Delta Tau GEO BRICK LV User Manual
Geo Brick LV User Manual
Motor Setup
161
Maximum Achievable Motor Speed, Output Command Limit: Ixx69
In Micro-Stepping, the maximum achievable speed is proportional to the Servo clock and Motor Step
angle. A faster Servo Clock results in higher achievable motor speeds.
angle. A faster Servo Clock results in higher achievable motor speeds.
To ensure the safety of the application and reliability of the micro-stepping technique, the smaller value
between the Theoratical and the Calculated output command limit Ixx69 must be chosen.
Theoratical Ixx69
Sine Table: 2048
Electrical Length = 2048*32 (5-bit shift) = 65536
Max Electrical Length per Servo Cycle = Electrical Length/6 = 10922.66667
Micro-Stepping Theoratical Ixx69 = Max Electrical Length per Servo Cycle/256 = 42.6667
Calculated Ixx69
Servo Clock (KHz): 8
Stepper Angle: 1.8°
Motor Speed (rpm): 1500
Electrical Cycles per Revolution = 360 / (4*Stepper Angle)
Maximum-Achievable Motor Speed (RPM) =
(Servo Clock*1000) / (Electrical Cycles per Revolution*6)*60
Calculated Ixx69 =
Max Motor Speed* Electrical Cycles per Revolution/ 60 * 2048/6/(Servo Clock *1000)
#define ServoClk
P8003 ; [KHz] Computed in Dominant Clock Settings Section
#define StepAngle
1.8
; Step Angle [Degrees] –User Input
#define MotorSpeed
1500
; Motor Speed Spec [RPM] –User Input
#define ElecCyclePerRev
P7004 ; Electrical Cycle Per Revolution
ElecCyclePerRev=360/(4* StepAngle)
#define MaxMtrSpeed
#define MaxMtrSpeed
P7005 ; This is the maximum achievable motor speed
MaxMtrSpeed=( ServoClk*1000)/( ElecCyclePerRev*6)*60
#define CalculatedIxx69
#define CalculatedIxx69
P7006 ; Calculated Ixx69
CalculatedIxx69= MotorSpeed*ElecCyclePerRev/60*2048/6/(ServoClk*1000)
Setting up 1.8° Step Motors specified at 1500 rpm and a Servo Clock of 8 KHz results in a maximum
achievable speed (P7001) of 1600 rpm and a calculated Ixx69 (P7002) of 53.3334.
Theoratial Ixx69 < Calculated Ixx69 => I169,8,100= Theoratial Ixx69
I169,8,100=42.667
; Motors 1 thru 8 Output Command Limit