Basic system configuration guide using the registers

Basic system configuration guide using the registers

Problem

I have my Everest XCR servo drive connected to my brushless motor and my feedback devices and I want to start configuring it in MotionLab3. What do I need to do?

Clarifications and checkings

  • This step-by-step guide shows how to perform the basic configuration of a system composed of brushless motor + feedback devices and that all the wiring has been done correctly according to the Everest XCR manual.

Steps

Basic configuration parameters

  • Motor configuration

  1. Set the motor pair poles by writing the following parameter - 0x106
  2. Set the motor rated current by writing the following parameter - 0x100
  • Limits

  1. Set Max. position by writing the following parameter - 0x1EB
  2. Set Min. position by writing the following parameter- 0x1EA
  3. Set Max. velocity by writing the following parameter-  0x1E8
  4. Set current direct  Umax to limit maximum voltage output of the current loop by writing the following parameter - 0x507
  5. Set current direct  Umin to limit maximum voltage output of the current loop by writing the following parameter - 0x508
  6. Set current quadrature Umax to limit maximum voltage output of the current loop by writing the following parameter - 0x502
  7. Set current quadrature Umin to limit maximum voltage output of the current loop by writing the following parameter - 0x503
  8. Set velocity Umax to limit maximum current output of the velocity loop by writing the following parameter - 0x50E
  9. Set velocity Umin to limit maximum current output of the velocity loop by writing the following parameter - 0x50F
  10. Set position Umax to limit maximum velocity output of position loop by writing the following parameter - 0x515
  11. Set position Umin to limit maximum velocity output of position loop by writing the following parameter - 0x516

Feedbacks

  • Feedbacks configuration

Properly configure specific feedback parameters for each feedbacks that will be used (for example, encoder resolution). If the polarity of the feedback is uncertain, check the next step.

  • Polarity determination

    The polarity needs to be configured correctly in each feedback that is going to be used. The following procedure will help to determine the polarity of the feedback:
  1. Set the polarity register of the feedback to be configured to 0.
  2. Set voltage direct set-point to 0 by writing the following parameter - 0x019
  3. Set voltage quadrature set-point to 0 by writing the following parameter - 0x018
  4. Set operation mode to voltage mode by writing the following parameter - 0x014
  5. Set generator mode to sawtooth mode by writing 1 in the following parameter - 0x380
  6. Set generator frequency to a low value, for example, 0.2 Hz by writing the following parameter - 0x381
  7. Set generator gain to 1.0 by writing the following parameter - 0x382
  8. Set the generator offset to 0.0 by writing the following parameter - 0x383
  9. Configure the internal generator as commutation feedback by writing 3 in the following parameter - 0x151
  10. Configure as position feedback the feedback of which the polarity is going to be determined by writing the following parameter - 0x361
  11. Enable motor using the Control-Word parameter - 0x010
  12. Increase voltage direct set-point little by little until the motor starts spinning, by writing the following parameter - 0x019
  13. Once the motor is spinning, check if the actual position is increasing or decreasing by reading the following parameter - 0x030.
    If the position is decreasing, set the polarity of the sensor selected as position feedback to 1. Repeat this procedure for any other feedback that is going to be used by changing the sensor being used as position feedback.
  • Feedback selection
  1. Select the desired commutation feedback by writing the following parameter - 0x151
  2. Select the desired reference feedback by writing the following parameter - 0x153
  3. Select the desired velocity feedback by writing the following parameter - 0x360
  4. Select the desired position feedback by writing the following parameter - 0x361

Configuring one of the velocity feedback filters is recommended since it provides a smoother reading when using certain sensors.

  1. Set Velocity feedback filter 1 type to low pass filter by writing the following parameter - 0x550
  2. Set Velocity feedback filter 1 frequency to 100 Hz by writing the following parameter - 0x551

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