Etel DSC Series User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 101
12.7 Initialization
12.7.1 Phasing and homing basics
To have a direct drive motor working properly, it has to go through several processes:
• The phasing (parameter K90)
After the controller's first ’Power On’, we have to define the position of the motor's coils towards the
magnets. This is made with a measurement.
• The homing (parameter K40)
When the phasing is done, the motor is able to move. Then, we want to define the motor's real position
with regard to its own physical environment. To do that we have to detect a mark. It can be a reference
mark (also called index), a home switch, a limit switch or a mechanical end stop (refer to §12.9
).
• Phase shift adjustment
During the next ’Power On’, it is necessary to do a new phasing. The obtained measurements can vary in
a range of +/- 10% from an phasing to another (especially with an phasing by pulses). Of course, this
would influence the system's performances in the same range. To avoid this problem, before the first
initialization we have to make a phase shift adjustment.
A phase shift adjustment is done during the first ’Power On’ of the motor. This command will do a phasing
then an homing and will store the coil position towards the magnets and the absolute position. Thus, after
each homing we have the same value of phasing.
Reference search, the motor
moves to ref. mark
(set by K40)
Calculation of motor phase
adjustment by phasing
with constant current or
current peaks (set by K90)
Each time the controller
is switched ON
Phase
adjustment
ok ?
HOMING (IND)
Reference
mark found
?
K52
Do not use AUT result (fine
phase adjustment) contained
in K53
Motor ready for motions.
PWR.<axis>=1 phase
adjustment
Motor ready for motions.
AUT fine phase adjustment
no
yes
no or
error (restart PHASING)
PHASING (1
st
PWR.#=1)
= 0
= 1
yes
Use AUT result (fine phase
adjustment) contained
in K53

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English