Delta Tau TURBO CLIPPER DRIVE User Manual
Turbo Clipper Drive User Manual
Motor Setup Guidelines
58
Motor (Quadrature/torque) command value Registers
Motor # Address (X-Memory)
1
$0000BF
2
$00013F
3
$0001BF
4
$00023F
Motors 1-4 Stepper Setup Encoder Conversion Table
I8000=$6800BF ; Parallel read of Y/X:$BF
I8001=$18018
I8001=$18018
; Use 24 bits starting at X bit 0
I8002=$EC0001 ; Integrate result from I8001
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$18018
I8003=$68013F ; Parallel read of Y/X:$13F
I8004=$18018
; Use 24 bits starting at X bit 0
I8005=$EC0004 ; Integrate result from I8004
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$18018
I8006=$6801BF ; Parallel read of Y/X:$1BF
I8007=$18018
; Use 24 bits starting at X bit 0
I8008=$EC0007 ; Integrate result from I8007
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$18018
I8009=$68023F ; Parallel read of Y/X:$23F
I8010=$18018
; Use 24 bits starting at X bit 0
I8011=$EC000A ; Integrate result from I8010
Position, Velocity Pointers: Ixx03, Ixx04
The position and velocity pointers (no external encoder used) will be set to the integration result:
I103=$3503
I104=$3503
; Motor 1 position and velocity feedback
I203=$3506
I204=$3506
; Motor 2 position and velocity feedback
I303=$3509
I304=$3509
; Motor 3 position and velocity feedback
I403=$350C
I404=$350C
; Motor 4 position and velocity feedback
Motor Activation, Commutation Enable: Ixx00, Ixx01
I100,4,100=1
; Motors 1-4 active
I101,4,100=1
; Motors 1-4 Commutation Enabled
Command Output Address: Ixx02
I102=$078002
; Motor 1 Output Address
I202=$07800A
; Motor 2 Output Address
I302=$078012
; Motor 3 Output Address
I402=$07801A
; Motor 4 Output Address
Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72
I182=$078006
; Motor 1 Current Feedback Address
I282=$07800E
; Motor 2 Current Feedback Address
I382=$078016
; Motor 3 Current Feedback Address
I482=$07801E
; Motor 4 Current Feedback Address
I184,4,100=$FFFC00
; Motors 1-4 Current Loop Feedback Mask, 14-bit
I172,4,100=512
; Mtrs 1-4 Commutation Phase Angle.2-Phase opposite voltage & current sign