B-14
Creating Custom Motor Files
Custom Motor File
The custom motor file parameters are as follows:
Troubleshooting Custom Motor Files
GENERAL
CURRENT LOOP
Motor Model:
A_CUSTOM
Current Feedforward:
0 degrees / kRPM
Table ID:
-1
Motor File:
CUSTOM21.MTR
ELECTRICAL
Motor Type:
Synchronous
Resistance:
7.4 Ohms
Number of Poles:
8
Inductance:
10.0 mH
Kt:
0.61 N-m/Amp
Jm:
2.26 kg-cm
2
RATINGS
Ke:
44.0 Volts/kRPM
Continuous Torque:
1.4 Amps
Peak Torque:
3.8 Amps
Thermal Time Constant:
Checked, 1800 sec
FEEDBACK
Integral Thermostat:
Unchecked
Linecount:
1500 lines/rev
Maximum Speed:
4000 RPM
Index Offset:
0 degrees
Hall Offset:
120 degrees
Startup Commutation:
Hall / Hall
Invert Direction:
Unchecked
Problem
Possible Causes
Motor locks at a certain location.
Motor jumps once at startup.
Motor runs away.
Low torque production.
1.Motor phasing is incorrect.
2.Hall Offset is incorrect.
3.Incorrect startup commutation.
4.Incorrect encoder phasing.
5.Incorrect pole count.
6.Incorrect encoder linecount.
High audible noise from motor.
Velocity loop difficult to stabilize.
Shaft vibration.
1.Incorrect motor resistance.
2.Incorrect motor inductance.
3.Inductance too low.
4.Electrical time constant too low.
5.Low encoder linecount.
Underdamped velocity response.
Overdamped velocity response.
1.Incorrect motor inertia.
2.Incorrect torque constant.
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