for that motor so that you can monitor movement
during this test. Set Ix00=0 for the motor being tested. Set Ixx29=0 and Ixx79=0 (no phase
offsets active). Set Mx54 = 1 (check enable LED on drive) and enable PLC 10. Now set P2, P4,
and P7 according to the chart below. Record the position of the motor at each step. You may
need to lower or raise the magnitude of the command value for your system. Your motor should
move through 1/6 of a commutation cycle for each step, and through an entire cycle for the test.
P2 P4 P7
Electrical
Position
0 2000 -2000 0
2000 0 -2000 60
2000 -2000 0 120
0 -2000 2000 180
-2000 0 2000 -120
-2000 2000 0 -60
0 2000 -2000 0