Operation & Software Manual
110
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
12.7.2.4 K90 = 6: Small movement phasing
This type of phasing allows the user to initialize a motor by moving as little as possible. This type of phasing
can be used for all kinds of ironless and ironcore motors. The main condition for making this phasing work is
that the motor must be free of brake.
The motor is initialized by measuring the movement induced by a succession of current pulses. There are two
parameters to set to achieve the phasing:
The current level used for the phasing may widely vary, mainly depending on the moving inertia. ETEL advises
to begin the setting with a current level (given by parameter K91) at 5 % of the force/torque limit (parameter
K60). The user should hear a low oscillation noise at the first ’Power On’.
Parameter K101 is useful to slow down the motor between the different pulses when using a high inertia
system. The default value of parameter K101 is 1000 [incr] = 1 [sec]. When K101 = 0, the total phasing duration
is about 60ms, but a short phasing fits only a certain type of application and is not 100 % reliable with most
systems.
When K90 = 6, three possible phasing errors may occur:
INITIALI LOW CUR (M64=153): this error appears when the movement is too small during the phasing
process. The value of the current (parameter K91) is too low and should be increased in this case.
INITIALI HIGH CUR (M64=154): this error appears when the movement is too important (> ± 20% of the
magnetic period) during the phasing process. The value of the current (parameter K91) is too big and should
be lowered in this case.
INITIALI LOW TIME (M64=155): this error appears when the quality of the movements response is too bad to
deduce a reliable phase shift adjustment. Typically, it will happen when the motor moves away from an
unstable balance point during the phasing or when the load on the motor is high. In general, the best reaction
to this error is to increase the value of parameter K101 (phasing time).
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Name Comment Units
K91 Phasing pulse; current level Pulse amplitude when phasing by pulses [ci]
K101 Phasing time Phasing time [ms]
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