G320 Prototypes

Hi! Tim Goldstein has reported a bug that involves start-up behavior
which may involve other drives out there.

The motor may "jump" 10 degrees after the power-on reset time of 5
sec elapses, and then immediately faults-out, starting the whole
process over again. This problem has no effect on performance while
the drive is running. It only exists at start-up.

The cause has been identified and a completely effective solution has
been found. Unfortunately it requires rework here. If anyone is
having this problem, please return the drive. It will be upgraded and
returned the same day.

The problem involves the integator. During the start-up time it
receives no feed-back info, so its output pegs to what will be
maximum motor speed. When the reset releases the drive, the motor is
initially at 100% modulation until the loop constrains it within 10
milliseconds. Under some conditions the position error may reach the
fault limit before the loop settles.

The solution is to "clamp" the integrator output to the zero speed
value while reset. The motor speed is then zero when the integrator
is released upon reset time-out.

This has been tested and now works perfectly. Mea Culpa.

Mariss