Delta Tau GEO BRICK LV User Manual

 

I166=0.95 * I7000 

 

; Motor #1 PWM Scale Factor, typical setting 

 

 

I266=I166 I366=I166 I466=I166 ; Assuming same motor(s) as motor #1  
I566=I166 I666=I166 I766=I166 I866=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 

#define Mtr5Voltage 

24 

; Motor 5 Rated Voltage [VDC]-User Input 

#define Mtr6Voltage 

24 

; Motor 6 Rated Voltage [VDC]-User Input 

#define Mtr7Voltage 

24 

; Motor 7 Rated Voltage [VDC]-User Input 

#define Mtr8Voltage 

24 

; Motor 8 Rated Voltage [VDC]-User Input 

 
I166=I7000*Mtr1Voltage/DCBusInput 

; Motor 1 PWM Scale Factor ( Geo Brick LV Specific) 

I266=I7000*Mtr2Voltage/DCBusInput 

; Motor 2 PWM Scale Factor ( Geo Brick LV Specific) 

I366=I7000*Mtr3Voltage/DCBusInput 

; Motor 3 PWM Scale Factor ( Geo Brick LV Specific) 

I466=I7000*Mtr4Voltage/DCBusInput 

; Motor 4 PWM Scale Factor ( Geo Brick LV Specific) 

I566=I7000*Mtr5Voltage/DCBusInput 

; Motor 5 PWM Scale Factor ( Geo Brick LV Specific) 

I666=I7000*Mtr6Voltage/DCBusInput 

; Motor 6 PWM Scale Factor ( Geo Brick LV Specific) 

I766=I7000*Mtr7Voltage/DCBusInput 

; Motor 7 PWM Scale Factor ( Geo Brick LV Specific) 

I866=I7000*Mtr8Voltage/DCBusInput 

; Motor 8 PWM Scale Factor ( Geo Brick LV Specific)