writing readme
This commit is contained in:
397
Readme.md
397
Readme.md
@@ -5,6 +5,11 @@ Various motor documents
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Parker stage
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------------
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- encoder is incremental encoder
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25mm or 50mm travel stage
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Stall Current Continuous 0.8
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Peak Current Amps RMS 2.4 (->sqrt(2)*2.4=3.39A_peak)
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Resistance Ohms 8.8
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Inductance mH 2.4
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Mecapion rot stage
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@@ -23,37 +28,377 @@ http://www.inmoco.co.uk/Upload/product/1037_DD_Series_Motors_79.pdf
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- Rated Current 1.46 Arms
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- Max Current 4.38 Arms
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Test servo motor
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----------------
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```
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QBL 4208-41-04-006
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No. of Pole 8
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No. of Phase 3
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Rated Voltage 24V
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Rated Phase Current 1.79A
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Rated Speed 4000RPM
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************************
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Parker stage
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============
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Using IDE
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---------
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1 detect current sensor direction
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Motor[1].PhaseOffset 683
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Motor[1].PwmSf 2154
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2 current bias
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Motor[1].IaBias=0
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Motor[1].IbBias=0
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3 Voltage six step
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Motor[1].PhaseOffset -683
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Motor[1].PwmSf -2154
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Motor[1].PhasePosSf=2048/(1*256*213333.3333)
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4 Tune Current Loop (Mag=200, dur=50)
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Motor[1].IiGain 10.5
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Motor[1].IpfGain=0
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Motor[1].IpbGain=14.7
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5 Current six step
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Motor[1].PhasePosSf=2048/(1*1*61440000.)
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6 Phase ref search
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Motor[1].PhaseFindingDac=160.95
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Motor[1].PhaseFindingTime=50
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Hall sensors are setup to be used as encoder:
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encctrl=7 # x4 quadrature decode CCW
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encctrl=3 # x4 quadrature decode CW
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encctrl=11# x6 Hall-format decode CW
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encctrl=15# x6 Hall-format decode CCW
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Open Loop
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---------
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20mm = 1003994 enc_step
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20mm = 1'000'000 enc_step -> 20nm/enc step
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1 pole= 600'000 enc_step -> 12mm
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Gate3[$gate].Chan[$chan].EncCtrl = $encctrl
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//================ encoder table ==========================
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EncTable[$tbl].type = 1
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EncTable[$tbl].pEnc = Gate3[$gate].Chan[$chan].ServoCapt.a
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EncTable[$tbl].pEnc1 = Sys.pushm
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EncTable[$tbl].index1 = 0
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EncTable[$tbl].index2 = 0
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EncTable[$tbl].index3 = 0
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EncTable[$tbl].index4 = 0
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EncTable[$tbl].index5 = 0
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EncTable[$tbl].ScaleFactor = 1/256
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```
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>>>>>>>>>> DONT FORGET <<<<<<<<<<<
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$$$***
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!common()
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>>> open loop with encoder counts <<<
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!encoder_sim(enc=1,tbl=1,mot=1)
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!encoder_inc(enc=1,tbl=9,mot=9,encctrl=7,posSf=1./1)
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!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.,numPhase=3,invDir=True)
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#1j/
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#1,9hmz
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#1j:2048 -> moves one pole= 600'000 enc_step =12mm
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512= 90deg -> check phase *
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* o x * o x
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* * o o x x * * o o x x
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* o* xo x * o* xo x
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* o * x o x * o * x o x
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* o x * o x * o x * o x
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*------o------x-----*------o------x-----*------o------x-----*------o------x-----*------o------x-----*------o------x
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* o x * o x * o x * o x * o x * o x
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* o * x o x * o * x o x * o * x o x
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* o* xo x * o* xo x * o* xo x
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* * o o x x * * o o x x * * o o x x
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* o x * o x * o x
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0 512 1024 1536 2048
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>>> scaling encoder etc to um <<<
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!encoder_sim(enc=1,tbl=1,mot=1,posSf=12000./2048)
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!encoder_inc(enc=1,tbl=9,mot=9,encctrl=7,posSf=12000./600000)
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!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=1.*12000./2048,numPhase=3,invDir=True)
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JogSpeed=1.*12000./2048 6um/ms =6mm/s
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>>> close the loop with inc-encoder <<<
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servoSf : motorusteps/userUnits
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!encoder_sim(enc=1,tbl=9,mot=9,posSf=12000./2048)
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!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000)
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!motor(mot=1,dirCur=400,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.)
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>>> close the loop with inc-encoder removing direct current<<<
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servoSf : motorusteps/userUnits
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!encoder_inc(enc=1,tbl=1,mot=1,encctrl=7,posSf=12000./600000)
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!motor(mot=1,dirCur=0,contCur=500,peakCur=2400,timeAtPeak=1,IiGain=1,IpfGain=0,IpbGain=2,JogSpeed=6.,numPhase=3,invDir=True,servoSf=2048/12000.)
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ServoOut set value from 0.5099 to -0.5099 (= MaxPosErr*Kp) when moving at different position
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Motor[1].Servo.MaxPosErr=1000.0169
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Motor[1].Servo.Kp=0.000512
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1000.0169*0.000512=0.5120086528
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Motor[1].Servo.Kp=0.0007
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Motor[1].Servo.MaxPosErr=1000.0169
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1000.0169*0.0007=0.70001183
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>>> close the loop with inc-encoder removing direct current<<<
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-> the current/speed must be set with that PWM-scale factor
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Motor idx 1 3
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Motor[x].AdvGain 0.020479999 0
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Motor[x].PhasePosSf 0 0.0160000000000000003
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Motor[x].PhaseCtrl 6 4
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Motor[x].PhaseMode 1 0
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Motor[x].PwmSf -15134.891 4309
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Motor[x].SlipGain 0.25 0
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Motor[x].PhaseFindingDac 0 95.976563
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Motor[x].PhaseFindingTime 0 22.586512
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AdvGain
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PhasePosSf 0 does not work at all -> must be calculated correctly as below
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PhaseCtrl 6 not working. must be 4 for phase feedback and 6 for direct microstepping
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PhaseMode 0,1 both are working, should be 0 for 3 phase
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PwmSf 0 2000 4309 -> the higher, the more torque on error
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SlipGain 0.25 squeezing
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PhaseFindingDac 0 no change
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PhaseFindingTime 0 no change
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$$$***
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!common()
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!encoder_inc(enc=3,tbl=3,mot=3,encctrl=7,posSf=1./2000)
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!motor_servo(mot=3,ctrl='ServoCtrl',Kp=4.0424199*2000, Kvfb=160.43646*2000,Kvff=160.43646*2000,Kaff=3184.5818*2000)
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!motor(mot=3,numPhase=3,servo=None, homing=None,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,PhasePosSf=0.016,PhaseCtrl=6,PhaseMode=1,PwmSf=1000,SlipGain=0,PhaseFindingDac=95,PhaseFindingTime=22)
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!sh sleep 1
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#3j/
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!sh sleep 10
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#3j:100
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#3out10 sets directly the Motor[3].ServoOut value , sets to 10% of Motor[x].MaxDac
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Motor[3].MaxDac=4526.9282
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Out ServoOut iqCmd IqVolts
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#3out100 -> 4526.9 set to 100 %of Motor[x].MaxDac
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#3out50 -> 2263.46411 2263.4641
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#3out10 -> 452.692822 452.69281
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iqMeas=iqCmd if motor is blocked, when motor moves, iqCmd stays and iqMeas drops
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PwmSf IqCmd iqMeas(when blocked)
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Motor[3].PwmSf;Motor[3].IqCmd;Motor[3].IqMeas;Motor[3].IqVolts
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PwmSf=500 IqCmd=2263.4641 IqMeas=232.44925 IqVolts=34406.398
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PwmSf=1000 IqCmd=2263.4641 IqMeas=779.05316 IqVolts=34406.398
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PwmSf=2000 IqCmd=2263.4641 IqMeas=1944.9929 IqVolts=34406.398
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PwmSf=3000 IqCmd=2263.4641 IqMeas=2234.2734 IqVolts=34406.398
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Motor[x].PhasePosSf scale factor to convert encoder position to phase position
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Motor[3].pPhaseEnc=PowerBrick[0].Chan[2].PhaseCapt.a
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Motor[3].PhaseEncLeftShift=0
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Motor[3].PhaseEncRightShift=0
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1 rev=2000*256 enc_steps (PowerBrick[0].Chan[2].PhaseCapt)
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4 Pole magnet, 2000 enc_steps/rev
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encoder configured to have 1 enc_step per revolution
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PhasePosSf=0.016=1/62.5=32/2000= (4*2048)/(256*2000) = (numPoles*const)/(256*2000)
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const=Power PMAC divides a commutation cycle into 2048 parts
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Motor[3].PhasePos position of the phase: 0..2048 this does not change if the motor is blocked
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*************
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>>> origin setup by ide+ tweaks <<<
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!encoder_inc(enc=3,tbl=3,mot=3,encctrl=7,posSf=1./2000)
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!motor_servo(mot=3,ctrl='ServoCtrl',Kp=4.0424199*2000, Kvfb=160.43646*2000,Kvff=160.43646*2000,Kaff=3184.5818*2000)
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!motor(mot=3,numPhase=3,servo=None, homing=None,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=1,IiGain=1.0628819,IpfGain=0,IpbGain=6.5684085,AdvGain=0,FatalFeLimit=2000,WarnFeLimit=1000,InPosBand=0,PhasePosSf=0.016,PhaseCtrl=4,PhaseMode=0,PwmSf=4309,SlipGain=0,PhaseFindingDac=95.976563,PhaseFindingTime=22.586512)
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#3j/
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PowerBrick[0].AdcAmpCtrl = $f00cfe00 $f00cfe00
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PowerBrick[0].Chan[0].InCtrl = $47 $47
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PowerBrick[0].Chan[0].OutCtrl = $f000001 $f000101
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PowerBrick[1].AdcAmpCtrl = $f00cfe00 $f00cfe00
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Motor[1].Servo.Kp = 4.0424199 4.0424199
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Motor[1].Servo.Kvifb = 0 0
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Motor[1].Servo.Kviff = 0 0
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Motor[1].Servo.Kvfb = 160.43646 40.951927
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Motor[1].Servo.Kvff = 160.43646 40.951927
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Motor[1].Servo.Kafb = 0 0
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Motor[1].Servo.Kaff = 3184.5818 207.48897
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Motor[1].Servo.Ki = 2.6301687e-4 0.0010304153
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Motor[1].Servo.Kfff = 0 0
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Motor[1].PhasePosSf = 0.0160000000000000003 1.59999999999999993e-5
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Motor[1].IiGain = 1.0628819 0.2278125
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Motor[1].IpbGain = 6.5684085 0.0099999998
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Motor[1].MotorTa = -10 -10
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Motor[1].MotorTs = -50 -50
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Motor[1].I2tSet = 1499.7477 418.92395
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Motor[1].I2tTrip = 18220758 2632459
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Motor[1].JogOffset = 0 0
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Motor[1].AdcMask = $fffc0000 $fffc0000
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Motor[1].PhaseOffset = 683 -683
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Motor[1].Stime = 0 0
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Motor[1].PwmSf = 4309 -2154
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Motor[1].MaxDac = 4524.3784 1675.6958
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Motor[1].PhaseFindingDac = 95.976563 0
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Motor[1].PhaseFindingTime = 22.586512 1
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Motor[1].TraceSize = 0 0
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Motor[1].Control[0] = $14000100 $14000100
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Motor[1].Control[1] = $0 $0
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Node15[0].MasterNum = 255 255
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Node15[1].MasterNum = 255 255
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Node15[2].MasterNum = 255 255
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Node15[3].MasterNum = 255 255
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>
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>
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@@ -19,7 +19,7 @@
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//--------
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!encoder_sim(enc=1,tbl=1,mot=1)
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!encoder_inc(enc=1,tbl=9,mot=9,encctrl=11) //encctrl=15 Hall sensor encoder
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!encoder_inc(enc=1,tbl=9,mot=9,encctrl=15) //encctrl=11 Hall sensor encoder
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!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.) // incremental encoder
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//real limits in closed loop (does not work with simulated encoder)
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Reference in New Issue
Block a user