Directed Electronics 3200HS Specifikace Strana 37
- Strana / 52
- Tabulka s obsahem
- KNIHY
Hodnocené. / 5. Na základě hodnocení zákazníků
R01AN0168ED0101 Rev. 01.01 37
Application Note
Chapter 7 Performing Zero Point Detection
7.1 Zero Point Detection (ZPD) Theory
In order to define the ZPD table entries, base knowledge about zero point
detection is required. Let’s have a look into a simplified stepper motor. In the
following figure, four steps of movement are shown, one for each quadrant of
the motor’s anchor.
Within each quadrant, it is possible to detect, whether the motor could move,
or whether it had hit its mechanical stop, and therefore, it could not move.
The detection of the mechanical stop is performed by measuring inductive
pulses one one coil set, while the other coil set is powered for a movement of
the anchor.
Figure 7-1 Four Quadrant Zero Point Detection
1
Surely, it is not required to perform the measurement for all four quadrants.
Alternatively, it’s also possible to move the motor a full turn, and perform a
measurement only in one of the four steps above.
Regarding the ZPD algorithms, there is some trade-off between quality
(smoothness of movement, noise on hitting the stop) and the capabilities of the
motor and the stepper motor driver hardware. From 1 to 4, the quality of ZPD
increases:
1. Single-Quadrant ZPD
One full turn of the motor in 90° steps, one measurement at 0°.
2. Single-Quadrant ZPD with PWM movement
One full turn of the motor in fine PWM microsteps, accelerating sequence,
one measurement at 0°.
3. Four-Quadrant ZPD
Quarter-turn of the motor, measurement after each quarter-turn.
4. Four-Quadrant ZPD with PWM movement
Quarter-turn of the motor by fine PWM microsteps, accelerating sequence,
measurement after each quarter-turn.
ISM supports all four approaches.
1)
Figure by “Lessons In Electric Circuits copyright (C) 2000-2012 Tony R. Kuphaldt”
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- V850E2/Dx4 1
- R01AN0168ED0101 2
- Application Note 2
- Chapter 2 General Notices 9
- 3.2 The PWM Generation of ISM 13
- 3.2.1 ISM Clocking 14
- 3.2.2 PWM Output Generation 14
- 3.4 The ISM Channel Circuitry 16
- Ch. Acc 17
- Selection 17
- R01AN0168ED0101 Rev. 01.01 20 20
- 5.1 Virtual Channels 22
- 5.2 Values for PWM Operation 23
- 5.2.2 PWM Values 24
- R01AN0168ED0101 Rev. 01.01 26 26
- R01AN0168ED0101 Rev. 01.01 27 27
- 5.3 Values for ZPD Operation 28
- 6.1 Parameters and Variables 29
- 6.1.2 Parameter Description 31
- 6.1.3 Variable Description 33
- 6.1.4 Algorithm Code 33
- R01AN0168ED0101 Rev. 01.01 34 34
- R01AN0168ED0101 Rev. 01.01 35 35
- 6.2 Moving the Motors 36
- This is our 38
- Zero Point 39
- Measurement Time: 14 ms 40
- Reference 41
- 7.2 The ZPD Function Settings 42
- Delay GCS (here set to 6) 43
- Measurement Cycle = 1/f 43
- 7.3 ZPD Operation 45
- H-FET Bridge 46
- =3'5$07DEOH(QWULHV 47
- )LUVW6WHSV 47
- Revision History 49
- V850E2/Dx4 Application Note 50
- Publication Date: 50
- Rev. 01.01 February 13, 2012 50
- Colophon 1.0 51
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