Delta Tau GEO BRICK LV Manuale Utente
Geo Brick LV User Manual
PinOuts and Software Setup
55
Implementing PID gains, Ixx30…Ixx35
In PFM mode, the PID Gains can be determined using the following empirical equations:
In PFM mode, the PID Gains can be determined using the following empirical equations:
[MHz]
CLock
PFM
Ixx08
660000
Ixx30
// Channels 5-8 PID Gains (with default clock settings):
I530,4,100=11190
I530,4,100=11190
; Motors 5-8 Proportional Gain
I531,4,100=0
; Motors 5-8 Derivative Gain
I532,4,100=15038
; Motors 5-8 Velocity FeedForward Gain
I533,4,100=0
; Motors 5-8 Integral Gain
I534,4,100=0
; Motors 5-8 Integral Mode
I535,4,100=0
; Motors 5-8 Acceleration FeedForward Gain
Note
At this point of the setup, the drive-motor(s) is ready to accept Jog
commands.
commands.
0
Ixx31
[KHz]
Freq.
Servo
6660
Ixx32
0
..Ixx35
3
Ixx3