Using LinMot linear actuator with IONI servo drive
Most, if not all, LinMot linear actuators can be used with IONI Pro drives because the drive supports driving of three and two phase motors as well as SinCos feedback devices. This page gives instructions of setting up drive for them.
Connections[edit | edit source]
Typical LinMot actuator has two phase windings and analog sine & cosine outputs as position feedback. For example many LinMot actuators have following wires:
Ph 1+, Ph 1-, Ph 2+, Ph 2-, +5VDC, GND, Sine, Cosine, Temp, Shield
Wire mapping to IONI Pro drive goes as follows:
- Motor connector
- Ph 1+ -> PHASE1
- Ph 1- -> PHASE2
- Ph 2+ -> PHASE3
- Ph 2- -> PHASE4
- Shield -> GND
- Encoder connector
- +5VDC -> 5V_OUT
- GND -> GND
- Sine -> CHA+
- Cosine -> CHB+
- Temp -> no connection
Refer to motor data sheet to find out wire colors/pin outs of these signals.
Parameters[edit | edit source]
The key parameter is to set motor in correct mode and setup feedback device correctly. For two phase motor, choose:
- Motor typeMT -> 2 phase AC/BLDC
- Pole countMPC -> 2
- Feedback deviceFBD -> SinCos encoder 256X
- Feedback device resolutionFBR -> 256 PPR
- Invert feedback directionFBI -> try both settings and see which one works (unticked work for most models)
Other motor parameters configured according to motor manufacturer specs. To test configuration, set drive in torque mode and try motor with different torque setpoints (Granity testing tab). If motor produces force over it's travel distance, the settings are correct. If motor locks at some position, invert FBI.
Position mode parameters[edit | edit source]
This motor requires unusually high gain values for position control. In the demonstration we used values:
- Velocity P gainKVP 200000
- Velocity I gainKVI 100000
- Position P gainKPP 1200
- Torque bandwidth limitTBW 1000 Hz
This can serve as a starting point which probably behaves stable at least without any mechanical load. To optimize gains for better response and servo stiffness, proceed with Servo motor tuning guide.
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