Step-By-Step GDK is not connected to a controller.
Initial Conditions
In order to set up the brushless motor, it is recommended that it be uncoupled from any mechanics. The motor should have plenty of room in both directions of travel. It is also recommended that the MO jumper be installed, as this will ensure the motor ends all tests in a disabled state.
The motor, encoder, and any hall sensors must be plugged in to their respective connectors. If your motor and/or encoder is not plugged in, please power down the controller, plug in the connectors, and repower the controller. During the process of testing, GDK will correct for any errors in the polarity or sequence of the signals.
If additional information on wiring is needed, click the link which corresponds to the ICM or AMP on the controller:
Define Direction of Travel
First, if using an incremental quadrature encoder, define the positive direction of the encoder counts. Push the "Define Motor Direction" button below and move the motor by hand in the desired positive direction.
You can always repeat this test if you get the direction backwards.
If you do not have an incremental encoder , e.g. your encoders are SSI or BiSS, configure your encoders manually here
Once configured, to step 3
If you can't move the motors by hand, you can set the encoder polarity here:
Running
Move on to step 3.
Estimating Brushless Modulo and Correcting Hall Effect Sensors
A sinusoidal drive maps the motor encoder to its magnetic cycle. To do this, the drive must know the motor's Brushless Modulo, in encoder counts.
In addition, the drive must define an encoder position that references a known point in the magnetic cycle. To help with this, motors often come equipped with Hall Effect sensors. Although these sensors provide physical reference points in the magnetic cycle, it is often difficult to determine the correct wiring for the sensors.
Push the button below to estimate the motor's brushless modulo, and to correct for miswired Hall sensors if they are present.
This test will take a maximum of 30 seconds.
Running
Move on to step 4.
Latching Index for Better Brushless Modulo
So far, we've estimated the brushless modulo by moving the motor open-loop. This is usually sufficient for motors moving in cyclical profiles. However, for motors that move unbounded, even small errors in the modulo can lead to commutation failure.
Motors that have an index signal can improve the brushless modulo by traversing two indexes. The controller can latch the index positions with perfect accuracy and use the distance between indexes to provide a better modulo.
If your encoder has an index, push the "Latch Indexes" button below to move the motor through two index pulses. Otherwise, select "No Index Present".
This test will take a maximum of 10 seconds to run
Running
Configuration and Setup Complete!
You have succesfully configured this axis for sinusoidal commutation.
Now that the axis has been configured, lets save the settings that have been created to the controller.
Running
Continue
Now that the configuration has been saved, GDK can give an example of how to move the motor via the Terminal. If not open, the Terminal will open to the right of Step-By-Step. Please continue to the terminal example if this is your first time setting up a motor with a Galil controller.
Otherwise, you can continue to tuning, or if there are additional axes to configure, return to the motor setup axis selection page. Lastly, if you are finished setting up your controller, proceed to the save configuration page.
The test has failed due to an under voltage error. This is most commonly related to amplifier power not being applied. Check the amplifier power wiring, and if problems perist contact Applications Support.
The test has failed due to an ELO error. This is most commonly related to the ELO input not being properly wired. Check the ELO wiring, and if problems perist contact Applications Support.
The test has failed due to a hall error. Check the hall signal wiring, and if problems perist contact Applications Support.
The test has failed due to an amplifier error. Check the motor wiring, and if problems perist contact Applications Support.