Delta Tau TURBO CLIPPER DRIVE Manual Do Utilizador
Turbo Clipper Drive User Manual
Motor Setup Guidelines
79
I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77
The lower values (tighter specifications) of the Continuous/Instantaneous current rating between
the drive and the motor are chosen to setup I2T protection.
the drive and the motor are chosen to setup I2T protection.
Examples:
For setting up I2T on a Turbo Clipper Drive driving a 3/9-Amp motor, 3 amps continuous
and 9 amps instantaneous will be used as current limits. And time allowed at peak is that
of the motor.
and 9 amps instantaneous will be used as current limits. And time allowed at peak is that
of the motor.
For setting up I2T on a Turbo Clipper Drive driving a 4/16-Amp motor, 4 amps
continuous and 15 amps instantaneous will be used as current limits. And time allowed at
peak is 2 seconds.
continuous and 15 amps instantaneous will be used as current limits. And time allowed at
peak is 2 seconds.
Motors 1 thru 8 are specified to 5-amp continuous, 10-amp peak current limits:
#define ServoClk
P7003 ; [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 ; Turbo Clipper Drive full range ADC reading (electrical
specifications)
#define I2TOnTime
2
; 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
Note
Software I2T is handled by Turbo PMAC. The Turbo Clipper
Drive drive has a built-in hardware I2T protection as an
additional layer of safety.
Drive drive has a built-in hardware I2T protection as an
additional layer of safety.
ADC Offsets: Ixx29, Ixx79
The ADC offsets importance may vary from one system to another, depending on the motor(s)
type and application requirements. They can be left at default of zero especially if a motor setup
is to be reproduced on multiple machines by copying the configuration file of the first time
integration. However, they should ultimately be set to minimize measurement offsets from the A
and B-phase current feedback circuits, respectively (read in Suggested M-variables Mxx05,
Mxx06).
type and application requirements. They can be left at default of zero especially if a motor setup
is to be reproduced on multiple machines by copying the configuration file of the first time
integration. However, they should ultimately be set to minimize measurement offsets from the A
and B-phase current feedback circuits, respectively (read in Suggested M-variables Mxx05,
Mxx06).
Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0
Tuning (fine) the current loop with DC brush motors is neither critical nor required. Set Ixx61 to
a conservative value (i.e. 0.001) and perform an open-loop test. Essentially a positive open loop
command should result in position direction (of the encoder) motion and vice-versa:
a conservative value (i.e. 0.001) and perform an open-loop test. Essentially a positive open loop
command should result in position direction (of the encoder) motion and vice-versa:
Reversed Encoder Decode. I7mn0 needs adjustment