Delta Tau GEO BRICK DRIVE Manuel D’Utilisation

I166=1.10*I7000 

; Motor #4 PWM Scale Factor. Set to 10% above PWM Count. 

I266=I166 I366=I166 I466=I166 I566=I166 

; Assuming same motor(s) as motor #1  

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  (command  from  PMAC  to  power  block).  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 

170 

; DC Bus Voltage [VDC] = 1.414* 110 VAC -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=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 

I566=1.10*I7000*Mtr5Voltage/DCBusInput 

; Motor 5 PWM Scale Factor 

I666=1.10*I7000*Mtr6Voltage/DCBusInput 

; Motor 6 PWM Scale Factor 

I766=1.10*I7000*Mtr7Voltage/DCBusInput 

; Motor 7 PWM Scale Factor 

I866=1.10*I7000*Mtr8Voltage/DCBusInput 

; Motor 8 PWM Scale Factor 

 

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 

I582=$078106 

; Motor 5 Current Feedback Address 

I682=$07810E 

; Motor 6 Current Feedback Address 

I782=$078116 

; Motor 7 Current Feedback Address 

I882=$07811E 

; Motor 8 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 
I570=0 I571=0  ; Motor 5 size and number of commutation cycles 
I670=0 I671=0  ; Motor 6 size and number of commutation cycles 
I770=0 I771=0  ; Motor 7 size and number of commutation cycles 
I870=0 I871=0  ; Motor 8 size and number of commutation cycles