Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual 

 

Example: 
Axis 5-6 to drive stepper amps, w/ PFM clock range 0-20 KHz and pulse width of ~20 μsec:  

I6803=2290 

 

; PFM Clock divider equal to 6 

I6804=13 

 

; PFM Pulse Width Control equal to 13 

// Supplementary Channel 1, and 2 Settings: 
I6816,2,10=3 

 

; Supp. channel 1-2 output mode, PFM 

I6810,2,10=8           ; Supp. channel 1-2 Encoder Decode, Internal Pulse and Direction 
I500,2,100=1 

 

; Motors 5,6 active 

I511,2,100=0 

 

; Motors 5,6 disable fatal following error 

 
I502=$78414           ; Motor #5 output to point to output c for PFM 
I8004=$C78410         ; Encoder Conversion table to read, C for no extension 
I503=$3505 
I504=$3505 
I524=$120001 

 

; Disable amp fault and overtravel limits 

I525=$78410     

;  

 
I602=$7841C           ; #2 output to point to output c for PFM 
I8005=$C78418         ; Encoder Conversion table to read, C for no extension 
I603=$3506 
I604=$3506 
I624=$120001          ; Disable amp fault and over travel limit 
I625=$78418     

The position-Loop PID Gains are calculated using the following equations: 
Ixx30=660000/Ixx08*PFM Clock[MHz] 
Ixx31=0 
Ixx32 = 6660* ServoFreq( kHz ) 
Ixx33...Ixx35=0 

// Position-Loop PID Gains: 
I530,2,100=11190 

; Motors 5-6 Proportional Gain 

I531,2,100=0 

 

; Motors 5-6 Derivative Gain   

I532,2,100=151515 

; Motors 5-6 Velocity FeedForward Gain 

I533,2,100=0 

 

; Motors 5-6 Integral Gain 

I534,2,100=0 

 

; Motors 5-6 Integral Mode 

I535,2,100=0 

 

; Motors 5-6 Acceleration FeedForward Gain