Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual 

 

I180=0 I173=0 I174=0  ; 
I280=0 I273=0 I274=0  ; 
I380=0 I373=0 I374=0  ; 
I480=0 I473=0 I474=0  ; 
 

  

I181=$3503 

 

; Motor 1 Power-On Commutation, Integrated Output #1   

I281=$3506 

 

; Motor 2 Power-On Commutation, Integrated Output #2 

I381=$3509 

 

; Motor 3 Power-On Commutation, Integrated Output #3 

I481=$350C 

 

; Motor 4 Power-On Commutation, Integrated Output #4 

I191,4,100=$500000 

; Mtrs 1-4 Pwr-on Pos. format Read 16 (11+5) bits of X register Ixx81 

 
Position-

I130,4,100=1024  

; Motor 1-4 PID Proportional Gain  

I131,4,100=0    

; Motor 1-4 PID Derivitive Gain 

I132,4,100=85   

; Motor 1-4 PID Velocity Feedforward Gain 

I133,4,100=1024  

; Motor 1-4 PID Integral Gain  

I134,4,100=1    

; Motor 1-4 PID Integration Mode 

I135,4,100=0 

 

; Motor 1-4 PID Acceleration Feedforward Gain 

I136,4,100=0 

 

; Motor 1-4 PID Notch Filter Coefficient N1 

I137,4,100=0 

 

; Motor 1-4 PID Notch Filter Coefficient N2 

I138,4,100=0 

 

; Motor 1-4 PID Notch Filter Coefficient D1   

I139,4,100=0 

 

; Motor 1-4 PID Notch Filter Coefficient D2