Delta Tau GEO BRICK LV 사용자 설명서
Geo Brick LV User Manual
Motor Setup
169
I2T Protection: Ixx57, Ixx58, Ixx69
The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between the Geo
Brick LV and motor are chosen to setup I2T protection.
Brick LV and motor are chosen to setup I2T protection.
If the peak current limit chosen is that of the Geo Brick LV (e.g. 15 Amps) then the time allowed at peak
current is set to 1 seconds.
current is set to 1 seconds.
If the peak current limit chosen is that of the Motor, check the motor specifications for time allowed at
peak current.
peak current.
Examples:
For setting up I2T on a Geo Brick LV driving a 3A/9A motor, 3 amps continuous and 9 amps
instantaneous will be used as current limits. And time allowed at peak is that of the motor.
instantaneous will be used as current limits. And time allowed at peak is that of the motor.
For setting up I2T on a Geo Brick LV driving a 4A/16A motor, 4 amps continuous and 15 amps
instantaneous will be used as current limits. And time allowed at peak is 1 seconds.
instantaneous will be used as current limits. And time allowed at peak is 1 seconds.
Motors 1 thru 8 have 5-amp continuous, 15-amp peak current limits.
#define ServoClk
P8003 ; [KHz] Computed in Dominant Clock Settings Section
#define ContCurrent
5
; Continuous Current Limit [Amps] –User Input
#define PeakCurrent
15
; Instantaneous Current Limit [Amps] –User Input
#define MaxADC
33.85 ; Brick LV full range ADC reading (see electrical specifications)
#define I2TOnTime
1
; Time allowed at peak Current [sec]
I157=INT(32767*(ContCurrent*1.414/MaxADC)*cos(30))
I169=INT(32767*(PeakCurrent*1.414/MaxADC)*cos(30))
I158=INT((I169*I169-I157*I157)*ServoClk*1000*I2TOnTime/(32767*32767))
I257=I157
I258=I158
I269=I169
I357=I157
I358=I158
I369=I169
I457=I157
I458=I158
I469=I169
I557=I157
I558=I158
I569=I169
I657=I157
I658=I158
I669=I169
I757=I157
I758=I158
I769=I169
I857=I157
I858=I158
I869=I169
Note
This software I2T is designed to primarily protect the motor. The Geo
Brick LV’s hardware built-in I2T protects the amplifier and presents
an added layer of system safety.
Brick LV’s hardware built-in I2T protects the amplifier and presents
an added layer of system safety.