Справочник Пользователя для Delta Tau TURBO CLIPPER DRIVE
Turbo Clipper Drive User Manual
Motor Setup Guidelines
57
Setting Up Stepper Motor, Direct Micro-Stepping
Before you start
It is always recommended to start a fresh setup from factory default settings, $$$***
followed by a Save and a $$$.
followed by a Save and a $$$.
Don’t forget to create/edit the motor type and protection power-on PLC.
Parameters with Comments ending with -User Input require the user to enter information
pertaining to their system/hardware.
pertaining to their system/hardware.
Downloading and using the suggested M-variables is highly recommended.
Detailed description of motor setup parameters can be found in the Turbo SRM Manual
The traditional direct-microstepping technique controlled with sinusoidal outputs from the Turbo
PMAC is not appropriate for motors controlled with direct-PWM outputs such as in Turbo
Clipper Drive Drives. A new technique permits direct microstepping along with direct-PWM
motor control.
This technique creates a simulated position sensor and feedback loop by numerically integrating
the (velocity) command output from the servo loop. This integration requires two entries in the
encoder conversion table. The resulting simulated position value can be used for both motor
phase commutation and servo-loop feedback. Alternately, a load encoder could be used for
position-loop feedback while this simulated value is used for commutation.
Encoder Conversion Table Setup
The first entry in the encoder conversion table (ECT) for each stepper motor must read the servo-
loop output like an absolute encoder. This is done with a “parallel-read” entry of a Y/X double
register (the data is in X), unshifted and unfiltered; specifying the use of 24 bits of the 48-bit Y/X
register, starting 24 bits from the low end. This is effectively like reading a 24-bit DAC register.
loop output like an absolute encoder. This is done with a “parallel-read” entry of a Y/X double
register (the data is in X), unshifted and unfiltered; specifying the use of 24 bits of the 48-bit Y/X
register, starting 24 bits from the low end. This is effectively like reading a 24-bit DAC register.
The second entry in the ECT for each stepper motor integrates the result of the first entry.