Motors are running !

We realized an application for test driver and motors on bench. As you can see wiring is rather confused... but is only temporary for test.

you can find here the Codesys application for this test:

http://www.osservatoriobassano.org/TCS2020/TestEthercatDriverRaspberry.zip

 

In order to reach this result driverd

need to be parametrized for the specific motor and application. This is dome using the Infranor software “Gem Drive Studio”. It can be downloaded from Infranor website.

Voltage level are left as default, external breaking resistor in not needed

We selected the motor model we have, all parameters are set automatically

Auto phasing was asked, this activated a procedure for sensor phasing.

Position loop is set for minimum following error this is the best for this application.

Autotuning procedure was asked, this activated a strong step movement for loop gain computing. This procedure will ‘be done again when motors will be mounted on the telescope with real mechanical charge.

These are computed control parameters from autotuning procedure

Position sensor parameters are left as default.

This assure the position accuracy 360/4096 = 0.087 °

All other parameters are left as default.