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| − | These basics are the most fundamental steps to get a motor running in order for an application to work properly. | + | These basics are the most fundamental steps to get a motor running in order for an application to work properly. This page is intended as a checklist for people new to this kind of technology. |
# Motor supply voltage (HV) can be higher than nominal motor voltage | # Motor supply voltage (HV) can be higher than nominal motor voltage | ||
#* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct. | #* Digital servo drives are practically sophisticated switching step-down voltage regulators, and the torque controller takes care that the current to the motor (and thus the voltage) is correct. | ||
#* The HV can be at least five times the nominal motor voltage without any issues and reduced performance. | #* The HV can be at least five times the nominal motor voltage without any issues and reduced performance. | ||
| − | # The maximum | + | # The maximum current to the motor is not the maximum current of the PSU |
#* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current. | #* Considered as a step-down regulator, the digital servo drive transfers power, not current to the motor. Because of this, the PSU's current rating affects maximum power that can be driven into a motor, not maximum current. | ||
| − | #* | + | #* E.g. 48 V PSU with 10 A current rating can output 480 W power. If the required voltage to a motor to drive 24 A current is 20 V, the transferred power is the same what the PSU can supply. |
# Encoder <b>must</b> be attached directly to the motor shaft | # Encoder <b>must</b> be attached directly to the motor shaft | ||
| − | #* In practice, all gears and other | + | #* In practice, all gears and other similar mechanics have non-idelities such as play, torsion, and/or possibility of slipping. |
#* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise. | #* Play and torsion will introduce delay to the feedback loop, and will cause oscillation due to which the tuning is impossible to get precise. | ||
| − | #* Slipping encoder will | + | #* Slipping encoder will cause false angle data, which will cause the motor to either stall or run loose. |
| − | #* Encoder resolution must be exact for each rotation. Rounded data will also cause the | + | #* Encoder resolution must be exact for each rotation. Rounded data will also cause the magnetic angle to be lost, and the motor will stall or run loose after few turns. |
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# Torque tuning must be done properly | # Torque tuning must be done properly | ||
| − | #* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation | + | #* Poor torque tuning will result in excessive current spikes and at worst mechanical oscillation |
# Testing motor and encoder wiring in torque mode | # Testing motor and encoder wiring in torque mode | ||
#* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality. | #* Before velocity or position tuning, the system must be tested without any load in torque mode to ensure proper functionality. | ||
| − | #* Follow the instructions here: [[Servo motor torque mode test | + | #* Follow the instructions here: [[Servo motor torque mode test]] |
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