Справочник Пользователя для Delta Tau TURBO CLIPPER DRIVE
Turbo Clipper Drive User Manual
Motor Setup Guidelines
66
Commutation Position Address, Commutation Enable: Ixx83, Ixx01
Digital Quadrature Feedback (Default)
I183=$078001
; Motor 1 On-going Commutation Position Address
I283=$078009
; Motor 2 On-going Commutation Position Address
I383=$078011
; Motor 3 On-going Commutation Position Address
I483=$078019
; Motor 4 On-going Commutation Position Address
I101,4,100=1
; Motors 1-4 Commutation Enabled, from X-register
Sinusoidal
I183=I104
; Motor 1 On-going Commutation Position Address
I283=I204
; Motor 2 On-going Commutation Position Address
I383=I304
; Motor 3 On-going Commutation Position Address
I483=I404
; Motor 4 On-going Commutation Position Address
I101,4,100=1
; Motors 1-4 Commutation Enabled, from X-register
I2T Protection: Ixx57, Ixx58, Ixx69
The lower values (tighter specifications) of the Continuous/Instantaneous current ratings between
the drive and the motor are chosen to setup I2T protection. Examples;
the drive and the motor are chosen to setup I2T protection. Examples;
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 4 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
#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.