Delta Tau TURBO CLIPPER DRIVE User Manual

Turbo Clipper Drive User Manual

Table Of Contents

6

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

Flag Control, Commutation Enable, Phase Angle, Current Mask: Ixx24, Ixx01, Ixx72, Ixx84
............................................................................................................................................. 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

D-Sub Connector Spacing Specifications .............................................................................. 82

APPENDIX B: CLIPPER BOARD E-POINT JUMPERS .................................................... 83

E0: Forced Reset Control ..................................................................................................... 83

E3: Re-Initialization On Reset Control ................................................................................. 83

E4: Watchdog Disable Jumper ............................................................................................. 83

E5: Reserved for factory use only ......................................................................................... 83

E6: ADC Inputs Enable ........................................................................................................ 84

E7 – E8: USB/Ethernet Reset Jumpers ................................................................................. 84

E10 – E12: Flash IC Jumpers ............................................................................................... 84

E13: Power-Up/Reset Load Firmware .................................................................................. 85

E14- E17: Ports Direction Control ......................................................................................... 85

APPENDIX C: BREAKOUT BOARD E-POINT JUMPERS ............................................... 86

J36: GPO E-Stop Automatic Feature .................................................................................... 86

J39: User Flag 4 E-Stop Status ............................................................................................. 86

APPENDIX D: POWER BOARD E-POINT JUMPERS ...................................................... 87

E1- E2- E3- E4: E-Stop and Reset Control ............................................................................ 87