Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual 

 

I166=1.10*I7000 

 

; Motor #1 PWM Scale Factor. Set to 10% above PWM Count. 

I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1  

 
If Bus Voltage > Motor Rated Voltage: 
Ixx66 acts as a voltage limiter. In order to obtain full voltage output it is set to about 10% over 
PWM count divided by DC Bus/Motor voltage ratio: 

#define DCBusInput 

60 

; DC Bus Voltage -User Input  

 
#define Mtr1Voltage 

24 

; Motor 1 Rated Voltage [VDC]-User Input 

#define Mtr2Voltage 

24 

; Motor 2 Rated Voltage [VDC]-User Input 

#define Mtr3Voltage 

24 

; Motor 3 Rated Voltage [VDC]-User Input 

#define Mtr4Voltage 

24 

; Motor 4 Rated Voltage [VDC]-User Input 

 
I166=1.10*I7000*Mtr1Voltage/DCBusInput 

; Motor 1 PWM Scale Factor 

I266=1.10*I7000*Mtr2Voltage/DCBusInput 

; Motor 2 PWM Scale Factor 

I366=1.10*I7000*Mtr3Voltage/DCBusInput 

; Motor 3 PWM Scale Factor 

I466=1.10*I7000*Mtr4Voltage/DCBusInput 

; Motor 4 PWM Scale Factor 

 
Current Feedback Address: Ixx82 

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 

 

Set to zero with DC brush motors, commutation is done mechanically.  

I170=0 I171=0  ; Motor 1 size and number of commutation cycles  
I270=0 I271=0  ; Motor 2 size and number of commutation cycles 
I370=0 I371=0  ; Motor 3 size and number of commutation cycles 
I470=0 I471=0  ; Motor 4 size and number of commutation cycles