Delta Tau TURBO CLIPPER DRIVE ユーザーズマニュアル
Turbo Clipper Drive User Manual
Motor Setup Guidelines
56
Dominant Clock Settings
The choice of clock settings usually relies on system requirements, and type of application.
Calculating Minimum PWM Frequency
The minimum PWM frequency of a system is based on the time constant of the motor. In
general, the lower the time constant, the higher the PWM frequency should be. The motor time
constant is calculated dividing the motor inductance by the resistance (phase-phase). The
minimum PWM Frequency is then determined using the following relationship:
general, the lower the time constant, the higher the PWM frequency should be. The motor time
constant is calculated dividing the motor inductance by the resistance (phase-phase). The
minimum PWM Frequency is then determined using the following relationship:
Ohms
R
H
L
sec
sec
2
20
)
(
2
20
Hz
PWM
PWM
Example: A motor with an inductance of 2.80 mH, resistance of 14
(phase-phase) yields a
time constant of 0.200 milliseconds. Therefore, the minimum PWM Frequency is ~15.9KHz.
The most commonly used and recommended clock settings for Turbo Clipper Drive drives are 20
KHz PWM, 10 KHz Phase, and 5 KHz Servo:
The most commonly used and recommended clock settings for Turbo Clipper Drive drives are 20
KHz PWM, 10 KHz Phase, and 5 KHz Servo:
I7000=1473
; Servo IC0 Max Phase/PWM Frequency Control
I7001=3
; Servo IC0 Phase Clock Frequency Control
I7002=1
; Servo IC0 Servo Clock Frequency Control
I10=1677653
; Servo Interrupt Time
Clock Calculations
These clock calculations are used in and imperative for subsequent section(s) in selected
downloadable Turbo PMAC scripts. Whether default, recommended, or custom clock settings
are chosen, these calculations should be downloaded and saved.
downloadable Turbo PMAC scripts. Whether default, recommended, or custom clock settings
are chosen, these calculations should be downloaded and saved.
I15=0
; Trigonometric calculation in degrees
#define MaxPhaseFreq P7000 ; Max Phase Clock [KHz]
#define PWMClk
#define PWMClk
P7001 ; PWM Clock [KHz]
#define PhaseClk
P7002 ; Phase Clock [KHz]
#define ServoClk
P7003 ; Servo Clock [KHz]
MaxPhaseFreq=117964.8/(2*I7000+3)
PWMClk=117964.8/(4*I7000+6)
PhaseClk=MaxPhaseFreq/(I7001+1)
ServoClk=PhaseClk/(I7002+1)