Galil DMC-21x3, Руководство пользователя

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54 • Chapter 9 AMP-20540/20520 DMC-21x3 Accessories
Operation
Brushless Motor Setup
Note: If you purchased a Galil motor with the amplifier, it is ready for use. No additional setup
is necessary.
To begin the setup of the brushless motor and amplifier, it is first necessary to have
communications with the motion controller. Refer to the user manual supplied with your
controller for questions regarding controller communications. It is also necessary to have the
motor hardware connected and the amplifier powered to begin the setup phase. After the
encoders and motor leads are connected, the controller and amplifier need to be configured
correctly in software. Take all appropriate safety precautions. For example, set a small error
limit (ER*=1000), a low torque limit (TL*=3), and set off on Error to 1 for all axes (OE*=1).
Review the command reference and controller user manual for further details.
There are 3 settings for the amplifier gain: 0.4 A/V, 0.7 A/V, and 1.0 A/V. If the gain is set to
0.7 A/V, a torque limit of 3 (TLn=3) will allow the amplifier to output no more than 2.1 amps of
current on the specified axis. The controller has been programmed to test whether the Hall
commutation order is correct. To
test the commutation for the X axis, issue the BS command
(BSX= n,m). The controller will attempt to move the motor through one revolution. If the
motor is unable to move, the controller will return “unknown Hall transition”, check wiring, and
execute BS again’. It may be necessary to issue more voltage to create motion. The default for
the BS command is BSn=0.25,1000 which will send 0.25 volts to the amplifier for 1 second.
BSX=0.5,300 will issue 0.5 volts from the controller for 300 milliseconds. If the controller is
able to move the motor and the Hall transitions are not correct, the controller will alert the
operator and recommend which motor phases to change. For example, the controller might
return “Wire A to Terminal B, Wire B to Terminal A.” If the controller finds that the
commutation order is correct, but the motor would run away due to positive feedback, the
controller will prompt the user to “Wire Phase B to C and C to B. Exchange Hall Sensors A and
B…”. After making any necessary changes to the motor phase wiring, confirm correct
operation by reissuing the BS command. Once the axis is wired correctly, the controller is
ready to perform closed-loop motion.
Brushless Amplifier Software Setup
Select the amplifier gain that is appropriate for the motor. The amplifier gain command (AG)
can be set to 0, 1, or 2 corresponding to 0.4, 0.7, and 1.0 A/V. In addition to the gain, peak and
continuous torque limits can be set through TK and TL respectively. The TK and TL values are
entered in volts on an axis by axis basis. The peak limit will set the maximum voltage that will
be output from the controller to the amplifier. The continuous current will set what the
maximum average current is over a one second interval. The following figure captured with
WSDK is indicative of the operation of the continuous and peak operation. In this figure, the
continuous limit was configured for 2 volts, and the peak limit was configured for 10 volts.