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deltaa

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    Setup Ixx69 for direct micro stepping

    in Turbo PMAC

    Posted

    I used the latest version of the spreadsheet(v2.8) to generate the data.

    I changed Ixx71 and Ixx91 to match with the rest of the motor settings (which derived from DLS). Ixx69 was generated from the spreadsheet.

     

    I attached the screenshot of the spreadsheet and the configuration file for your reference. Motor is setup on axis #1.

     

    // Geo Brick LV Setup Assistant 2.8 Auto-Generated Parameters
CLOSE
DEL GAT

// Clock Setup Parameters
I7100=1473        // 20kHz PWM frequency
I7101=3          // 10kHz Phase frequency
I7102=1          // 5kHz Servo Clock
I6800=1473
I6801=3
I6802=1
I7000=1473
I7001=3
I7002=1
I10=1677653          // 0.19999 msec Servo Period
I7003=1746 I7004=4 
I7103=1746 I7104=4

#define timer32     I6612
#define msec32     *8388608/I10WHILE(I6612>0)ENDWHILE

// initialization PLC
OPEN PLC 1 CLEAR
DISABLE PLC 2..31
timer32 = 50 msec32
CMD"WX:$78014,$F8CDFE"          //Motor #1 CLRF
timer32 = 50 msec32
CMD"WX:$78014,$F84DFE"          // Motor #1 Type
timer32 = 50 msec32
CMD"WX:$78014,$F00DFE"          // Motor #1 Protection
timer32 = 50 msec32

CMD"WX:$78014,$F9CDFE"          //Motor #2 CLRF
timer32 = 50 msec32
CMD"WX:$78014,$F94DFE"          // Motor #2 Type
timer32 = 50 msec32
CMD"WX:$78014,$F10DFE"          // Motor #2 Protection
timer32 = 50 msec32

CMD"WX:$78014,$FACDFE"          //Motor #3 CLRF
timer32 = 50 msec32
CMD"WX:$78014,$FA4DFE"          // Motor #3 Type
timer32 = 50 msec32
CMD"WX:$78014,$F20DFE"          // Motor #3 Protection
timer32 = 50 msec32

CMD"WX:$78014,$FBCDFE"          //Motor #4 CLRF
timer32 = 50 msec32
CMD"WX:$78014,$FB4DFE"          // Motor #4 Type
timer32 = 50 msec32
CMD"WX:$78014,$F30DFE"          // Motor #4 Protection
timer32 = 50 msec32

CMD"WX:$78114,$F8CDFE"          //Motor #5 CLRF
timer32 = 50 msec32
CMD"WX:$78114,$F84DFE"          // Motor #5 Type
timer32 = 50 msec32
CMD"WX:$78114,$F00DFE"          // Motor #5 Protection
timer32 = 50 msec32

CMD"WX:$78114,$F9CDFE"          //Motor #6 CLRF
timer32 = 50 msec32
CMD"WX:$78114,$F94DFE"          // Motor #6 Type
timer32 = 50 msec32
CMD"WX:$78114,$F10DFE"          // Motor #6 Protection
timer32 = 50 msec32

CMD"WX:$78114,$FACDFE"          //Motor #7 CLRF
timer32 = 50 msec32
CMD"WX:$78114,$FA4DFE"          // Motor #7 Type
timer32 = 50 msec32
CMD"WX:$78114,$F20DFE"          // Motor #7 Protection
timer32 = 50 msec32

CMD"WX:$78114,$FBCDFE"          //Motor #8 CLRF
timer32 = 50 msec32
CMD"WX:$78114,$FB4DFE"          // Motor #8 Type
timer32 = 50 msec32
CMD"WX:$78114,$F30DFE"          // Motor #8 Protection
timer32 = 50 msec32
DISABLE PLC 1
CLOSE
I5=2

// Encoder Conversion Table Setup
//WY:$3501,$78000,$78008,$78010,$78018,$78100,$78108,$78110,$78118
//WY:$3509,$6800BF,$018018,$EC0009,$68013F,$018018,$EC000C,$6801BF,$018018,$EC000F,$68023F,$018018,$EC0012,$6802BF,$018018,$EC0015,$68033F,$018018,$EC0018,$6803BF,$018018,$EC001B,$68043F,$018018,$EC001E
WY:$3501,$6800BF,$018018,$EC0001
WY:$3504,$68013F,$018018,$EC0004
WY:$3507,$6801BF,$018018,$EC0007
WY:$350A,$68023F,$018018,$EC000A
WY:$350D,$6802BF,$018018,$EC000D
WY:$3510,$68033F,$018018,$EC0010
WY:$3513,$6803BF,$018018,$EC0013
WY:$3516,$68043F,$018018,$EC0016

// Activation Control
I100=1
I200=1
I300=1
I400=1
I500=1
I600=1
I700=1
I800=1

// Commutation Enable
I101=1
I201=1
I301=1
I401=1
I501=1
I601=1
I701=1
I801=1

// Output Address
I102=$078002
I202=$07800A
I302=$078012
I402=$07801A
I502=$078102
I602=$07810A
I702=$078112
I802=$07811A

// Position feedback
I103=$3503
I203=$3506
I303=$3509
I403=$350C
I503=$350F
I603=$3512
I703=$3515
I803=$3518

// Velocity feedback
I104=$3503
I204=$3506
I304=$3509
I404=$350C
I504=$350F
I604=$3512
I704=$3515
I804=$3518

// Current Loop Settings
I182=$078006
I282=$07800E
I382=$078016
I482=$07801E
I582=$078106
I682=$07810E
I782=$078116
I882=$07811E

// ADC Mask
I184,8,100=$FFFC00

// Phase offset
I172=512
I272=512
I372=512
I472=512
I572=512
I672=512
I772=512
I872=512

// PWM Scale Factor
I166=1399
I266=1399
I366=1399
I466=1399
I566=1399
I666=1399
I766=1399
I866=1399

// Current Loop Gains
I161=0.0685419728429138 I162=0 I176=0.907231124374112
I261=0.0685419728429138 I262=0 I276=0.907231124374112
I361=0.0685419728429138 I362=0 I376=0.907231124374112
I461=0.0685419728429138 I462=0 I476=0.907231124374112
I561=0.0685419728429138 I562=0 I576=0.907231124374112
I661=0.0685419728429138 I662=0 I676=0.907231124374112
I761=0.0685419728429138 I762=0 I776=0.907231124374112
I861=0.0685419728429138 I862=0 I876=0.907231124374112

// I2T Protection Settings
I157=2489 I158=151 I169=4
I257=4149 I258=2486 I269=4
I357=5335 I358=2889 I369=4
I457=5927 I458=2945 I469=4
I557=5927 I558=2945 I569=4
I657=5927 I658=2945 I669=4
I757=5927 I758=2945 I769=4
I857=5927 I858=2945 I869=4

// Flag Settings
I125=$078000
I225=$078008
I325=$078010
I425=$078018
I525=$078100
I625=$078108
I725=$078110
I825=$078118

I124=$820401
I224=$820401
I324=$820401
I424=$820401
I524=$820401
I624=$820401
I724=$820401
I824=$820401

// Commutation Parameters
// On-going Phase Position
I183=$3503
I283=$3506
I383=$3509
I483=$350C
I583=$350F
I683=$3512
I783=$3515
I883=$3518

// Number of pole pairs per revolution
I170=1
I270=1
I370=1
I470=1
I570=1
I670=1
I770=1
I870=1

// Number of encoder counts per revolution
I171=4096
I271=4096
I371=4096
I471=4096
I571=4096
I671=4096
I771=4096
I871=4096

// Motor Phasing Parameters
// Phase Search method
I180=0
I280=0
I380=0
I480=0
I580=0
I680=0
I780=0
I880=0

// Phase Search Magnitude
I173=0
I273=0
I373=0
I473=0
I573=0
I673=0
I773=0
I873=0

// Phase Search Time
I174=0
I274=0
I374=0
I474=0
I574=0
I674=0
I774=0
I874=0

// Absolute Phase Position Source Address
I181=$3503
I281=$3506
I381=$3509
I481=$350C
I581=$350F
I681=$3512
I781=$3515
I881=$3518

// Absolute Phase Position Format
I191=$500000
I291=$500000
I391=$500000
I491=$500000
I591=$500000
I691=$500000
I791=$500000
I891=$500000

// Magnetization Current
I177=829
I277=1383
I377=1778
I477=1975
I577=1975
I677=1975
I777=1975
I877=1975

// Quadrature current loop calculation only (brushed motors)
I196=0
I296=0
I396=0
I496=0
I596=0
I696=0
I796=0
I896=0

// PID values for Stepper Motors Only
I130=1024 I131=0 I132=85 I133=1024 I134=1 I135..139=0
I230=1024 I231=0 I232=85 I233=1024 I234=1 I235..239=0
I330=1024 I331=0 I332=85 I333=1024 I334=1 I335..339=0
I430=1024 I431=0 I432=85 I433=1024 I434=1 I435..439=0
I530=1024 I531=0 I532=85 I533=1024 I534=1 I535..539=0
I630=1024 I631=0 I632=85 I633=1024 I634=1 I635..639=0
I730=1024 I731=0 I732=85 I733=1024 I734=1 I735..739=0
I830=1024 I831=0 I832=85 I833=1024 I834=1 I835..839=0

// Commutation Delay Compensation for Microstepping
I156=18/360*2048/(I169*I108*32)
I256=18/360*2048/(I269*I208*32)
I356=18/360*2048/(I369*I308*32)
I456=18/360*2048/(I469*I408*32)
I556=18/360*2048/(I569*I508*32)
I656=18/360*2048/(I669*I608*32)
I756=18/360*2048/(I769*I708*32)
I856=18/360*2048/(I869*I808*32)

     

    Thanks.

     

     

     

    It does not look to me like you followed the steps in the manual properly (make sure you look at the latest revision on the website). But also, your settings are not consistent with the spreadsheet either:

     

    - Ixx71 = 4096, this is using the older micro-stepping technique

    - Ixx69 = 4!

    - Ixx91 = 0!

     

    It would be helpful to take a look at all of your I variable settings (global), and not only motor 1's.

    1120157286_ScreenHunter_01Jan_2815_30.jpg.66ab63c6df0496967e126707c7335b14.jpg

    Setup Ixx69 for direct micro stepping

    in Turbo PMAC

    Posted

    I used the latest version of the spreadsheet(v2.8) to generate the data.

    I changed Ixx71 and Ixx91 to match with the rest of the motor settings (which derived from DLS). Ixx69 was generated from the spreadsheet.

     

     

    It does not look to me like you followed the steps in the manual properly (make sure you look at the latest revision on the website). But also, your settings are not consistent with the spreadsheet either:

     

    - Ixx71 = 4096, this is using the older micro-stepping technique

    - Ixx69 = 4!

    - Ixx91 = 0!

     

    It would be helpful to take a look at all of your I variable settings (global), and not only motor 1's.

    Setup Ixx69 for direct micro stepping

    in Turbo PMAC

    Posted

    The motor I used is VEXTA PK264-03B.

    Step Angle

    1.8 °

    Connection Type

    Bipolar (Series)

    Current per Phase (A/phase)

    2.1 [bipolar (Series)]

    Resistance (Ω/phase)

    1.26 [bipolar (Series)]

    Inductance (mH/phase)

    2.4 [bipolar (Series)]

     

    I used the latest Geo Brick LV Setup Assistant to generate the settings(attached). With the setting (I169=4), the motor quickly developed following error and stopped. When I increase I169 to over 100, the motor can move continously (although not very smooth, may need further current loop tunning).

     

    Please use the "Geo Brick LV Setup Assistant" Excel spreadsheet to generate all the proper settings for your Geo Brick LV and your motors.

     

    You can get the "Geo Brick LV Setup Assistant" file from the filedepot: http://forums.deltatau.com/filedepot/download.php?f=Turbo%20PMAC/Tools/Geo%20Brick%20LV/Geo%20Brick%20LV%20Setup%20Assistant%202.8.xls [FILE REMOVED]

    config_testing.txt

    Setup Ixx69 for direct micro stepping

    in Turbo PMAC

    Posted

    Hi,

     

    I need help on how to properly setup Ixx69 on a Geo Brick LV controller to drive a direct micro-stepping motor. If I follow the instruction in pg.158 of the Geo Brick LV user manual, or use Geo Brick LV setup assistant, both give a small value of Ixx69 (under 42), when the value used to drive the motor, following error will be quickly developed. I'm wondering if I missed something here.

     

    Thanks

    motor phase current

    in Turbo PMAC

    Posted

    Setup the test according to the suggestion, ran several tests and checked ADC readback. When motor is running at a lower speed, the performance is acceptable, with the increase of the speed, more vibration introduced and ADC B readback became distorted, any suggestion? Thanks

    Setup: 2048 steps/full step, motor current around 3amp RMS.

     

    I122=100, looks good and feels acceptable

    I122_100.thumb.jpg.e3b962e5c5dfa12d85071ea0003d3a0a.jpg

     

    I122=200, looks ok

    I122_200.thumb.jpg.bbbf9c7d50cb8449a4c91f0b4e0a6d3c.jpg

     

    I122=300, looks and feels bad

    I122_300.thumb.jpg.f1e0aac05212d836a245725324c2ef9f.jpg

     

    I122=300, difference Geo Brick

    I122_300_2nd.thumb.jpg.b77c106c8a5e1a672956458809e4f300.jpg

     

    2 suggestions:

     

    1. Use the Geo Brick LV Setup Assistant Excel spreadsheet available through FileDepot Link (in the menu bar of the forum) in order to get 2048 microsteps per full stepper of the motor.

    2. Reduce the I7004 and I7104 (Pwm Dead-time) to a value of 4. This should reduce your zero-crossing distortion.

    motor phase current

    in Turbo PMAC

    Posted

    Please refer to the attached plot,

    1403265556_ScreenHunter_06Jun_1313_43.thumb.jpg.668bef9062882ccf1254728d124e432e.jpg

     

    zoomed,

    1778281012_ScreenHunter_08Jun_1313_43.thumb.jpg.aca80a8f38a59685a0527ff7a8c30ddc.jpg

     

    Motor is not running smoothly during the movement. ADC readback shows the same pattern as the phase current measurement. The waveform deteriorates as the current setting becomes smaller and smaller.

    motor phase current

    in Turbo PMAC

    Posted

    Geo Brick LV to drive a two phase stepping motor in direct micro-stepping mode with 32 micro steps per full step.

    Current waveform distortion noticed around zero-cross area as shown in the attachment.

    Motor current: 5 A peak to peak

    Frequency: 20 ms/div

     

    Any idea on how to correct the zero-crossing distortion? thanks.

    phase_current_5apeak.jpg.2cccc39362ae1fc277817a1660577382.jpg

    external pulse & direction dithering after stop

    in Turbo PMAC

    Posted

    The PID gains are

    I430=4096;Motor 4 PID Proportional Gain

    I431=0;Motor 4 PID Derivative Gain

    I432=16384;Motor 4 PID Velocity Feed Forward Gain

    I433=10000;Motor 4 PID Integral Gain

    I434=0;Motor 4 PID Integration Mode

    I435=4096;Motor 4 PID Acceleration Feed Forward Gain

    I436=0;Motor 4 PID Notch Filter Coefficient N1

    I437=0;Motor 4 PID Notch Filter Coefficient N2

    I438=0;Motor 4 PID Notch Filter Coefficient D1

    I439=0;Motor 4 PID Notch Filter Coefficient D2

     

    Do I need to tune the position loop for an external pulse/direction setup?

    By the way, when I jog to specified position using #4j=***, the problem does not happen.

    It only happens when using jog stop command j/ when the motor is moving.

    external pulse & direction dithering after stop

    in Turbo PMAC

    Posted

    System config,

    ==

    External micro stepping amplifier

    Two phase stepping motor

    Geo Brick LV drive channel 4 output Step/Dir signal

    ==

     

    Parameters used,

    ==

    I403=$3504

    I404=$3504

    I8003=$C78018

    I7040=8

    ==

     

    Use jog command #4j+ or #4j- to start motor, motor runs without problem, then #4j/ to stop jogging, after the motor stops, it's still vibrating. Use scope to check the pulse and direction signal from Geo Brick LV, these two signals still have outputs. Anyone has similar experience? What could be wrong?

     

    Thanks

    position compare without encoder

    in Turbo PMAC

    Posted

    The mircostepping uses a simulated feedback in the Turbo PMAC's memory and doesn't use any of the DSPGate1 ASIC functionality which position compare is one of them. If you want to do a position compare, the best way is to set up a virtual motor using an internal pulse and direction on one of the available channels on one of your DSPGate1 ASIC(s) and set it as a salve to your microsteped channel and perform all the position capture on the virtual axis.

     

    I hope this helps.

     

    Trying to use motor #1 for direct micro stepping and motor #4 as the virtual motor with internal pulse & direction wrapped back, with the following setup, both motors work fine individually.

     

    ; ECT for motor #1

    I8000=$6800BF

    I8001=$10020

    I8002=$EC0009

    ; ECT for motor #4

    I8003=$C78018

    ;virtual motor #4

    I400=1

    I401=0

    I402=$7801C

    I403=@I8003

    I404=@I8003

    I405=@I8002

    I406=1

    I7040=8

    I7046=3

     

    When trying to move motor #4 along, position compare works no problem. When enable position following on #4 and moving motor #1, position compare does not work. It seems motor #4 does not "follow". What could be wrong?

     

    Thanks

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