用户手册 — Delta Tau TURBO CLIPPER DRIVE

目录

• INTRODUCTION

  7
• Turbo Clipper Drive Features

  7
• SPECIFICATIONS

  8
• Electrical Specifications

  9
• RECEIVING AND UNPACKING

  10
• Mounting

  11
• POWER BOARD: WIRING, SOFTWARE SETUP

  14
• TB5: 24-Volt Logic Power

  15
• J13: E-Stop, Reset

  17
• Error Codes

  20
• BREAKOUT BOARD: WIRING, SOFTWARE SETUP

  21
• J11-J14: Encoder Feedback, Digital A Quad B

  21
• J15: Flag(s) Power Supply

  25
• J20: Axis 1 thru 4 EQU Outputs

  26
• Wiring The Flags

  28
• J24: DAC Output, 12-bit Filtered PWM

  30
• J26: Thumbwheel Multiplexer Port Inputs

  32
• J37: Thumbwheel Multiplexer port Outputs (Sourcing)

  34
• Wiring The Thumbwheel As Discrete I/Os

  35
• J29: General Purpose Outputs (sinking)

  38
• J30: General Purpose I/O Power

  39
• J38: General Purpose Outputs (sourcing)

  40
• General Purpose I/Os, Suggested M-Variables

  43
• J31-J32: Handwheel Port(s)

  44
• J33-J34: Pulse and Direction Output(s) (PFM)

  45
• J35: Programmable Output

  48
• External Amp 1-4:

  49
• CLIPPER BOARD: WIRING, SOFTWARE SETUP

  51
• RJ45, Ethernet Connector

  51
• MOTOR TYPE & PROTECTION POWER-ON PLCs

  53
• Brushless/Brush Motor Power-On PLC

  54
• MOTOR SETUP GUIDELINES

  55
• Dominant Clock Settings

  56
• Before you start

  57
• Position, Velocity Pointers: Ixx03, Ixx04

  58
• Command Output Address: Ixx02

  58
• Flag Address, Mode Control: Ixx25, Ixx24

  59
• Maximum Achievable Motor Speed, Output Command Limit: Ixx69

  60
• I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77

  62
• Position-Loop PID Gains: Ixx30…Ixx39

  63
• Number Of Counts Per Revolution (Stepper Motors)

  64
• Before you start

  65
• PWM Scale Factor: Ixx66

  65
• Current Feedback Address: Ixx82

  65
• Commutation Position Address, Commutation Enable: Ixx83, Ixx01

  66
• I2T Protection: Ixx57, Ixx58, Ixx69

  66
• Commutation Cycle Size: Ixx70, Ixx71

  67
• ADC Offsets: Ixx29, Ixx79

  67
• Current-Loop Gains: Ixx61, Ixx62, Ixx76

  67
• Open-Loop Test, Encoder Decode: I7mn0

  68
• Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx91

  70
• Position-Loop PID Gains: Ixx30…Ixx39

  75
• Setting Up DC Brush Motor

  77
• Before you start

  77
• Phasing Search Error Bit, Current-Loop Integrator Output

  77
• PWM Scale Factor: Ixx66

  78
• Current Feedback Address: Ixx82

  78
• Commutation Cycle Size: Ixx70, Ixx71

  78
• I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77

  79
• ADC Offsets: Ixx29, Ixx79

  79
• Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0

  79
• Position-Loop PID Gains: Ixx30…Ixx39

  80
• APPENDIX A

  82
• APPENDIX B: CLIPPER BOARD E-POINT JUMPERS

  83
• E3: Re-Initialization On Reset Control

  83
• E5: Reserved for factory use only

  83
• E7 – E8: USB/Ethernet Reset Jumpers

  84
• E13: Power-Up/Reset Load Firmware

  85
• APPENDIX C: BREAKOUT BOARD E-POINT JUMPERS

  86
• J39: User Flag 4 E-Stop Status

  86
• APPENDIX D: POWER BOARD E-POINT JUMPERS

  87