Delta Tau GEO BRICK DRIVE Benutzerhandbuch
Geo Brick Drive User Manual
Motor Setup
212
Maximum Achievable Motor Speed, Output Command Limit: Ixx69
In Micro-Stepping, the maximum achievable speed is proportional to the Servo clock and electrical cycle
length. A faster Servo Clock results in higher achievable motor speeds.
length. A faster Servo Clock results in higher achievable motor speeds.
The smaller value of the Theoretical versus Calculated output command limit Ixx69 is chosen.
Theoretical Ixx69
Sine Table: 2048
Electrical Length = 2048*32 (5-bit shift) = 65536
Max Electrical Length/Servo Cycle = Electrical Length/6 = 10922.66667 (6 cycles to ensure good
commutation)
Max Electrical Length per Servo Cycle/256 = Micro-Stepping Theoretical Ixx69 = 42.6667
Electrical Length = 2048*32 (5-bit shift) = 65536
Max Electrical Length/Servo Cycle = Electrical Length/6 = 10922.66667 (6 cycles to ensure good
commutation)
Max Electrical Length per Servo Cycle/256 = Micro-Stepping Theoretical Ixx69 = 42.6667
Calculated Ixx69
Maximum-Achievable Motor Speed (RPM) =
(Servo Clock*1000) / (Electrical Cycles per Revolution*6)*60
Calculated Ixx69 =
Max Motor Speed* Electrical Cycles per Revolution/ 60 * 256/(Servo Clock *1000)
#define Mtr4Speed
1760
; Motor #4 Base Speed Spec [RPM] -User Input
#define ElecCyclePerRev
2
; No of pole pairs = # of Elec Cycles -User Input
;#define ServoClk
P7003 ; [KHz] Computed in Dominant Clock Settings Section
#define MaxMtr4Speed
P7004 ; Motor #4 maximum “commanded” achievable motor speed
#define CalculatedIxx69
P7005 ; Calculated Ixx69
MaxMtr4Speed=(ServoClk*1000)/(ElecCyclePerRev*6)*60
CalculatedIxx69=Mtr4Speed*ElecCyclePerRev/60*256/(ServoClk*1000)
If Calculated Ixx69>Theoretical Ixx69 => I469= Theoretical Ixx69
If Calculated Ixx69<Theoretical Ixx69 => I469= Calculated Ixx69
I469=CalculatedIxx69
;
Note
The maximum “commanded” speed is governed by the Servo Period.
It has to be increased if a greater maximum “commanded” speed is
desired.
It has to be increased if a greater maximum “commanded” speed is
desired.
Note
If the desired speed requires very high servo clock rate, then the servo
cycle extension Ixx60 can then be used to scale back the servo
sampling for what the existing motors have been tuned about.
cycle extension Ixx60 can then be used to scale back the servo
sampling for what the existing motors have been tuned about.