Editing Configuring cogging torque compensation
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#Divide this number by motor poles and multiply by two. So equation is N=2*number_of_cogs/pole_count (same as {{param|MPC}}. | #Divide this number by motor poles and multiply by two. So equation is N=2*number_of_cogs/pole_count (same as {{param|MPC}}. | ||
#The optimal TRF1 function is either Sin(Nx) or Cos(Nx). For example, if motor has 8 poles, and we feel 12 cogs per revolution, the value of N becomes 2*12/8=3. So in this case we would use Sin(3x) or Cos(3x) function. | #The optimal TRF1 function is either Sin(Nx) or Cos(Nx). For example, if motor has 8 poles, and we feel 12 cogs per revolution, the value of N becomes 2*12/8=3. So in this case we would use Sin(3x) or Cos(3x) function. | ||
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{{warning|These methods are done on user's own risk. Remember that any malfunction in software or hardware may cause unexpectedly high torque.}} | {{warning|These methods are done on user's own risk. Remember that any malfunction in software or hardware may cause unexpectedly high torque.}} | ||
As the frequency is known, we proceed choosing the correct function and amplitude setting: | As the frequency is known, we proceed choosing the correct function and amplitude setting: | ||
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Perform the above procedure first for cogging torque, and then for ripple if necessary. However, in the ripple settings (TRF2 and TRA2), the test & comparison should be conducted when torque setpoint is set to a constant non-zero value (i.e. using {{param|TSP1}} and Set Abs button. In this case, motor should be held still and rotated by hand to determine the lowest ripple settings. | Perform the above procedure first for cogging torque, and then for ripple if necessary. However, in the ripple settings (TRF2 and TRA2), the test & comparison should be conducted when torque setpoint is set to a constant non-zero value (i.e. using {{param|TSP1}} and Set Abs button. In this case, motor should be held still and rotated by hand to determine the lowest ripple settings. | ||
{{machine|Beware of handling motor when torque setpoint is given. Always start with very low setpoint values to avoid injury or damage. Always keep emergency stopping method rapidly accessible.}} | {{machine|Beware of handling motor when torque setpoint is given. Always start with very low setpoint values to avoid injury or damage. Always keep emergency stopping method rapidly accessible.}} | ||
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