Delta Tau TURBO CLIPPER DRIVE 사용자 설명서
Turbo Clipper Drive User Manual
Motor Setup Guidelines
63
Phasing, Power-On Mode: Ixx80, Ixx73, Ixx74, Ixx81, Ixx91
I180=0 I173=0 I174=0 ;
I280=0 I273=0 I274=0 ;
I380=0 I373=0 I374=0 ;
I480=0 I473=0 I474=0 ;
I280=0 I273=0 I274=0 ;
I380=0 I373=0 I374=0 ;
I480=0 I473=0 I474=0 ;
I181=$3503
; Motor 1 Power-On Commutation, Integrated Output #1
I281=$3506
; Motor 2 Power-On Commutation, Integrated Output #2
I381=$3509
; Motor 3 Power-On Commutation, Integrated Output #3
I481=$350C
; Motor 4 Power-On Commutation, Integrated Output #4
I191,4,100=$500000
; Mtrs 1-4 Pwr-on Pos. format Read 16 (11+5) bits of X register Ixx81
Position-
Loop PID Gains: Ixx30…Ixx39
I130,4,100=1024
; Motor 1-4 PID Proportional Gain
I131,4,100=0
; Motor 1-4 PID Derivitive Gain
I132,4,100=85
; Motor 1-4 PID Velocity Feedforward Gain
I133,4,100=1024
; Motor 1-4 PID Integral Gain
I134,4,100=1
; Motor 1-4 PID Integration Mode
I135,4,100=0
; Motor 1-4 PID Acceleration Feedforward Gain
I136,4,100=0
; Motor 1-4 PID Notch Filter Coefficient N1
I137,4,100=0
; Motor 1-4 PID Notch Filter Coefficient N2
I138,4,100=0
; Motor 1-4 PID Notch Filter Coefficient D1
I139,4,100=0
; Motor 1-4 PID Notch Filter Coefficient D2