Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual

Motor Setup Guidelines

Motor (Quadrature/torque) command value Registers

Motor # Address (X-Memory)

$0000BF

$00013F

$0001BF

$00023F

Motors 1-4 Stepper Setup Encoder Conversion Table

I8000=$6800BF ; Parallel read of Y/X:$BF
I8001=$18018

; Use 24 bits starting at X bit 0

I8002=$EC0001 ; Integrate result from I8001
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$18018

; Use 24 bits starting at X bit 0

I8005=$EC0004 ; Integrate result from I8004
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$18018

; Use 24 bits starting at X bit 0

I8008=$EC0007 ; Integrate result from I8007
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$18018

; Use 24 bits starting at X bit 0

I8011=$EC000A ; Integrate result from I8010

Position, Velocity Pointers: Ixx03, Ixx04

The position and velocity pointers (no external encoder used) will be set to the integration result:

I103=$3503

I104=$3503

; Motor 1 position and velocity feedback

I203=$3506

I204=$3506

; Motor 2 position and velocity feedback

I303=$3509

I304=$3509

; Motor 3 position and velocity feedback

I403=$350C

I404=$350C

; Motor 4 position and velocity feedback

Motor Activation, Commutation Enable: Ixx00, Ixx01

I100,4,100=1

; Motors 1-4 active

I101,4,100=1

; Motors 1-4 Commutation Enabled

Command Output Address: Ixx02

I102=$078002

; Motor 1 Output Address

I202=$07800A

; Motor 2 Output Address

I302=$078012

; Motor 3 Output Address

I402=$07801A

; Motor 4 Output Address

Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72

I182=$078006

; Motor 1 Current Feedback Address

I282=$07800E

; Motor 2 Current Feedback Address

I382=$078016

; Motor 3 Current Feedback Address

I482=$07801E

; Motor 4 Current Feedback Address

I184,4,100=$FFFC00

; Motors 1-4 Current Loop Feedback Mask, 14-bit

I172,4,100=512

; Mtrs 1-4 Commutation Phase Angle.2-Phase opposite voltage & current sign