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#* 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 rating 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. | ||
#* In ideal world, 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. | #* In ideal world, 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. | ||
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#* Slipping encoder will give false data, which will cause the motor to either stall or run loose. | #* Slipping encoder will give false 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 known magnetic angle to be lost, and the motor will stall or run loose after few turns. | #* Encoder resolution must be exact for each rotation. Rounded data will also cause the known magnetic angle to be lost, and the motor will stall or run loose after few turns. | ||
− | # Phasing | + | # Phasing |
#* If hall sensors or absolute encoder are not used, the motor needs to be rotated/moved to find a known magnetic angle. Only after this the encoder can give reliable information of the motor position so that it can be controlled properly. | #* If hall sensors or absolute encoder are not used, the motor needs to be rotated/moved to find a known magnetic angle. Only after this the encoder can give reliable information of the motor position so that it can be controlled properly. | ||
#* If phasing is not done correctly in free motion, the motor can not be controller properly. | #* If phasing is not done correctly in free motion, the motor can not be controller properly. | ||
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#* 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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