Delta Tau TURBO CLIPPER DRIVE ユーザーズマニュアル
Turbo Clipper Drive User Manual
Breakout Board: Wiring, Software Setup
47
Example:
Axis 5-6 to drive stepper amps, w/ PFM clock range 0-20 KHz and pulse width of ~20 μsec:
Axis 5-6 to drive stepper amps, w/ PFM clock range 0-20 KHz and pulse width of ~20 μsec:
I6803=2290
; PFM Clock divider equal to 6
I6804=13
; PFM Pulse Width Control equal to 13
// Supplementary Channel 1, and 2 Settings:
I6816,2,10=3
I6816,2,10=3
; Supp. channel 1-2 output mode, PFM
I6810,2,10=8 ; Supp. channel 1-2 Encoder Decode, Internal Pulse and Direction
I500,2,100=1
I500,2,100=1
; Motors 5,6 active
I511,2,100=0
; Motors 5,6 disable fatal following error
I502=$78414 ; Motor #5 output to point to output c for PFM
I8004=$C78410 ; Encoder Conversion table to read, C for no extension
I503=$3505
I504=$3505
I524=$120001
; Disable amp fault and overtravel limits
I525=$78410
;
I602=$7841C ; #2 output to point to output c for PFM
I8005=$C78418 ; Encoder Conversion table to read, C for no extension
I603=$3506
I604=$3506
I624=$120001 ; Disable amp fault and over travel limit
I625=$78418
The position-Loop PID Gains are calculated using the following equations:
Ixx30=660000/Ixx08*PFM Clock[MHz]
Ixx31=0
Ixx32 = 6660* ServoFreq( kHz )
Ixx33...Ixx35=0
Ixx30=660000/Ixx08*PFM Clock[MHz]
Ixx31=0
Ixx32 = 6660* ServoFreq( kHz )
Ixx33...Ixx35=0
// Position-Loop PID Gains:
I530,2,100=11190
I530,2,100=11190
; Motors 5-6 Proportional Gain
I531,2,100=0
; Motors 5-6 Derivative Gain
I532,2,100=151515
; Motors 5-6 Velocity FeedForward Gain
I533,2,100=0
; Motors 5-6 Integral Gain
I534,2,100=0
; Motors 5-6 Integral Mode
I535,2,100=0
; Motors 5-6 Acceleration FeedForward Gain