Delta Tau TURBO CLIPPER DRIVE 用户手册
Turbo Clipper Drive User Manual
Motor Setup Guidelines
67
Commutation Cycle Size: Ixx70, Ixx71
The ratio of Ixx70/Ixx71 represents the number of encoder counts per electrical cycle. These
parameters are set up with respect to the encoder type and resolution:
Digital Quadrature Feedback
Ixx70= {Number of pair poles of the motor}
Ixx71= {Number of counts per revolution}
Sinusoidal Feedback
Ixx70= {Number of pair poles of the motor}
Ixx71= {Number of counts per revolution}/32
parameters are set up with respect to the encoder type and resolution:
Digital Quadrature Feedback
Ixx70= {Number of pair poles of the motor}
Ixx71= {Number of counts per revolution}
Sinusoidal Feedback
Ixx70= {Number of pair poles of the motor}
Ixx71= {Number of counts per revolution}/32
; Commutation done using quadrature data
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: Ixx61, Ixx62, Ixx76
The current-loop tuning is done as in any Turbo PMAC digital current loop setup. The
PMACTuningPro2 automatic or interactive utility can be used to fine-tune the Current-Loop.
An acceptable Current-Loop step response would look like:
PMACTuningPro2 automatic or interactive utility can be used to fine-tune the Current-Loop.
An acceptable Current-Loop step response would look like: