GV3000SE 15V4160模块备件

GV3000SE  15V4160

GV3000SE  15V416e表示V和T。例如
BSX=2700
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DMC-18x2第2章入门•19
将用2伏电压测试X轴，每次施加700毫秒
阶段作为响应，此测试指示DAC接线是否正确，并将：
指示BM的近似值。如果接线正确，则的近似值为：
BM将与上一步中使用的值一致。
注：为了正确进行无刷设置，必须允许电机：
在两个方向上移动至少一个磁循环。
注意：使用Galil Windows软件时，超时必须设置为至少10秒
执行BS命令时的秒数（超时=10000）。这允许软件
以检索从控制器返回的所有消息。
如果霍尔传感器可用：
由于霍尔传感器是随机连接的，因此它们很可能是通过电缆连接的
顺序不正确。无刷设置命令指示大厅的接线正确
传感器。应重新配置霍尔传感器导线，以反映该测试的结果。
setup命令还报告霍尔过渡点的位置偏移和
电机换向的零相位。霍尔传感器的零转变通常是
发生在相位换向的0°、30°或90°处。有必要通知客户
控制器关于霍尔传感器的偏移，这是根据指令BB完成的。
步骤E.保存无刷电机配置
将无刷电机配置保存在非易失性存储器中非常重要。
在正确配置电机接线和设置参数后
应发出命令BN。
如果霍尔传感器不可用：
如果没有霍尔传感器，控制器将无法估计电机的换向相位
无刷电机。在这种情况下，控制器可能会变得不稳定，直到
已使用BZ命令设置换向相位（参见下一步）。这是非常重要的
建议在执行BN命令之前发出电机关闭命令。
在这种情况下，电机将在通电或复位以及换向后停用
可以在启用电机之前设置相位。
步骤F.将换向相位设置为零
当轴被定义为正弦换向时，控制器必须具有
换向阶段的估计。当使用霍尔传感器时，控制器会自动
在控制器复位时估计该值。如果未使用霍尔传感器
将无法进行此估计，并且必须在之前设置换向相位
启动电机。
如果霍尔传感器不可用：
要在没有霍尔效应传感器的情况下初始化换向，请使用命令BZ。这
函数将电机驱动到换向相位为零的位置，并设置
相位为零。
BZ命令后面是对应于被驱动变量的字段中的实数
斧子。该数字表示在测试期间施加到放大器的电压
初始化。当电压由正数指定时
该过程以马达关闭（MO）状态结束。负数会导致进程失败
结束于伺服（SH）状态。
警告：此命令必须移动电机以找到零换向相位。
这种移动是瞬时的，将导致系统颠簸。较大的应用
电压将导致更严重的电机抖动。施加的电压通常是
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20● 第2章DMC-18x2的入门
足以正确操作BZ命令。对于具有显著摩擦的系统，
该电压可能需要增加，对于电机非常小的系统，该值
应减少。
例如
BZ-2,0,1
将驱动X轴和Z轴归零，将分别向X和Z轴施加2V和1V
将以X在SH和Z在MO中结束。
如果霍尔传感器可用：
换向相位的估计值在30°以内。这个估计可以
可用于驱动电机，但高效电机需要更准确的估计
活动有3种可能的换向相位初始化方法：
方法1.如上所述使用BZ命令。
方法2.驱动电机接近零换向相位，然后使用BZ
命令该方法通过关闭电机来减少系统抖动量
在执行BZ命令之前，将换流阶段归零。控制器进行控制
估计当前位置和当前位置之间的编码器计数数
换相相位为零。该值存储在操作数_ BZx中。使用此
控制器c的操作数0

GV3000SE  15V4160

e for V and T. For example, the command BSX = 2,700 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com DMC-18x2 Chapter 2 Getting Started • 19 will test the X axis with a voltage of 2 volts, applying it for 700 millisecond for each phase. In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM. If the wiring is correct, the approximate value for BM will agree with the value used in the previous step. Note: In order to properly conduct the brushless setup, the motor must be allowed to move a minimum of one magnetic cycle in both directions. Note: When using Galil Windows software, the timeout must be set to a minimum of 10 seconds (time-out = 10000) when executing the BS command. This allows the software to retrieve all messages returned from the controller. If Hall Sensors are Available: Since the Hall sensors are connected randomly, it is very likely that they are wired in the incorrect order. The brushless setup command indicates the correct wiring of the Hall sensors. The hall sensor wires should be re-configured to reflect the results of this test. The setup command also reports the position offset of the hall transition point and the zero phase of the motor commutation. The zero transition of the Hall sensors typically occur at 0°, 30° or 90° of the phase commutation. It is necessary to inform the controller about the offset of the Hall sensor and this is done with the instruction, BB. Step E. Save Brushless Motor Configuration It is very important to save the brushless motor configuration in non-volatile memory. After the motor wiring and setup parameters have been properly configured, the burn command, BN, should be given. If Hall Sensors are Not Available: Without hall sensors, the controller will not be able to estimate the commutation phase of the brushless motor. In this case, the controller could become unstable until the commutation phase has been set using the BZ command (see next step). It is highly recommended that the motor off command be given before executing the BN command. In this case, the motor will be disabled upon power up or reset and the commutation phase can be set before enabling the motor. Step F. Set Zero Commutation Phase When an axis has been defined as sinusoidally commutated, the controller must have an estimate for commutation phase. When hall sensors are used, the controller automatically estimates this value upon reset of the controller. If no hall sensors are used, the controller will not be able to make this estimate and the commutation phase must be set before enabling the motor. If Hall Sensors are Not Available: To initialize the commutation without Hall effect sensor use the command, BZ. This function drives the motor to a position where the commutation phase is zero, and sets the phase to zero. The BZ command is followed by real numbers in the fields corresponding to the driven axes. The number represents the voltage to be applied to the amplifier during the initialization. When the voltage is specified by a positive number, the initialization process ends up in the motor off (MO) state. A negative number causes the process to end in the Servo Here (SH) state. Warning: This command must move the motor to find the zero commutation phase. This movement is instantaneous and will cause the system to jerk. Larger applied voltages will cause more severe motor jerk. The applied voltage will typically be Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com 20 ● Chapter 2 Getting Started DMC-18x2 sufficient for proper operation of the BZ command. For systems with significant friction, this voltage may need to be increased and for systems with very small motors, this value should be decreased. For example, BZ -2, 0, 1 will drive both X and Z axes to zero, will apply 2V and 1V respectively to X and Z and will end up with X in SH and Z in MO. If Hall Sensors are Available: The estimated value of the commutation phase is good to within 30°. This estimate can be used to drive the motor but a more accurate estimate is needed for efficient motor operation. There are 3 possible methods for commutation phase initialization: Method 1. Use the BZ command as described above. Method 2. Drive the motor close to commutation phase of zero and then use BZ command. This method decreases the amount of system jerk by moving the motor close to zero commutation phase before executing the BZ command. The controller makes an estimate for the number of encoder counts between the current position and the position of zero commutation phase. This value is stored in the operand _BZx. Using this operand the controller c