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Brand:TRICONEX
Type:TCM 4355X
Origin: the United States
Warranty: 365 days
Colour: new/used
Shipping method: Courier delivery
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This step will be the first time the drive is enabled and the motor will have current in it. Make sure that the motor current loop gain parameter KIP in the drive is set to 2*pi*2000*(motor L line-line in Henry) and NV saved by using S200 Tools. The drive, SynqNet master will be set to output fixed current vectors independent of actual motor position and the motor will be moved in small increments like a stepper motor. Set the MEI filter gains to zero. In S200 Tools, set the drive to "stepper motor mode" (no commutation) by setting DPoles = 0. Set the S200 parameter CommOff to 0. Command a positive current in the coil via MoCon by setting a low but nonzero positive and negative current limit (say, +2500 counts each). The rms current in the motor will be this value times the drive Ipeak divided by the scaling number 19336 counts. For example, in an S20660 18 Arms peak drive 2500 corresponds to 18*2500/19336 = 2.3 Arms. Make sure the current selected is low enough not to overheat the motor coils but high enough to get the motor to move. Enable the drive and the motor should move to a magnetic pole alignment position.
That is, the motor will swing to its pole position, oscillate around that position, and stop. Note the encoder position. Now command a small (try 10) positive CommOff. The resulting motion should be in the positive encoder direction. That is the encoder counts should have increased. If there is enough friction in the system you may need to adjust the current higher, just make sure the current is within the motor coil rating. You can also try going further by setting CommOff to higher angles up to 180 degrees. If the resulting motion was in the negative encoder direction, you will need to swap any pair of motor power leads. The setup now has the motor coils, the Hall commutation sensor, and the encoder all agreeing on the same positive direction. Disable the drive. Set Commutation Offset Angle: Zero the current command in the MEI MoCon utility as done in the Positive #3 step. Restore DPoles to its proper non-zero value. For linear motors this is usually 2 and for rotary motors must be the actual number of magnetic poles per revolution. For linear motors make sure AuxFBDivsor is set correctly to get commutation to work. See Chapter 8 Advanced Configuration for help with these NV parameters. Enable the drive while holding the motor. There should be 0 current command and there should be no force yet. Now apply a small (for example +1000 counts) current command in the MEI MoCon utility as described above. The motor should show a uniform force that doesn't vary as a function of magnetic cycle. Don't worry about the force direction. Now, try setting CommOff in S200 Tools to -120, 0, +120. Two of these settings will produce force in the wrong (negative) direction at one-half the expected force level. Use the value that produces positive direction force with the higher force level. NOTE: The above last step assumes that the motor was built conventionally and the Hall Commutation logic edges mechanically lined up with the motor line-line back EMF zero crossings. If the Hall commutation sensor has random alignment then you may need to make more careful measures to set CommOff to the optimal value which will give you the most force per amp of drive current.
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