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Phasing and Startup


Amir
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After power up on the Power PMAC, sometimes I have to rephase the motor using $* before any motion can take place and sometimes phasing is performed correctly/automatically on power up. Would placing #1 $* in the Startup.txt file solve this issue? If not, what will?
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In most machines it is not allowed to do anything to the motors until a user input is given. Phasing is often included inside the home routine. When the user presses the home button the motors get phased and then homed and then maybe fine-phased depeninding on the initial phasing method used. If you want phasing to happen each power-on / reset without user intervention you could put the commands in the startup file. You could also use the element Motor[].PowerOnMode. Safety concerns and the type of phasing method used will often determine this choice.
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[quote='Amir' pid='1178' dateline='1295992452'] After power up on the Power PMAC, sometimes I have to rephase the motor using $* before any motion can take place and sometimes phasing is performed correctly/automatically on power up. Would placing #1 $* in the Startup.txt file solve this issue? If not, what will? [/quote] Power on phasing may not be a good idea since the servo amplifiers likely do not have stable power yet. The homing routine will typically commutate the motor, home the axis, and in the case of hall commutated linear motors, do a fine phase offset based to correct the phasing for consistent motor force constant.
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