Delta Tau GEO BRICK DRIVE Benutzerhandbuch
Geo Brick Drive User Manual
Macro Connectivity
238
16. The current feedback mask Ixx84 should be set to $FFF000.
17. Commutation Cycle Size
Ixx70 = {Number of pair poles}
Ixx71 = {Number of counts per revolution * 32}
Ixx71 = {Number of counts per revolution * 32}
18. I2T Settings (example for motor #9):
I15=0
; Trigonometric calculation in degrees
#define MaxPhaseFreq
P7000 ; Max Phase Clock [KHz]
#define PWMClk
P7001 ; PWM Clock [KHz]
#define PhaseClk
P7002 ; Phase Clock [KHz]
#define ServoClk
P7003 ; Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I6800+3)
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
#define Mtr9ContCurrent
PWMClk=117964.8/(4*I6800+6)
PhaseClk=MaxPhaseFreq/(I6801+1)
ServoClk=PhaseClk/(I6802+1)
#define Mtr9ContCurrent
3
; Continuous Current Limit [Amps] –User Input
#define Mtr9PeakCurrent
9
; Instantaneous Current Limit [Amps] –User Input
#define MaxADC
16.26 ; See slave electrical specifications –User Input
#define Mtr9I2TOnTime
2
; Time allowed at peak Current [sec]
I957=INT(32767*(Mtr9ContCurrent*1.414/MaxADC)*cos(30))
I969=INT(32767*(Mtr9PeakCurrent*1.414/MaxADC)*cos(30))
I958=INT((I969*I969-I957*I957)*ServoClk*1000*Mtr9I2TOnTime/(32767*32767))
19. Current-Loop Tuning (Ixx61, Ixx62, Ixx76)
Current loop tuning is performed in the same manner as it would be for any digitally commuted
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like:
amplifier. A satisfactory current loop response (PmacTuningPro2 screen shot) would look like: