Delta Tau TURBO CLIPPER DRIVE Benutzerhandbuch
Turbo Clipper Drive User Manual
Motor Setup Guidelines
78
PWM Scale Factor: Ixx66
If Motor Rated Voltage > Bus Voltage:
I166=1.10*I7000
; Motor #1 PWM Scale Factor. Set to 10% above PWM Count.
I266=I166 I366=I166 I466=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
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
Current Feedback Address: Ixx82
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
Commutation Cycle Size: Ixx70, Ixx71
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
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