5.3.15. Settings of kinematics (BLDC motor)

In the Application settings Device -> BLDC Motor

Settings of kinematics (DC motor) window

Important

Only firmwares 4.1.x (and older) support BLDC control.

5.3.15.1. Motor parameters - electric motor settings

Revers - checking this flag associate the motor rotation direction with the current position counting direction. Change the status of the flag if positive motor rotation decreases the value on the position counter register. This flag effect is similar to connecting the motor winding to reverse polarity.

Move with max speed - if this flag is checked motor ignores the preset speed and rotates at the maximum speed limit.

Limit speed with max speed - if this flag is checked the controller limits the maximum speed to the number of steps per second, specified in the Max nominal speed field.

Max nominal speed, Max voltage - are motor nominal parameters. If they are active and applicable for given type of motor, the controller limits these parameters within the specified values. For example, if the motor speed and current exceeds the nominal values, the controller will reduce output action until both values are within the normal range. However, the controller remains in operational condition, and will execute the current task.

Important

“Max voltage” is the maximum voltage between any two terminals of the BLDC motor. At the same time, the voltage at each terminal relative to the controller’s ground (this voltage is shown on the graphs “Winding A Voltage”, “Winding B Voltage”) may exceed “Max voltage”.

Amplitude current - if this flag is checked engine current value is interpreted as maximum amplitude value. If the flag is unset, then engine current value is interpreted as the current value calculated from the maximum heat dissipation. See Calculation of the nominal current page for description

5.3.15.2. Motion setup - settings related to the movement kinematics

Working speed - movement speed.

Flag 1/1000 - allows you to work at ultra-low speeds. If the flag is enabled, the value from the “Working speed” field will be divided by 1000.

Important

The flag for working with ultra-low speeds was added in xilab 1.17.9 (and older) and firmware 4.5.9 (and older)

Backlash compensation - backlash compensation. Since the stage mechanics are not ideal there is a difference between approaching a given point from the right and from the left. When the backlash compensation mode is on the stage always approaches the point from one side. The preset value determines the number of steps which the stage takes to pass a given point in order to come back to it from the same side. If the specified number is above zero the stage always approaches the point from the right. If it is below zero the stage always approaches the point from the left.

Backlash compensation speed - speed of backlash compensation. When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per second.

Acceleration - enables the motion in acceleration mode, the numerical value of the field is the acceleration of movement.

Deceleration - movement deceleration.

Number of poles - number of poles per revolution.

5.3.15.3. Feedback settings

Encoder - use of encoder as a feedback sensor. The following encoder types are available: Single-ended, Differential or Autodetect.

Encoder counts per turn - this parameter defines the number of encoder pulses per one motor axis full rotation.

Linear motor wizard - open dialog for setting linear stages parameters.